diff --git a/.circleci/config.yml b/.circleci/config.yml index 6649a1e5ce5..e26e29f6866 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -33,12 +33,12 @@ _commands: - restore_cache: name: Restore Cache << parameters.key >> keys: - - "<< parameters.key >>-v13\ + - "<< parameters.key >>-v21\ -{{ arch }}\ -{{ .Branch }}\ -{{ .Environment.CIRCLE_PR_NUMBER }}\ -{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}" - - "<< parameters.key >>-v13\ + - "<< parameters.key >>-v21\ -{{ arch }}\ -main\ -\ @@ -58,7 +58,7 @@ _commands: steps: - save_cache: name: Save Cache << parameters.key >> - key: "<< parameters.key >>-v13\ + key: "<< parameters.key >>-v21\ -{{ arch }}\ -{{ .Branch }}\ -{{ .Environment.CIRCLE_PR_NUMBER }}\ @@ -96,6 +96,11 @@ _commands: (echo vcs_export && cat) >> lockfile.txt sha256sum $PWD/lockfile.txt >> lockfile.txt + # Temp: Rolling transition to 24.04 leaves rosdep in 22.04 in the lurch + # This replaces main rosdep index with the last prior to release: Feb 28, 2024 + sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list + export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml + apt-get update rosdep update --rosdistro $ROS_DISTRO dependencies=$( @@ -123,7 +128,7 @@ _commands: type: string mixins: type: string - skip: + packages_skip_regex: default: "" type: string restore: @@ -185,6 +190,7 @@ _commands: BUILD_PACKAGES=$( colcon list \ --names-only \ + --packages-skip-regex << parameters.packages_skip_regex >> \ --packages-above \ $BUILD_UNFINISHED \ $BUILD_FAILED \ @@ -200,7 +206,6 @@ _commands: . << parameters.underlay >>/install/setup.sh colcon build \ --packages-select ${BUILD_PACKAGES} \ - --packages-skip << parameters.skip >> \ --mixin << parameters.mixins >> - ccache_stats: workspace: << parameters.workspace >> @@ -226,6 +231,9 @@ _commands: type: string cache_test: type: boolean + packages_skip_regex: + type: string + default: "" steps: - run: name: Test Workspace | << parameters.workspace >> @@ -261,6 +269,7 @@ _commands: TEST_PACKAGES=$( colcon list \ --names-only \ + --packages-skip-regex << parameters.packages_skip_regex >> \ --packages-above \ $TEST_UNPASSED \ $TEST_FAILURES \ @@ -270,7 +279,8 @@ _commands: then TEST_PACKAGES=$( colcon list \ - --names-only) + --names-only \ + --packages-skip-regex << parameters.packages_skip_regex >> ) fi TEST_PACKAGES=$( echo $TEST_PACKAGES \ @@ -380,14 +390,10 @@ _steps: underlay: /opt/underlay_ws workspace: /opt/overlay_ws mixins: ${OVERLAY_MIXINS} - setup_workspace_overlay_1: &setup_workspace_overlay_1 + build_workspace_overlay: &build_workspace_overlay setup_workspace: <<: *setup_workspace_overlay - skip: nav2_system_tests - setup_workspace_overlay_2: &setup_workspace_overlay_2 - setup_workspace: - <<: *setup_workspace_overlay - restore: false + packages_skip_regex: << parameters.packages_skip_regex >> restore_overlay_workspace: &restore_overlay_workspace setup_workspace: <<: *setup_workspace_overlay @@ -397,6 +403,7 @@ _steps: key: overlay_ws workspace: /opt/overlay_ws cache_test: << parameters.cache_test >> + packages_skip_regex: << parameters.packages_skip_regex >> collect_overlay_coverage: &collect_overlay_coverage run: name: Collect Code Coverage @@ -434,9 +441,11 @@ commands: - *install_overlay_dependencies build_source: description: "Build Source" + parameters: + packages_skip_regex: + type: string steps: - - *setup_workspace_overlay_1 - - *setup_workspace_overlay_2 + - *build_workspace_overlay restore_build: description: "Restore Build" steps: @@ -450,6 +459,8 @@ commands: parameters: cache_test: type: boolean + packages_skip_regex: + type: string steps: - *test_overlay_workspace report_coverage: @@ -485,8 +496,14 @@ executors: OVERLAY_MIXINS: "release ccache coverage-gcc lld" _jobs: + job_build: &job_build + parameters: &job_build_parameters + packages_skip_regex: + type: string + default: "" job_test: &job_test parameters: + <<: *job_build_parameters cache_test: type: boolean default: false @@ -499,11 +516,15 @@ _jobs: jobs: release_build: &release_build + <<: *job_build executor: release_exec steps: - checkout_source - setup_dependencies - - build_source + - build_source: + packages_skip_regex: << parameters.packages_skip_regex >> + system_build: &system_build + <<: *release_build release_test: &release_test <<: *job_test executor: release_exec @@ -511,27 +532,41 @@ jobs: - restore_build - test_build: cache_test: << parameters.cache_test >> + packages_skip_regex: << parameters.packages_skip_regex >> - report_coverage +_parameters: + release_parameters: &release_parameters + packages_skip_regex: "nav2_system_tests" + workflows: version: 2 build_and_test: jobs: - - release_build - - release_test: + - release_build: + <<: *release_parameters + - system_build: requires: - release_build + - release_test: + requires: + - system_build cache_test: true nightly: jobs: - - release_build - - release_test: + - release_build: + <<: *release_parameters + - system_build: requires: - release_build + - release_test: + requires: + - system_build + <<: *release_parameters matrix: + alias: release_test parameters: rmw: - - rmw_connextdds - rmw_cyclonedds_cpp - rmw_fastrtps_cpp triggers: diff --git a/.devcontainer/caddy/Caddyfile b/.devcontainer/caddy/Caddyfile new file mode 100644 index 00000000000..1150579a47a --- /dev/null +++ b/.devcontainer/caddy/Caddyfile @@ -0,0 +1,132 @@ +# Snippet for global matchers and variables +# to logically expression request conditions +# E.g. for conditionally changing redirects +(globals) { + # Use gzip compression for all responses + encode gzip + + # Matcher for http request scheme. E.g. "http" or "https" + @http_scheme { + expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https" + } + # If any http scheme is "https", then use "wss" + vars @http_scheme WsScheme "wss" + # Else default to "ws" + vars WsScheme "ws" + + # Matcher for forwarded request headers + @host_forwarded { + header X-Forwarded-Host * + } + # If http headers exists, then use them + vars @host_forwarded ReqHost {header.X-Forwarded-Host} + # Else default to host in request + vars ReqHost {http.request.hostport} + + # Matcher for websocket connection upgrade requests + @websockets { + # Avoid case sensitivity issues when matching field values + # E.g. when values are rewritten by Codespace port forwarding + header_regexp Connection (?i)(Upgrade) + header Upgrade websocket + } +} + +# Snippet for redirect with given URL queries values +# to simplify remote development with web apps +# E.g auto redirect websocket URL to match request scheme +(redirect) { + # Configure redirect to match request scheme + vars LayoutUrl "/assets/foxglove/nav2_layout.json" + vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/" + redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}" + redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}" +} + +# Snippet for dummy imports +(dummy) { +} + +# Snippet for enabling mobile web app features +# to improve user experience on small screen devices +# E.g. for enabling fullscreen mode on iOS and Android +(mobile) { + # Match for directory redirects to index.html + route / { + # Inject link to manifest just after tag + # https://developer.mozilla.org/docs/Web/Manifest + replace `` `` + } + # Redirect relative handle_path'ed manifest.json to /manifests directory + redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json +} + +# Snippet for hosted web app using websockets +# to serve static files and reverse proxying connections +# E.g. for serving GzWeb and Foxglove web apps +(app) { + # handle and strip path prefix from redirect + handle_path {args.0}/* { + # Set root directory for static files + root * {http.vars.root}{args.0} + # Enable mobile web app features + import mobile + # Reverse proxy websockets to backend address + reverse_proxy @websockets {args.1} + # Import custom snippets + import {args.2} {args.0} + } +} + +# Listen for http requests on port 8080 +# regardless of hostname or domain address +# E.g. whatever Codespaces assigns to host +:8080 { + # Include global matchers and variables + import globals + root * {$ROOT_SRV:/srv} + file_server browse + + # Handle root content + # I.e. assets internal to workspace + handle /* { + # Template manifest.json files + templates */manifest.json { + mime application/json + } + } + + # Handle nav2 web app + # I.e. main landing page + handle_path /nav2/* { + root * {http.vars.root}/nav2 + import mobile + # Render markdown files as html + templates + } + + # Matcher for requests without browse query + @no_browse { + path / + not query browse=true + } + # Redirect to nav2 web app by default + redir @no_browse /nav2/ + + # Import app snippets for web apps + import app "/gzweb" "localhost:9090" "dummy" + import app "/foxglove" "localhost:8765" "redirect" + + # Handle glances web app + redir /glances /glances/ + handle_path /glances/* { + import mobile + # Reverse proxy to glances backend + reverse_proxy * "localhost:61208" + } + + # For debugging + # log { + # output file /var/log/caddy/server.log + # } +} diff --git a/.devcontainer/caddy/srv/assets/foxglove/manifest.json b/.devcontainer/caddy/srv/assets/foxglove/manifest.json new file mode 100644 index 00000000000..0b9b8b84d7e --- /dev/null +++ b/.devcontainer/caddy/srv/assets/foxglove/manifest.json @@ -0,0 +1,40 @@ +{ + "name": "Foxglove: {{placeholder "http.vars.ReqHost"}}", + "short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}", + "icons": [ + { + "src": "/media/icons/foxglove/any_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "any" + }, + { + "src": "/media/icons/foxglove/maskable_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "maskable" + } + ], + "id": "/foxglove/", + "start_url": "/foxglove/autoconnect", + "theme_color": "#6F3BE8", + "background_color": "#6F3BE8", + "display": "fullscreen", + "shortcuts" : [ + { + "name": "Auto Connect", + "url": "/foxglove/autoconnect", + "description": "Auto connect to default data source" + }, + { + "name": "Auto Layout", + "url": "/foxglove/autolayout", + "description": "Auto connect using default layout" + }, + { + "name": "Manual Connect", + "url": "/foxglove/", + "description": "Manually connect to data source" + } + ] +} diff --git a/.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json b/.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json new file mode 100644 index 00000000000..f92821fac49 --- /dev/null +++ b/.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json @@ -0,0 +1,463 @@ +{ + "configById": { + "3D!18i6zy7": { + "layers": { + "845139cb-26bc-40b3-8161-8ab60af4baf5": { + "visible": true, + "frameLocked": true, + "label": "Grid", + "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5", + "layerId": "foxglove.Grid", + "size": 10, + "divisions": 10, + "lineWidth": 1, + "color": "#A0A0A4ff", + "position": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ], + "order": 1 + } + }, + "cameraState": { + "perspective": true, + "distance": 21.05263157877764, + "phi": 38.925517117715195, + "thetaOffset": -138.92710744521386, + "targetOffset": [ + -2.6847696124888896, + 0.2191229688744439, + 3.6086809432821955e-16 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": { + "transforms": { + "showLabel": false, + "editable": false, + "labelSize": 0.049999999999999975, + "enablePreloading": false, + "lineWidth": 2 + } + }, + "transforms": { + "frame:camera_link": { + "visible": false + }, + "frame:camera_depth_frame": { + "visible": false + }, + "frame:camera_depth_optical_frame": { + "visible": false + }, + "frame:camera_rgb_frame": { + "visible": false + }, + "frame:camera_rgb_optical_frame": { + "visible": false + }, + "frame:imu_link": { + "visible": false + }, + "frame:caster_back_right_link": { + "visible": false + }, + "frame:caster_back_left_link": { + "visible": false + }, + "frame:odom": { + "visible": true + }, + "frame:base_footprint": { + "visible": true + }, + "frame:wheel_left_link": { + "visible": false + }, + "frame:wheel_right_link": { + "visible": false + }, + "frame:base_link": { + "visible": false + }, + "frame:base_scan": { + "visible": false + }, + "frame:map": { + "visible": true + } + }, + "topics": { + "/scan": { + "visible": true, + "colorField": "intensity", + "colorMode": "flat", + "colorMap": "turbo", + "pointSize": 5, + "flatColor": "#ff0000" + }, + "/global_costmap/costmap": { + "visible": true, + "maxColor": "#E800174d", + "unknownColor": "#5700ff4d", + "minColor": "#ffffff4d", + "invalidColor": "#ff00ff4d", + "colorMode": "costmap", + "alpha": 0.3 + }, + "/global_costmap/obstacle_layer": { + "visible": false + }, + "/global_costmap/voxel_marked_cloud": { + "visible": false + }, + "/goal_pose": { + "visible": false + }, + "/local_costmap/costmap": { + "visible": false + }, + "/local_costmap/voxel_layer": { + "visible": false + }, + "/local_costmap/clearing_endpoints": { + "visible": false, + "colorField": "x", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/map": { + "visible": true, + "minColor": "#ffffff", + "maxColor": "#000000", + "unknownColor": "#708986ff", + "frameLocked": false, + "colorMode": "map" + }, + "/amcl_pose": { + "visible": false + }, + "/local_plan": { + "visible": true, + "lineWidth": 0.01, + "gradient": [ + "#c8ff00c7", + "#00c8ffba" + ] + }, + "/plan": { + "visible": false, + "gradient": [ + "rgba(124, 107, 255, 1)", + "#ff6b6b" + ], + "lineWidth": 1 + }, + "/plan_smoothed": { + "visible": false + }, + "/received_global_plan": { + "visible": true, + "gradient": [ + "#ff0000c7", + "#6b70ffc2" + ], + "lineWidth": 0.02, + "type": "line", + "arrowScale": [ + 0.02, + 0.0015, + 0.0015 + ] + }, + "/transformed_global_plan": { + "visible": false + }, + "/robot_description": { + "visible": false + }, + "/cost_cloud": { + "visible": false + }, + "/initialpose": { + "visible": false + } + }, + "publish": { + "type": "pose_estimate", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "followTf": "map" + }, + "DiagnosticSummary!3bo4e39": { + "minLevel": 0, + "pinnedIds": [], + "hardwareIdFilter": "", + "topicToRender": "/diagnostics", + "sortByLevel": true + }, + "RosOut!1iib9dq": { + "searchTerms": [], + "minLogLevel": 1 + }, + "3D!2agiaqk": { + "layers": { + "845139cb-26bc-40b3-8161-8ab60af4baf5": { + "visible": false, + "frameLocked": true, + "label": "Grid", + "instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5", + "layerId": "foxglove.Grid", + "size": 10, + "divisions": 10, + "lineWidth": 1, + "color": "#A0A0A4ff", + "position": [ + 0, + 0, + 0 + ], + "rotation": [ + 0, + 0, + 0 + ], + "order": 1 + } + }, + "cameraState": { + "perspective": true, + "distance": 4.078136514883917, + "phi": 56.068374260572, + "thetaOffset": 92.50000000000723, + "targetOffset": [ + 0.03816360663426963, + 0.15755079607173259, + 7.341598429161142e-18 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": { + "transforms": { + "showLabel": true, + "editable": false, + "labelSize": 0.049999999999999975, + "enablePreloading": false, + "lineWidth": 2 + } + }, + "transforms": { + "frame:camera_link": { + "visible": false + }, + "frame:camera_depth_frame": { + "visible": false + }, + "frame:camera_depth_optical_frame": { + "visible": false + }, + "frame:camera_rgb_frame": { + "visible": false + }, + "frame:camera_rgb_optical_frame": { + "visible": false + }, + "frame:imu_link": { + "visible": false + }, + "frame:caster_back_right_link": { + "visible": false + }, + "frame:caster_back_left_link": { + "visible": false + }, + "frame:odom": { + "visible": true + }, + "frame:base_footprint": { + "visible": true + }, + "frame:wheel_left_link": { + "visible": false + }, + "frame:wheel_right_link": { + "visible": false + }, + "frame:base_link": { + "visible": false + }, + "frame:base_scan": { + "visible": false + }, + "frame:map": { + "visible": true + } + }, + "topics": { + "/scan": { + "visible": true, + "colorField": "intensity", + "colorMode": "flat", + "colorMap": "turbo", + "pointSize": 5, + "flatColor": "#ff0000" + }, + "/global_costmap/costmap": { + "visible": true, + "maxColor": "#E800174d", + "unknownColor": "#5700ff4d", + "minColor": "#ffffff4d", + "invalidColor": "#ff00ff4d", + "colorMode": "costmap", + "alpha": 0.3 + }, + "/global_costmap/obstacle_layer": { + "visible": false + }, + "/global_costmap/voxel_marked_cloud": { + "visible": false + }, + "/goal_pose": { + "visible": false + }, + "/local_costmap/costmap": { + "visible": false + }, + "/local_costmap/voxel_layer": { + "visible": false + }, + "/local_costmap/clearing_endpoints": { + "visible": false, + "colorField": "x", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/map": { + "visible": true, + "minColor": "#ffffff", + "maxColor": "#000000", + "unknownColor": "#708986ff", + "frameLocked": false, + "colorMode": "map" + }, + "/amcl_pose": { + "visible": false + }, + "/local_plan": { + "visible": true, + "lineWidth": 0.01, + "gradient": [ + "#c8ff00c7", + "#00c8ffba" + ] + }, + "/plan": { + "visible": false, + "gradient": [ + "rgba(124, 107, 255, 1)", + "#ff6b6b" + ], + "lineWidth": 1 + }, + "/plan_smoothed": { + "visible": false + }, + "/received_global_plan": { + "visible": true, + "gradient": [ + "#ff0000c7", + "#6b70ffc2" + ], + "lineWidth": 0.02, + "type": "line", + "arrowScale": [ + 0.02, + 0.0015, + 0.0015 + ] + }, + "/transformed_global_plan": { + "visible": false + }, + "/robot_description": { + "visible": true + }, + "/cost_cloud": { + "visible": false + }, + "/initialpose": { + "visible": false + } + }, + "publish": { + "type": "pose_estimate", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "followTf": "base_link" + } + }, + "globalVariables": {}, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": { + "first": "3D!18i6zy7", + "second": { + "first": "DiagnosticSummary!3bo4e39", + "second": { + "first": "RosOut!1iib9dq", + "second": "3D!2agiaqk", + "direction": "column" + }, + "direction": "column", + "splitPercentage": 28.227360308285164 + }, + "direction": "row", + "splitPercentage": 74.87855655794587 + } + } \ No newline at end of file diff --git a/.devcontainer/caddy/srv/assets/glances/manifest.json b/.devcontainer/caddy/srv/assets/glances/manifest.json new file mode 100644 index 00000000000..78d27cb0bd6 --- /dev/null +++ b/.devcontainer/caddy/srv/assets/glances/manifest.json @@ -0,0 +1,40 @@ +{ + "name": "Glances: {{placeholder "http.vars.ReqHost"}}", + "short_name": "Glances: {{placeholder "http.vars.ReqHost"}}", + "icons": [ + { + "src": "/media/icons/glances/any_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "any" + }, + { + "src": "/media/icons/glances/maskable_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "maskable" + } + ], + "id": "/glances/", + "start_url": "/glances/", + "theme_color": "#2C363F", + "background_color": "#2C363F", + "display": "fullscreen", + "shortcuts" : [ + { + "name": "Refresh 1sec", + "url": "/glances/1", + "description": "Refresh page every 1 second" + }, + { + "name": "Refresh 5sec", + "url": "/glances/5", + "description": "Refresh page every 5 seconds" + }, + { + "name": "Refresh 10sec", + "url": "/glances/10", + "description": "Refresh page every 10 seconds" + } + ] +} diff --git a/.devcontainer/caddy/srv/assets/gzweb/manifest.json b/.devcontainer/caddy/srv/assets/gzweb/manifest.json new file mode 100644 index 00000000000..0596075f158 --- /dev/null +++ b/.devcontainer/caddy/srv/assets/gzweb/manifest.json @@ -0,0 +1,23 @@ +{ + "name": "Gzweb: {{placeholder "http.vars.ReqHost"}}", + "short_name": "Gzweb: {{placeholder "http.vars.ReqHost"}}", + "icons": [ + { + "src": "/media/icons/gzweb/any_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "any" + }, + { + "src": "/media/icons/gzweb/maskable_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "maskable" + } + ], + "id": "/gzweb/", + "start_url": "/gzweb/", + "theme_color": "#ffffff", + "background_color": "#ffffff", + "display": "fullscreen" +} diff --git a/.devcontainer/caddy/srv/assets/nav2/manifest.json b/.devcontainer/caddy/srv/assets/nav2/manifest.json new file mode 100644 index 00000000000..f482a47e803 --- /dev/null +++ b/.devcontainer/caddy/srv/assets/nav2/manifest.json @@ -0,0 +1,23 @@ +{ + "name": "Nav2: {{placeholder "http.vars.ReqHost"}}", + "short_name": "Nav2: {{placeholder "http.vars.ReqHost"}}", + "icons": [ + { + "src": "/media/icons/nav2/any_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "any" + }, + { + "src": "/media/icons/nav2/maskable_icon_x512.webp", + "sizes": "512x512", + "type": "image/webp", + "purpose": "maskable" + } + ], + "id": "/nav2/", + "start_url": "/nav2/", + "theme_color": "#ffffff", + "background_color": "#ffffff", + "display": "standalone" +} diff --git a/.devcontainer/caddy/srv/nav2/github-markdown.css b/.devcontainer/caddy/srv/nav2/github-markdown.css new file mode 100644 index 00000000000..049cae6b291 --- /dev/null +++ b/.devcontainer/caddy/srv/nav2/github-markdown.css @@ -0,0 +1,1102 @@ +@media (prefers-color-scheme: dark) { + .markdown-body { + color-scheme: dark; + --color-prettylights-syntax-comment: #8b949e; + --color-prettylights-syntax-constant: #79c0ff; + --color-prettylights-syntax-entity: #d2a8ff; + --color-prettylights-syntax-storage-modifier-import: #c9d1d9; + --color-prettylights-syntax-entity-tag: #7ee787; + --color-prettylights-syntax-keyword: #ff7b72; + --color-prettylights-syntax-string: #a5d6ff; + --color-prettylights-syntax-variable: #ffa657; + --color-prettylights-syntax-brackethighlighter-unmatched: #f85149; + --color-prettylights-syntax-invalid-illegal-text: #f0f6fc; + --color-prettylights-syntax-invalid-illegal-bg: #8e1519; + --color-prettylights-syntax-carriage-return-text: #f0f6fc; + --color-prettylights-syntax-carriage-return-bg: #b62324; + --color-prettylights-syntax-string-regexp: #7ee787; + --color-prettylights-syntax-markup-list: #f2cc60; + --color-prettylights-syntax-markup-heading: #1f6feb; + --color-prettylights-syntax-markup-italic: #c9d1d9; + --color-prettylights-syntax-markup-bold: #c9d1d9; + --color-prettylights-syntax-markup-deleted-text: #ffdcd7; + --color-prettylights-syntax-markup-deleted-bg: #67060c; + --color-prettylights-syntax-markup-inserted-text: #aff5b4; + --color-prettylights-syntax-markup-inserted-bg: #033a16; + --color-prettylights-syntax-markup-changed-text: #ffdfb6; + --color-prettylights-syntax-markup-changed-bg: #5a1e02; + --color-prettylights-syntax-markup-ignored-text: #c9d1d9; + --color-prettylights-syntax-markup-ignored-bg: #1158c7; + --color-prettylights-syntax-meta-diff-range: #d2a8ff; + --color-prettylights-syntax-brackethighlighter-angle: #8b949e; + --color-prettylights-syntax-sublimelinter-gutter-mark: #484f58; + --color-prettylights-syntax-constant-other-reference-link: #a5d6ff; + --color-fg-default: #c9d1d9; + --color-fg-muted: #8b949e; + --color-fg-subtle: #6e7681; + --color-canvas-default: #0d1117; + --color-canvas-subtle: #161b22; + --color-border-default: #30363d; + --color-border-muted: #21262d; + --color-neutral-muted: rgba(110,118,129,0.4); + --color-accent-fg: #58a6ff; + --color-accent-emphasis: #1f6feb; + --color-attention-subtle: rgba(187,128,9,0.15); + --color-danger-fg: #f85149; + } + } + + @media (prefers-color-scheme: light) { + .markdown-body { + color-scheme: light; + --color-prettylights-syntax-comment: #6e7781; + --color-prettylights-syntax-constant: #0550ae; + --color-prettylights-syntax-entity: #8250df; + --color-prettylights-syntax-storage-modifier-import: #24292f; + --color-prettylights-syntax-entity-tag: #116329; + --color-prettylights-syntax-keyword: #cf222e; + --color-prettylights-syntax-string: #0a3069; + --color-prettylights-syntax-variable: #953800; + --color-prettylights-syntax-brackethighlighter-unmatched: #82071e; + --color-prettylights-syntax-invalid-illegal-text: #f6f8fa; + --color-prettylights-syntax-invalid-illegal-bg: #82071e; + --color-prettylights-syntax-carriage-return-text: #f6f8fa; + --color-prettylights-syntax-carriage-return-bg: #cf222e; + --color-prettylights-syntax-string-regexp: #116329; + --color-prettylights-syntax-markup-list: #3b2300; + --color-prettylights-syntax-markup-heading: #0550ae; + --color-prettylights-syntax-markup-italic: #24292f; + --color-prettylights-syntax-markup-bold: #24292f; + --color-prettylights-syntax-markup-deleted-text: #82071e; + --color-prettylights-syntax-markup-deleted-bg: #ffebe9; + --color-prettylights-syntax-markup-inserted-text: #116329; + --color-prettylights-syntax-markup-inserted-bg: #dafbe1; + --color-prettylights-syntax-markup-changed-text: #953800; + --color-prettylights-syntax-markup-changed-bg: #ffd8b5; + --color-prettylights-syntax-markup-ignored-text: #eaeef2; + --color-prettylights-syntax-markup-ignored-bg: #0550ae; + --color-prettylights-syntax-meta-diff-range: #8250df; + --color-prettylights-syntax-brackethighlighter-angle: #57606a; + --color-prettylights-syntax-sublimelinter-gutter-mark: #8c959f; + --color-prettylights-syntax-constant-other-reference-link: #0a3069; + --color-fg-default: #24292f; + --color-fg-muted: #57606a; + --color-fg-subtle: #6e7781; + --color-canvas-default: #ffffff; + --color-canvas-subtle: #f6f8fa; + --color-border-default: #d0d7de; + --color-border-muted: hsla(210,18%,87%,1); + --color-neutral-muted: rgba(175,184,193,0.2); + --color-accent-fg: #0969da; + --color-accent-emphasis: #0969da; + --color-attention-subtle: #fff8c5; + --color-danger-fg: #cf222e; + } + } + + .markdown-body { + -ms-text-size-adjust: 100%; + -webkit-text-size-adjust: 100%; + margin: 0; + color: var(--color-fg-default); + background-color: var(--color-canvas-default); + font-family: -apple-system,BlinkMacSystemFont,"Segoe UI","Noto Sans",Helvetica,Arial,sans-serif,"Apple Color Emoji","Segoe UI Emoji"; + font-size: 16px; + line-height: 1.5; + word-wrap: break-word; + } + + .markdown-body .octicon { + display: inline-block; + fill: currentColor; + vertical-align: text-bottom; + } + + .markdown-body h1:hover .anchor .octicon-link:before, + .markdown-body h2:hover .anchor .octicon-link:before, + .markdown-body h3:hover .anchor .octicon-link:before, + .markdown-body h4:hover .anchor .octicon-link:before, + .markdown-body h5:hover .anchor .octicon-link:before, + .markdown-body h6:hover .anchor .octicon-link:before { + width: 16px; + height: 16px; + content: ' '; + display: inline-block; + background-color: currentColor; + -webkit-mask-image: url("data:image/svg+xml,"); + mask-image: url("data:image/svg+xml,"); + } + + .markdown-body details, + .markdown-body figcaption, + .markdown-body figure { + display: block; + } + + .markdown-body summary { + display: list-item; + } + + .markdown-body [hidden] { + display: none !important; + } + + .markdown-body a { + background-color: transparent; + color: var(--color-accent-fg); + text-decoration: none; + } + + .markdown-body abbr[title] { + border-bottom: none; + text-decoration: underline dotted; + } + + .markdown-body b, + .markdown-body strong { + font-weight: var(--base-text-weight-semibold, 600); + } + + .markdown-body dfn { + font-style: italic; + } + + .markdown-body h1 { + margin: .67em 0; + font-weight: var(--base-text-weight-semibold, 600); + padding-bottom: .3em; + font-size: 2em; + border-bottom: 1px solid var(--color-border-muted); + } + + .markdown-body mark { + background-color: var(--color-attention-subtle); + color: var(--color-fg-default); + } + + .markdown-body small { + font-size: 90%; + } + + .markdown-body sub, + .markdown-body sup { + font-size: 75%; + line-height: 0; + position: relative; + vertical-align: baseline; + } + + .markdown-body sub { + bottom: -0.25em; + } + + .markdown-body sup { + top: -0.5em; + } + + .markdown-body img { + border-style: none; + max-width: 100%; + box-sizing: content-box; + background-color: var(--color-canvas-default); + } + + .markdown-body code, + .markdown-body kbd, + .markdown-body pre, + .markdown-body samp { + font-family: monospace; + font-size: 1em; + } + + .markdown-body figure { + margin: 1em 40px; + } + + .markdown-body hr { + box-sizing: content-box; + overflow: hidden; + background: transparent; + border-bottom: 1px solid var(--color-border-muted); + height: .25em; + padding: 0; + margin: 24px 0; + background-color: var(--color-border-default); + border: 0; + } + + .markdown-body input { + font: inherit; + margin: 0; + overflow: visible; + font-family: inherit; + font-size: inherit; + line-height: inherit; + } + + .markdown-body [type=button], + .markdown-body [type=reset], + .markdown-body [type=submit] { + -webkit-appearance: button; + } + + .markdown-body [type=checkbox], + .markdown-body [type=radio] { + box-sizing: border-box; + padding: 0; + } + + .markdown-body [type=number]::-webkit-inner-spin-button, + .markdown-body [type=number]::-webkit-outer-spin-button { + height: auto; + } + + .markdown-body [type=search]::-webkit-search-cancel-button, + .markdown-body [type=search]::-webkit-search-decoration { + -webkit-appearance: none; + } + + .markdown-body ::-webkit-input-placeholder { + color: inherit; + opacity: .54; + } + + .markdown-body ::-webkit-file-upload-button { + -webkit-appearance: button; + font: inherit; + } + + .markdown-body a:hover { + text-decoration: underline; + } + + .markdown-body ::placeholder { + color: var(--color-fg-subtle); + opacity: 1; + } + + .markdown-body hr::before { + display: table; + content: ""; + } + + .markdown-body hr::after { + display: table; + clear: both; + content: ""; + } + + .markdown-body table { + border-spacing: 0; + border-collapse: collapse; + display: block; + width: max-content; + max-width: 100%; + overflow: auto; + } + + .markdown-body td, + .markdown-body th { + padding: 0; + } + + .markdown-body details summary { + cursor: pointer; + } + + .markdown-body details:not([open])>*:not(summary) { + display: none !important; + } + + .markdown-body a:focus, + .markdown-body [role=button]:focus, + .markdown-body input[type=radio]:focus, + .markdown-body input[type=checkbox]:focus { + outline: 2px solid var(--color-accent-fg); + outline-offset: -2px; + box-shadow: none; + } + + .markdown-body a:focus:not(:focus-visible), + .markdown-body [role=button]:focus:not(:focus-visible), + .markdown-body input[type=radio]:focus:not(:focus-visible), + .markdown-body input[type=checkbox]:focus:not(:focus-visible) { + outline: solid 1px transparent; + } + + .markdown-body a:focus-visible, + .markdown-body [role=button]:focus-visible, + .markdown-body input[type=radio]:focus-visible, + .markdown-body input[type=checkbox]:focus-visible { + outline: 2px solid var(--color-accent-fg); + outline-offset: -2px; + box-shadow: none; + } + + .markdown-body a:not([class]):focus, + .markdown-body a:not([class]):focus-visible, + .markdown-body input[type=radio]:focus, + .markdown-body input[type=radio]:focus-visible, + .markdown-body input[type=checkbox]:focus, + .markdown-body input[type=checkbox]:focus-visible { + outline-offset: 0; + } + + .markdown-body kbd { + display: inline-block; + padding: 3px 5px; + font: 11px ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace; + line-height: 10px; + color: var(--color-fg-default); + vertical-align: middle; + background-color: var(--color-canvas-subtle); + border: solid 1px var(--color-neutral-muted); + border-bottom-color: var(--color-neutral-muted); + border-radius: 6px; + box-shadow: inset 0 -1px 0 var(--color-neutral-muted); + } + + .markdown-body h1, + .markdown-body h2, + .markdown-body h3, + .markdown-body h4, + .markdown-body h5, + .markdown-body h6 { + margin-top: 24px; + margin-bottom: 16px; + font-weight: var(--base-text-weight-semibold, 600); + line-height: 1.25; + } + + .markdown-body h2 { + font-weight: var(--base-text-weight-semibold, 600); + padding-bottom: .3em; + font-size: 1.5em; + border-bottom: 1px solid var(--color-border-muted); + } + + .markdown-body h3 { + font-weight: var(--base-text-weight-semibold, 600); + font-size: 1.25em; + } + + .markdown-body h4 { + font-weight: var(--base-text-weight-semibold, 600); + font-size: 1em; + } + + .markdown-body h5 { + font-weight: var(--base-text-weight-semibold, 600); + font-size: .875em; + } + + .markdown-body h6 { + font-weight: var(--base-text-weight-semibold, 600); + font-size: .85em; + color: var(--color-fg-muted); + } + + .markdown-body p { + margin-top: 0; + margin-bottom: 10px; + } + + .markdown-body blockquote { + margin: 0; + padding: 0 1em; + color: var(--color-fg-muted); + border-left: .25em solid var(--color-border-default); + } + + .markdown-body ul, + .markdown-body ol { + margin-top: 0; + margin-bottom: 0; + padding-left: 2em; + } + + .markdown-body ol ol, + .markdown-body ul ol { + list-style-type: lower-roman; + } + + .markdown-body ul ul ol, + .markdown-body ul ol ol, + .markdown-body ol ul ol, + .markdown-body ol ol ol { + list-style-type: lower-alpha; + } + + .markdown-body dd { + margin-left: 0; + } + + .markdown-body tt, + .markdown-body code, + .markdown-body samp { + font-family: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace; + font-size: 12px; + } + + .markdown-body pre { + margin-top: 0; + margin-bottom: 0; + font-family: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace; + font-size: 12px; + word-wrap: normal; + } + + .markdown-body .octicon { + display: inline-block; + overflow: visible !important; + vertical-align: text-bottom; + fill: currentColor; + } + + .markdown-body input::-webkit-outer-spin-button, + .markdown-body input::-webkit-inner-spin-button { + margin: 0; + -webkit-appearance: none; + appearance: none; + } + + .markdown-body::before { + display: table; + content: ""; + } + + .markdown-body::after { + display: table; + clear: both; + content: ""; + } + + .markdown-body>*:first-child { + margin-top: 0 !important; + } + + .markdown-body>*:last-child { + margin-bottom: 0 !important; + } + + .markdown-body a:not([href]) { + color: inherit; + text-decoration: none; + } + + .markdown-body .absent { + color: var(--color-danger-fg); + } + + .markdown-body .anchor { + float: left; + padding-right: 4px; + margin-left: -20px; + line-height: 1; + } + + .markdown-body .anchor:focus { + outline: none; + } + + .markdown-body p, + .markdown-body blockquote, + .markdown-body ul, + .markdown-body ol, + .markdown-body dl, + .markdown-body table, + .markdown-body pre, + .markdown-body details { + margin-top: 0; + margin-bottom: 16px; + } + + .markdown-body blockquote>:first-child { + margin-top: 0; + } + + .markdown-body blockquote>:last-child { + margin-bottom: 0; + } + + .markdown-body h1 .octicon-link, + .markdown-body h2 .octicon-link, + .markdown-body h3 .octicon-link, + .markdown-body h4 .octicon-link, + .markdown-body h5 .octicon-link, + .markdown-body h6 .octicon-link { + color: var(--color-fg-default); + vertical-align: middle; + visibility: hidden; + } + + .markdown-body h1:hover .anchor, + .markdown-body h2:hover .anchor, + .markdown-body h3:hover .anchor, + .markdown-body h4:hover .anchor, + .markdown-body h5:hover .anchor, + .markdown-body h6:hover .anchor { + text-decoration: none; + } + + .markdown-body h1:hover .anchor .octicon-link, + .markdown-body h2:hover .anchor .octicon-link, + .markdown-body h3:hover .anchor .octicon-link, + .markdown-body h4:hover .anchor .octicon-link, + .markdown-body h5:hover .anchor .octicon-link, + .markdown-body h6:hover .anchor .octicon-link { + visibility: visible; + } + + .markdown-body h1 tt, + .markdown-body h1 code, + .markdown-body h2 tt, + .markdown-body h2 code, + .markdown-body h3 tt, + .markdown-body h3 code, + .markdown-body h4 tt, + .markdown-body h4 code, + .markdown-body h5 tt, + .markdown-body h5 code, + .markdown-body h6 tt, + .markdown-body h6 code { + padding: 0 .2em; + font-size: inherit; + } + + .markdown-body summary h1, + .markdown-body summary h2, + .markdown-body summary h3, + .markdown-body summary h4, + .markdown-body summary h5, + .markdown-body summary h6 { + display: inline-block; + } + + .markdown-body summary h1 .anchor, + .markdown-body summary h2 .anchor, + .markdown-body summary h3 .anchor, + .markdown-body summary h4 .anchor, + .markdown-body summary h5 .anchor, + .markdown-body summary h6 .anchor { + margin-left: -40px; + } + + .markdown-body summary h1, + .markdown-body summary h2 { + padding-bottom: 0; + border-bottom: 0; + } + + .markdown-body ul.no-list, + .markdown-body ol.no-list { + padding: 0; + list-style-type: none; + } + + .markdown-body ol[type=a] { + list-style-type: lower-alpha; + } + + .markdown-body ol[type=A] { + list-style-type: upper-alpha; + } + + .markdown-body ol[type=i] { + list-style-type: lower-roman; + } + + .markdown-body ol[type=I] { + list-style-type: upper-roman; + } + + .markdown-body ol[type="1"] { + list-style-type: decimal; + } + + .markdown-body div>ol:not([type]) { + list-style-type: decimal; + } + + .markdown-body ul ul, + .markdown-body ul ol, + .markdown-body ol ol, + .markdown-body ol ul { + margin-top: 0; + margin-bottom: 0; + } + + .markdown-body li>p { + margin-top: 16px; + } + + .markdown-body li+li { + margin-top: .25em; + } + + .markdown-body dl { + padding: 0; + } + + .markdown-body dl dt { + padding: 0; + margin-top: 16px; + font-size: 1em; + font-style: italic; + font-weight: var(--base-text-weight-semibold, 600); + } + + .markdown-body dl dd { + padding: 0 16px; + margin-bottom: 16px; + } + + .markdown-body table th { + font-weight: var(--base-text-weight-semibold, 600); + } + + .markdown-body table th, + .markdown-body table td { + padding: 6px 13px; + border: 1px solid var(--color-border-default); + } + + .markdown-body table tr { + background-color: var(--color-canvas-default); + border-top: 1px solid var(--color-border-muted); + } + + .markdown-body table tr:nth-child(2n) { + background-color: var(--color-canvas-subtle); + } + + .markdown-body table img { + background-color: transparent; + } + + .markdown-body img[align=right] { + padding-left: 20px; + } + + .markdown-body img[align=left] { + padding-right: 20px; + } + + .markdown-body .emoji { + max-width: none; + vertical-align: text-top; + background-color: transparent; + } + + .markdown-body span.frame { + display: block; + overflow: hidden; + } + + .markdown-body span.frame>span { + display: block; + float: left; + width: auto; + padding: 7px; + margin: 13px 0 0; + overflow: hidden; + border: 1px solid var(--color-border-default); + } + + .markdown-body span.frame span img { + display: block; + float: left; + } + + .markdown-body span.frame span span { + display: block; + padding: 5px 0 0; + clear: both; + color: var(--color-fg-default); + } + + .markdown-body span.align-center { + display: block; + overflow: hidden; + clear: both; + } + + .markdown-body span.align-center>span { + display: block; + margin: 13px auto 0; + overflow: hidden; + text-align: center; + } + + .markdown-body span.align-center span img { + margin: 0 auto; + text-align: center; + } + + .markdown-body span.align-right { + display: block; + overflow: hidden; + clear: both; + } + + .markdown-body span.align-right>span { + display: block; + margin: 13px 0 0; + overflow: hidden; + text-align: right; + } + + .markdown-body span.align-right span img { + margin: 0; + text-align: right; + } + + .markdown-body span.float-left { + display: block; + float: left; + margin-right: 13px; + overflow: hidden; + } + + .markdown-body span.float-left span { + margin: 13px 0 0; + } + + .markdown-body span.float-right { + display: block; + float: right; + margin-left: 13px; + overflow: hidden; + } + + .markdown-body span.float-right>span { + display: block; + margin: 13px auto 0; + overflow: hidden; + text-align: right; + } + + .markdown-body code, + .markdown-body tt { + padding: .2em .4em; + margin: 0; + font-size: 85%; + white-space: break-spaces; + background-color: var(--color-neutral-muted); + border-radius: 6px; + } + + .markdown-body code br, + .markdown-body tt br { + display: none; + } + + .markdown-body del code { + text-decoration: inherit; + } + + .markdown-body samp { + font-size: 85%; + } + + .markdown-body pre code { + font-size: 100%; + } + + .markdown-body pre>code { + padding: 0; + margin: 0; + word-break: normal; + white-space: pre; + background: transparent; + border: 0; + } + + .markdown-body .highlight { + margin-bottom: 16px; + } + + .markdown-body .highlight pre { + margin-bottom: 0; + word-break: normal; + } + + .markdown-body .highlight pre, + .markdown-body pre { + padding: 16px; + overflow: auto; + font-size: 85%; + line-height: 1.45; + background-color: var(--color-canvas-subtle); + border-radius: 6px; + } + + .markdown-body pre code, + .markdown-body pre tt { + display: inline; + max-width: auto; + padding: 0; + margin: 0; + overflow: visible; + line-height: inherit; + word-wrap: normal; + background-color: transparent; + border: 0; + } + + .markdown-body .csv-data td, + .markdown-body .csv-data th { + padding: 5px; + overflow: hidden; + font-size: 12px; + line-height: 1; + text-align: left; + white-space: nowrap; + } + + .markdown-body .csv-data .blob-num { + padding: 10px 8px 9px; + text-align: right; + background: var(--color-canvas-default); + border: 0; + } + + .markdown-body .csv-data tr { + border-top: 0; + } + + .markdown-body .csv-data th { + font-weight: var(--base-text-weight-semibold, 600); + background: var(--color-canvas-subtle); + border-top: 0; + } + + .markdown-body [data-footnote-ref]::before { + content: "["; + } + + .markdown-body [data-footnote-ref]::after { + content: "]"; + } + + .markdown-body .footnotes { + font-size: 12px; + color: var(--color-fg-muted); + border-top: 1px solid var(--color-border-default); + } + + .markdown-body .footnotes ol { + padding-left: 16px; + } + + .markdown-body .footnotes ol ul { + display: inline-block; + padding-left: 16px; + margin-top: 16px; + } + + .markdown-body .footnotes li { + position: relative; + } + + .markdown-body .footnotes li:target::before { + position: absolute; + top: -8px; + right: -8px; + bottom: -8px; + left: -24px; + pointer-events: none; + content: ""; + border: 2px solid var(--color-accent-emphasis); + border-radius: 6px; + } + + .markdown-body .footnotes li:target { + color: var(--color-fg-default); + } + + .markdown-body .footnotes .data-footnote-backref g-emoji { + font-family: monospace; + } + + .markdown-body .pl-c { + color: var(--color-prettylights-syntax-comment); + } + + .markdown-body .pl-c1, + .markdown-body .pl-s .pl-v { + color: var(--color-prettylights-syntax-constant); + } + + .markdown-body .pl-e, + .markdown-body .pl-en { + color: var(--color-prettylights-syntax-entity); + } + + .markdown-body .pl-smi, + .markdown-body .pl-s .pl-s1 { + color: var(--color-prettylights-syntax-storage-modifier-import); + } + + .markdown-body .pl-ent { + color: var(--color-prettylights-syntax-entity-tag); + } + + .markdown-body .pl-k { + color: var(--color-prettylights-syntax-keyword); + } + + .markdown-body .pl-s, + .markdown-body .pl-pds, + .markdown-body .pl-s .pl-pse .pl-s1, + .markdown-body .pl-sr, + .markdown-body .pl-sr .pl-cce, + .markdown-body .pl-sr .pl-sre, + .markdown-body .pl-sr .pl-sra { + color: var(--color-prettylights-syntax-string); + } + + .markdown-body .pl-v, + .markdown-body .pl-smw { + color: var(--color-prettylights-syntax-variable); + } + + .markdown-body .pl-bu { + color: var(--color-prettylights-syntax-brackethighlighter-unmatched); + } + + .markdown-body .pl-ii { + color: var(--color-prettylights-syntax-invalid-illegal-text); + background-color: var(--color-prettylights-syntax-invalid-illegal-bg); + } + + .markdown-body .pl-c2 { + color: var(--color-prettylights-syntax-carriage-return-text); + background-color: var(--color-prettylights-syntax-carriage-return-bg); + } + + .markdown-body .pl-sr .pl-cce { + font-weight: bold; + color: var(--color-prettylights-syntax-string-regexp); + } + + .markdown-body .pl-ml { + color: var(--color-prettylights-syntax-markup-list); + } + + .markdown-body .pl-mh, + .markdown-body .pl-mh .pl-en, + .markdown-body .pl-ms { + font-weight: bold; + color: var(--color-prettylights-syntax-markup-heading); + } + + .markdown-body .pl-mi { + font-style: italic; + color: var(--color-prettylights-syntax-markup-italic); + } + + .markdown-body .pl-mb { + font-weight: bold; + color: var(--color-prettylights-syntax-markup-bold); + } + + .markdown-body .pl-md { + color: var(--color-prettylights-syntax-markup-deleted-text); + background-color: var(--color-prettylights-syntax-markup-deleted-bg); + } + + .markdown-body .pl-mi1 { + color: var(--color-prettylights-syntax-markup-inserted-text); + background-color: var(--color-prettylights-syntax-markup-inserted-bg); + } + + .markdown-body .pl-mc { + color: var(--color-prettylights-syntax-markup-changed-text); + background-color: var(--color-prettylights-syntax-markup-changed-bg); + } + + .markdown-body .pl-mi2 { + color: var(--color-prettylights-syntax-markup-ignored-text); + background-color: var(--color-prettylights-syntax-markup-ignored-bg); + } + + .markdown-body .pl-mdr { + font-weight: bold; + color: var(--color-prettylights-syntax-meta-diff-range); + } + + .markdown-body .pl-ba { + color: var(--color-prettylights-syntax-brackethighlighter-angle); + } + + .markdown-body .pl-sg { + color: var(--color-prettylights-syntax-sublimelinter-gutter-mark); + } + + .markdown-body .pl-corl { + text-decoration: underline; + color: var(--color-prettylights-syntax-constant-other-reference-link); + } + + .markdown-body g-emoji { + display: inline-block; + min-width: 1ch; + font-family: "Apple Color Emoji","Segoe UI Emoji","Segoe UI Symbol"; + font-size: 1em; + font-style: normal !important; + font-weight: var(--base-text-weight-normal, 400); + line-height: 1; + vertical-align: -0.075em; + } + + .markdown-body g-emoji img { + width: 1em; + height: 1em; + } + + .markdown-body .task-list-item { + list-style-type: none; + } + + .markdown-body .task-list-item label { + font-weight: var(--base-text-weight-normal, 400); + } + + .markdown-body .task-list-item.enabled label { + cursor: pointer; + } + + .markdown-body .task-list-item+.task-list-item { + margin-top: 4px; + } + + .markdown-body .task-list-item .handle { + display: none; + } + + .markdown-body .task-list-item-checkbox { + margin: 0 .2em .25em -1.4em; + vertical-align: middle; + } + + .markdown-body .contains-task-list:dir(rtl) .task-list-item-checkbox { + margin: 0 -1.6em .25em .2em; + } + + .markdown-body .contains-task-list { + position: relative; + } + + .markdown-body .contains-task-list:hover .task-list-item-convert-container, + .markdown-body .contains-task-list:focus-within .task-list-item-convert-container { + display: block; + width: auto; + height: 24px; + overflow: visible; + clip: auto; + } + + .markdown-body ::-webkit-calendar-picker-indicator { + filter: invert(50%); + } \ No newline at end of file diff --git a/.devcontainer/caddy/srv/nav2/index.html b/.devcontainer/caddy/srv/nav2/index.html new file mode 100644 index 00000000000..4bebe27f4c7 --- /dev/null +++ b/.devcontainer/caddy/srv/nav2/index.html @@ -0,0 +1,36 @@ +{{$pathParts := splitList "/" .OriginalReq.URL.Path}} +{{$markdownFilename := default "index" (slice $pathParts 2 | join "/")}} +{{$markdownFilePath := printf "/%s.md" $markdownFilename}} +{{if not (fileExists $markdownFilePath)}}{{httpError 404}}{{end}} +{{$markdownFile := (include $markdownFilePath | splitFrontMatter)}} +{{$title := default $markdownFilename $markdownFile.Meta.title}} + + + + + + {{$title}} + + + + + + + +
{{markdown $markdownFile.Body}}
+ + diff --git a/.devcontainer/caddy/srv/nav2/index.md b/.devcontainer/caddy/srv/nav2/index.md new file mode 100644 index 00000000000..1f8dc3d0fda --- /dev/null +++ b/.devcontainer/caddy/srv/nav2/index.md @@ -0,0 +1,51 @@ +{ + "title": "Nav2 App" +} +## Progressive Web Apps + +| PWAs | Shortcuts | +|-|-| +| [](/foxglove/autoconnect)
**Foxglove** | [**Auto Connect**](/foxglove/autoconnect)
[Auto Layout](/foxglove/autolayout)
[Manual](/foxglove/) | +| [](/gzweb/)
**Gzweb** | [**Auto Connect**](/gzweb/) | +| [](/glances/)
**Glances** | [**System Monitor**](/glances/)
[Refresh 1sec](/glances/1)
[Refresh 10sec](/glances/10) | +| [](/nav2/)
**Nav2** | [**App Launcher**](/nav2/)
[File Browser](/?browse=true) | + +## External Resources + +For more related documentation: + +- [Nav2 Documentation](https://docs.nav2.org) + - [Development Guides](https://docs.nav2.org/development_guides) + - [Dev Containers](https://docs.nav2.org/development_guides/devcontainer_docs) + +## Session Info + +Useful information about host server and remote client: + +|Key | Value | +|-|-| +| Host | `{{.Host}}` | +| Remote IP | `{{placeholder "http.request.remote.host"}}` | +| Date | `{{now}}` | + +### Server Diagnostics + +
+Websocket Debug + +For troubleshooting websocket connections: + +|Key | Value | +|-|-| +| `header.X-Forwarded-Host` | `{{placeholder "http.request.header.X-Forwarded-Host"}}` | +| `http.request.hostport` | `{{placeholder "http.request.hostport"}}` | +| `http.vars.ReqHost` | `{{placeholder "http.vars.ReqHost"}}` | + +|Key | Value | +|-|-| +| `http.request.scheme` | `{{placeholder "http.request.scheme"}}` | +| `header.X-Forwarded-Scheme` | `{{placeholder "http.request.header.X-Forwarded-Scheme"}}` | +| `header.X-Forwarded-Proto` | `{{placeholder "http.request.header.X-Forwarded-Proto"}}` | +| `http.vars.WsScheme` | `{{placeholder "http.vars.WsScheme"}}` | + +
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index c81677a58ca..09aaa5d31d4 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -14,8 +14,8 @@ // "--privileged", // device access to host peripherals, e.g. USB // "--security-opt=seccomp=unconfined", // enable debugging, e.g. gdb ], - "workspaceMount": "source=${localWorkspaceFolder},target=/opt/overlay_ws/src/navigation2,type=bind", "workspaceFolder": "/opt/overlay_ws/src/navigation2", + "workspaceMount": "source=${localWorkspaceFolder},target=${containerWorkspaceFolder},type=bind", "onCreateCommand": ".devcontainer/on-create-command.sh", "updateContentCommand": ".devcontainer/update-content-command.sh", "postCreateCommand": ".devcontainer/post-create-command.sh", diff --git a/.devcontainer/post-create-command.sh b/.devcontainer/post-create-command.sh index 486724edfe7..9f64a2c6ab6 100755 --- a/.devcontainer/post-create-command.sh +++ b/.devcontainer/post-create-command.sh @@ -9,3 +9,10 @@ set -eo pipefail # Enable autocomplete for user cp /etc/skel/.bashrc ~/ + +# Check if srv folder exists +if [ -d "$ROOT_SRV" ]; then + # Setup Nav2 web app + for dir in $OVERLAY_WS/src/navigation2/.devcontainer/caddy/srv/*; \ + do if [ -d "$dir" ]; then ln -s "$dir" $ROOT_SRV; fi done +fi diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index 630c2a02265..88c59fe4eda 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -9,6 +9,7 @@ | Ticket(s) this addresses | (add tickets here #1) | | Primary OS tested on | (Ubuntu, MacOS, Windows) | | Robotic platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) | +| Does this PR contain AI generated software? | (No; Yes and it is marked inline in the code) | --- @@ -37,7 +38,7 @@ --> #### For Maintainers: -- [ ] Check that any new parameters added are updated in navigation.ros.org +- [ ] Check that any new parameters added are updated in docs.nav2.org - [ ] Check that any significant change is added to the migration guide - [ ] Check that any new features **OR** changes to existing behaviors are reflected in the tuning guide - [ ] Check that any new functions have Doxygen added diff --git a/.github/mergify.yml b/.github/mergify.yml index b99404328b0..a0427e60540 100644 --- a/.github/mergify.yml +++ b/.github/mergify.yml @@ -1,4 +1,13 @@ pull_request_rules: + - name: backport to iron at reviewers discretion + conditions: + - base=main + - "label=backport-iron" + actions: + backport: + branches: + - iron + - name: backport to humble at reviewers discretion conditions: - base=main @@ -74,7 +83,7 @@ pull_request_rules: comment: message: | @{{author}}, please properly fill in PR template in the future. @stevemacenski, use this instead. - - [ ] Check that any new parameters added are updated in navigation.ros.org + - [ ] Check that any new parameters added are updated in docs.nav2.org - [ ] Check that any significant change is added to the migration guide - [ ] Check that any new features **OR** changes to existing behaviors are reflected in the tuning guide - [ ] Check that any new functions have Doxygen added diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml new file mode 100644 index 00000000000..8732b239d9b --- /dev/null +++ b/.github/workflows/lint.yml @@ -0,0 +1,21 @@ +name: Lint +on: + pull_request: + +jobs: + ament_lint_general: + name: ament_${{ matrix.linter }} + runs-on: ubuntu-latest + container: + image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest + strategy: + fail-fast: false + matrix: + linter: [xmllint, cpplint, uncrustify, pep257, flake8] + steps: + - uses: actions/checkout@v4 + - uses: ros-tooling/action-ros-lint@v0.1 + with: + linter: ${{ matrix.linter }} + distribution: rolling + package-name: "*" diff --git a/.github/workflows/update_ci_image.yaml b/.github/workflows/update_ci_image.yaml index 872c96385b6..ce987eb118d 100644 --- a/.github/workflows/update_ci_image.yaml +++ b/.github/workflows/update_ci_image.yaml @@ -63,11 +63,11 @@ jobs: - check_ci_image runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v2 + uses: docker/setup-buildx-action@v3 - name: Login to Docker Hub - uses: docker/login-action@v2 + uses: docker/login-action@v3 with: registry: ghcr.io username: ${{ github.repository_owner }} @@ -99,7 +99,7 @@ jobs: - name: Build and push ${{ github.ref_name }} if: steps.config.outputs.trigger == 'true' id: docker_build - uses: docker/build-push-action@v4 + uses: docker/build-push-action@v5 with: context: . pull: true diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 2f65dac128b..39bdc832813 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -4,144 +4,121 @@ "version": "2.0.0", "tasks": [ { - "label": "Gzweb", + "label": "Web Server", "icon": { "id": "debug-start" }, "type": "process", - "command": "npm", + "command": "caddy", "args": [ - "start" + "run", + "--watch" ], "options": { - "cwd": "/opt/gzweb", - "env": { - "npm_config_port": "9090" - } + "cwd": "${workspaceFolder}/.devcontainer/caddy" }, - "hide": true, "isBackground": true, + "hide": true, "problemMatcher": [] }, { - "label": "Stop Gzweb", + "label": "Stop Web Server", "icon": { "id": "debug-stop" }, "type": "shell", - "command": "pkill -SIGTERM -f 'npm start' || true", + "command": "echo ${input:Terminate Web Server}", "hide": true, "problemMatcher": [] }, { - "label": "Restart Gzweb", - "icon": { - "id": "debug-restart" - }, - "dependsOn": [ - "Stop Gzweb", - "Gzweb" - ], - "dependsOrder": "sequence", - "problemMatcher": [] - }, - { - "label": "Foxglove Bridge", + "label": "System Monitor", "icon": { "id": "debug-start" }, - "type": "shell", - "command": "source ./install/setup.bash && ros2 run foxglove_bridge foxglove_bridge", - "options": { - "cwd": "/opt/overlay_ws", - }, + "type": "process", + "command": "glances", + "args": [ + "-w" + ], "isBackground": true, "hide": true, "problemMatcher": [] }, { - "label": "Stop Foxglove Bridge", + "label": "Stop System Monitor", "icon": { "id": "debug-stop" }, "type": "shell", - "command": "pkill -SIGTERM -f 'ros2 run foxglove_bridge foxglove_bridge' || true", + "command": "echo ${input:Terminate System Monitor}", "hide": true, "problemMatcher": [] }, { - "label": "Foxglove Studio", + "label": "Gzweb Bridge", "icon": { "id": "debug-start" }, "type": "process", - "command": "caddy", + "command": "npm", "args": [ - "file-server", - "--listen", - ":8080" + "start" ], "options": { - "cwd": "/opt/foxglove", + "cwd": "${env:GZWEB_WS}", + "env": { + "npm_config_port": "9090" + } }, - "isBackground": true, "hide": true, + "isBackground": true, "problemMatcher": [] }, { - "label": "Stop Foxglove Studio", + "label": "Stop Gzweb Bridge", "icon": { "id": "debug-stop" }, "type": "shell", - "command": "pkill -SIGTERM -f 'caddy file-server --listen :8080' || true", + "command": "echo ${input:Terminate Gzweb Bridge}", "hide": true, "problemMatcher": [] }, { - "label": "Foxglove", + "label": "Foxglove Bridge", "icon": { "id": "debug-start" }, - "dependsOn": [ - "Foxglove Bridge", - "Foxglove Studio" - ], + "type": "shell", + "command": "source ./install/setup.bash && ros2 run foxglove_bridge foxglove_bridge", + "options": { + "cwd": "${env:OVERLAY_WS}", + }, + "isBackground": true, "hide": true, "problemMatcher": [] }, { - "label": "Stop Foxglove", + "label": "Stop Foxglove Bridge", "icon": { "id": "debug-stop" }, - "dependsOn": [ - "Stop Foxglove Bridge", - "Stop Foxglove Studio" - ], + "type": "shell", + "command": "echo ${input:Terminate Foxglove Bridge}", "hide": true, "problemMatcher": [] }, - { - "label": "Restart Foxglove", - "icon": { - "id": "debug-restart" - }, - "dependsOn": [ - "Stop Foxglove", - "Foxglove" - ], - "dependsOrder": "sequence", - "problemMatcher": [] - }, { "label": "Start Visualizations", "icon": { "id": "debug-start" }, "dependsOn": [ - "Gzweb", - "Foxglove" + "Web Server", + "System Monitor", + "Gzweb Bridge", + "Foxglove Bridge" ], // "hide": true, "problemMatcher": [] @@ -152,8 +129,10 @@ "id": "debug-stop" }, "dependsOn": [ - "Stop Gzweb", - "Stop Foxglove" + "Stop Web Server", + "Stop System Monitor", + "Stop Gzweb Bridge", + "Stop Foxglove Bridge" ], // "hide": true, "problemMatcher": [] @@ -170,5 +149,31 @@ "dependsOrder": "sequence", "problemMatcher": [] } + ], + "inputs": [ + { + "id": "Terminate Web Server", + "type": "command", + "command": "workbench.action.tasks.terminate", + "args": "Web Server" + }, + { + "id": "Terminate System Monitor", + "type": "command", + "command": "workbench.action.tasks.terminate", + "args": "System Monitor" + }, + { + "id": "Terminate Gzweb Bridge", + "type": "command", + "command": "workbench.action.tasks.terminate", + "args": "Gzweb Bridge" + }, + { + "id": "Terminate Foxglove Bridge", + "type": "command", + "command": "workbench.action.tasks.terminate", + "args": "Foxglove Bridge" + }, ] } diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 00000000000..cfba094dace --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,18 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ + +Contributors must sign-off each commit by adding a `Signed-off-by: ...` +line to commit messages to certify that they have the right to submit +the code they are contributing to the project according to the +[Developer Certificate of Origin (DCO)](https://developercertificate.org/). diff --git a/Dockerfile b/Dockerfile index d30b9d75913..69c89230193 100644 --- a/Dockerfile +++ b/Dockerfile @@ -143,17 +143,27 @@ RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/ RUN apt-get update && \ apt-get install -y \ bash-completion \ - gdb + gdb \ + wget && \ + pip3 install \ + bottle \ + glances # source underlay for shell RUN echo 'source "$UNDERLAY_WS/install/setup.bash"' >> /etc/bash.bashrc +# multi-stage for caddy +FROM caddy:builder AS caddyer + +# build custom modules +RUN xcaddy build \ + --with github.com/caddyserver/replace-response + # multi-stage for visualizing FROM dever AS visualizer -# install foxglove dependacies -RUN echo "deb https://dl.cloudsmith.io/public/caddy/stable/deb/debian any-version main" > /etc/apt/sources.list.d/caddy-stable.list -RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 65760c51edea2017cea2ca15155b6d79ca56ea34 +ENV ROOT_SRV /srv +RUN mkdir -p $ROOT_SRV # install demo dependencies RUN apt-get update && apt-get install -y \ @@ -176,30 +186,42 @@ RUN apt-get install -y --no-install-recommends \ # clone gzweb ENV GZWEB_WS /opt/gzweb -RUN git clone --branch python3 https://github.com/ruffsl/gzweb.git $GZWEB_WS +RUN git clone https://github.com/osrf/gzweb.git $GZWEB_WS -# build gzweb +# setup gzweb RUN cd $GZWEB_WS && . /usr/share/gazebo/setup.sh && \ GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(find /opt/ros/$ROS_DISTRO/share \ -mindepth 1 -maxdepth 2 -type d -name "models" | paste -s -d: -) && \ + sed -i "s|var modelList =|var modelList = []; var oldModelList =|g" gz3d/src/gzgui.js && \ xvfb-run -s "-screen 0 1280x1024x24" ./deploy.sh -m local && \ - ln -s $GZWEB_WS/http/client/assets http/client/assets/models + ln -s $GZWEB_WS/http/client/assets http/client/assets/models && \ + ln -s $GZWEB_WS/http/client $ROOT_SRV/gzweb # patch gzsever RUN GZSERVER=$(which gzserver) && \ mv $GZSERVER $GZSERVER.orig && \ echo '#!/bin/bash' > $GZSERVER && \ - echo 'xvfb-run -s "-screen 0 1280x1024x24" gzserver.orig "$@"' >> $GZSERVER && \ + echo 'exec xvfb-run -s "-screen 0 1280x1024x24" gzserver.orig "$@"' >> $GZSERVER && \ chmod +x $GZSERVER # install foxglove dependacies RUN apt-get install -y --no-install-recommends \ - caddy \ ros-$ROS_DISTRO-foxglove-bridge -# copy foxglove -ENV FOXGLOVE_WS /opt/foxglove -COPY --from=ghcr.io/foxglove/studio /src $FOXGLOVE_WS +# setup foxglove +# Use custom fork until PR is merged: +# https://github.com/foxglove/studio/pull/5987 +# COPY --from=ghcr.io/foxglove/studio /src $ROOT_SRV/foxglove +COPY --from=ghcr.io/ruffsl/foxglove_studio@sha256:8a2f2be0a95f24b76b0d7aa536f1c34f3e224022eed607cbf7a164928488332e /src $ROOT_SRV/foxglove + +# install web server +COPY --from=caddyer /usr/bin/caddy /usr/bin/caddy + +# download media files +RUN mkdir -p $ROOT_SRV/media && cd /tmp && \ + export ICONS="icons.tar.gz" && wget https://github.com/ros-planning/navigation2/files/11506823/$ICONS && \ + echo "cae5e2a5230f87b004c8232b579781edb4a72a7431405381403c6f9e9f5f7d41 $ICONS" | sha256sum -c && \ + tar xvz -C $ROOT_SRV/media -f $ICONS && rm $ICONS # multi-stage for exporting FROM tester AS exporter diff --git a/README.md b/README.md index 58b35d28582..ab34c01ce3d 100644 --- a/README.md +++ b/README.md @@ -1,24 +1,45 @@ # Nav2 -[![GitHub Workflow Status](https://github.com/ros-planning/navigation2/actions/workflows/update_ci_image.yaml/badge.svg)](https://github.com/ros-planning/navigation2/actions/workflows/update_ci_image.yaml) -[![codecov](https://codecov.io/gh/ros-planning/navigation2/branch/main/graph/badge.svg?token=S3iRmypwlg)](https://codecov.io/gh/ros-planning/navigation2) +[![GitHub Workflow Status](https://github.com/ros-navigation/navigation2/actions/workflows/update_ci_image.yaml/badge.svg)](https://github.com/ros-navigation/navigation2/actions/workflows/update_ci_image.yaml) +[![codecov](https://codecov.io/gh/ros-navigation/navigation2/branch/main/graph/badge.svg?token=S3iRmypwlg)](https://codecov.io/gh/ros-navigation/navigation2)

For detailed instructions on how to: -- [Getting Started](https://navigation.ros.org/getting_started/index.html) -- [Concepts](https://navigation.ros.org/concepts/index.html) -- [Build](https://navigation.ros.org/build_instructions/index.html#build) -- [Install](https://navigation.ros.org/build_instructions/index.html#install) -- [General Tutorials](https://navigation.ros.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://navigation.ros.org/plugin_tutorials/index.html) -- [Configure](https://navigation.ros.org/configuration/index.html) -- [Navigation Plugins](https://navigation.ros.org/plugins/index.html) -- [Migration Guides](https://navigation.ros.org/migration/index.html) +- [Getting Started](https://docs.nav2.org/getting_started/index.html) +- [Concepts](https://docs.nav2.org/concepts/index.html) +- [Build](https://docs.nav2.org/development_guides/build_docs/index.html#build) +- [Install](https://docs.nav2.org/development_guides/build_docs/index.html#install) +- [General Tutorials](https://docs.nav2.org/tutorials/index.html) and [Algorithm Developer Tutorials](https://docs.nav2.org/plugin_tutorials/index.html) +- [Configure](https://docs.nav2.org/configuration/index.html) +- [Navigation Plugins](https://docs.nav2.org/plugins/index.html) +- [Migration Guides](https://docs.nav2.org/migration/index.html) - [Container Images for Building Nav2](https://github.com/orgs/ros-planning/packages/container/package/navigation2) -- [Contribute](https://navigation.ros.org/contribute/index.html) +- [Contribute](https://docs.nav2.org/development_guides/involvement_docs/index.html) + +Please visit our [documentation site](https://docs.nav2.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate). + +If you need professional services related to Nav2, please contact Open Navigation at info@opennav.org. + +## Our Sponsors + +Please thank our amazing sponsors for their generous support of Nav2 on behalf of the community to allow the project to continue to be professionally maintained, developed, and supported for the long-haul! [Open Navigation LLC](https://www.opennav.org/) provides project leadership, maintenance, development, and support services to the Nav2 & ROS community. + +

+ +

+ +### [Dexory](https://www.dexory.com/) develops robotics and AI logistics solutions to drive better business decisions using a digital twin of warehouses to provide inventory insights. + +### [Nvidia](https://www.nvidia.com/en-us/deep-learning-ai/industries/robotics/) develops GPU and AI technologies that power modern robotics, autonomous driving, data centers, gaming, and more. + +### [Polymath Robotics](https://www.polymathrobotics.com/) creates safety-critical navigation systems for industrial vehicles that are radically simple to enable and deploy. + +### [Stereolabs](https://www.stereolabs.com/) produces the high-quality ZED stereo cameras with a complete vision pipeline from neural depth to SLAM, 3D object tracking, AI and more. + +### Confidential is just happy to support Nav2's mission! -Please visit our [documentation site](https://navigation.ros.org/). [Please visit our community Slack here](https://join.slack.com/t/navigation2/shared_invite/zt-hu52lnnq-cKYjuhTY~sEMbZXL8p9tOw) (if this link does not work, please contact maintainers to reactivate). ## Citation @@ -38,6 +59,45 @@ please cite this work in your papers! } ``` +If you use **any** of the algorithms in Nav2 or the analysis of the algorithms in your work, please cite this work in your papers! + +- S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson, [**From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2**](https://arxiv.org/pdf/2307.15236.pdf), Robotics and Autonomous Systems, 2023. + +```bibtex + @article{macenski2023survey, + title={From the desks of ROS maintainers: A survey of modern & capable mobile robotics algorithms in the robot operating system 2}, + author={S. Macenski, T. Moore, DV Lu, A. Merzlyakov, M. Ferguson}, + year={2023}, + journal = {Robotics and Autonomous Systems} + } +``` + +If you use the Smac Planner (Hybrid A*, State Lattice, 2D), please cite this work in your papers! + +- S. Macenski, M. Booker, J. Wallace, [**Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics**](https://arxiv.org/abs/2401.13078). 2024. + +```bibtex +@article{macenski2024smac, + title={Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics}, + author={Steve Macenski and Matthew Booker and Josh Wallace}, + year={2024}, + journal = {Arxiv} +} +``` + +If you use the Regulated Pure Pursuit Controller algorithm or software from this repository, please cite this work in your papers! + +- S. Macenski, S. Singh, F. Martin, J. Gines, [**Regulated Pure Pursuit for Robot Path Tracking**](https://arxiv.org/abs/2305.20026). Autonomous Robots, 2023. + +```bibtex +@article{macenski2023regulated, + title={Regulated Pure Pursuit for Robot Path Tracking}, + author={Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines}, + year={2023}, + journal = {Autonomous Robots} +} +``` + If you use our work on VSLAM and formal comparisons for service robot needs, please cite the paper: - A. Merzlyakov, S. Macenski. [**A Comparison of Modern General-Purpose Visual SLAM Approaches**](https://arxiv.org/abs/2107.07589). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. @@ -54,39 +114,42 @@ please cite this work in your papers! ## Build Status -| Service | Foxy | Humble | Main | +| Service | Humble | Iron | Main | | :---: | :---: | :---: | :---: | -| ROS Build Farm | [![Build Status](http://build.ros2.org/job/Fdev__navigation2__ubuntu_focal_amd64/badge/icon)](http://build.ros2.org/job/Fdev__navigation2__ubuntu_focal_amd64/) | [![Build Status](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/) | N/A | -| Circle CI | N/A | N/A | [![Build Status](https://circleci.com/gh/ros-planning/navigation2/tree/main.svg?style=svg)](https://circleci.com/gh/ros-planning/navigation2/tree/main) | - - -| Package | Foxy Source | Foxy Debian | Humble Source | Humble Debian | -| :---: | :---: | :---: | :---: | :---: | -| Navigation2 | [![Build Status](http://build.ros2.org/job/Fsrc_uF__navigation2__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__navigation2__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__navigation2__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__navigation2__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__navigation2__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__navigation2__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__navigation2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__navigation2__ubuntu_jammy_amd64__binary/) | -| nav2_amcl | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_amcl__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_amcl__ubuntu_focal__source/) | [![Build 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Status](https://build.ros2.org/job/Hbin_uJ64__nav2_map_server__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_map_server__ubuntu_jammy_amd64__binary/) | -| nav2_msgs | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_msgs__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_msgs__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_msgs__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_msgs__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_msgs__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_msgs__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_msgs__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_msgs__ubuntu_jammy_amd64__binary/) | -| nav2_navfn_planner | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_navfn_planner__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_navfn_planner__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_navfn_planner__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_navfn_planner__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_navfn_planner__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_navfn_planner__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_navfn_planner__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_navfn_planner__ubuntu_jammy_amd64__binary/) | -| nav2_planner | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_planner__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_planner__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_planner__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_planner__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_planner__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_planner__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_planner__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_planner__ubuntu_jammy_amd64__binary/) | -| nav2_regulated_pure_pursuit | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_regulated_pure_pursuit_controller__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_regulated_pure_pursuit_controller__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_regulated_pure_pursuit_controller__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__nav2_regulated_pure_pursuit_controller__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_regulated_pure_pursuit_controller__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_regulated_pure_pursuit_controller__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_regulated_pure_pursuit_controller__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_regulated_pure_pursuit_controller__ubuntu_jammy_amd64__binary/) | -| nav2_rotation_shim_controller | N/A | N/A | N/A | N/A | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_rotation_shim_controller__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_rotation_shim_controller__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_rotation_shim_controller__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_rotation_shim_controller__ubuntu_jammy_amd64__binary/) | -| nav2_rviz_plugins | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_rviz_plugins__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_rviz_plugins__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_rviz_plugins__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_rviz_plugins__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_rviz_plugins__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_rviz_plugins__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_rviz_plugins__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_rviz_plugins__ubuntu_jammy_amd64__binary/) | -| nav2_simple_commander | N/A | N/A | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_simple_commander__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_simple_commander__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_simple_commander__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_simple_commander__ubuntu_jammy_amd64__binary/) | -| nav2_smac_planner | [![Build Status](http://build.ros2.org/job/Fsrc_uF__smac_planner__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__smac_planner__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__smac_planner__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__smac_planner__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_smac_planner__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_smac_planner__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_smac_planner__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_smac_planner__ubuntu_jammy_amd64__binary/) | -| nav2_smoother | N/A | N/A | N/A | N/A | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_smoother__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_smoother__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_smoother__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_smoother__ubuntu_jammy_amd64__binary/) | -| nav2_system_tests | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_system_tests__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_system_tests__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_system_tests__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_system_tests__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_system_tests__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_system_tests__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_system_tests__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_system_tests__ubuntu_jammy_amd64__binary/) | -| nav2_theta_star_planner | N/A | N/A | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_theta_star_planner__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_theta_star_planner__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_theta_star_planner__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_theta_star_planner__ubuntu_jammy_amd64__binary/) | -| nav2_util | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_util__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_util__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_util__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_util__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_util__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_util__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_util__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_util__ubuntu_jammy_amd64__binary/) | -| nav2_voxel_grid | [![Build Status](https://build.ros2.org/job/Fsrc_uF__nav2_voxel_grid__ubuntu_focal__source/badge/icon)](https://build.ros2.org/job/Fsrc_uF__nav2_voxel_grid__ubuntu_focal__source/) | [![Build Status](https://build.ros2.org/job/Fbin_uF64__nav2_voxel_grid__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros2.org/job/Fbin_uF64__nav2_voxel_grid__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/) | -| nav2_waypoint_follower | [![Build Status](http://build.ros2.org/job/Fsrc_uF__nav2_waypoint_follower__ubuntu_focal__source/badge/icon)](http://build.ros2.org/job/Fsrc_uF__nav2_waypoint_follower__ubuntu_focal__source/) | [![Build Status](http://build.ros2.org/job/Fbin_uF64__nav2_waypoint_follower__ubuntu_focal_amd64__binary/badge/icon)](http://build.ros2.org/job/Fbin_uF64__nav2_waypoint_follower__ubuntu_focal_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_waypoint_follower__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_waypoint_follower__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_waypoint_follower__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_waypoint_follower__ubuntu_jammy_amd64__binary/) | +| ROS Build Farm | [![Build Status](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__navigation2__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Idev__navigation2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Idev__navigation2__ubuntu_jammy_amd64/) | N/A | +| Circle CI | N/A | N/A | [![Build Status](https://circleci.com/gh/ros-navigation/navigation2/tree/main.svg?style=svg)](https://circleci.com/gh/ros-navigation/navigation2/tree/main) | + + +| Package | Humble Source | Humble Debian | Iron Source | Iron Debian | +| :---: | :---: | :---: | :---: | :---: | +| Navigation2 | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__navigation2__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__navigation2__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__navigation2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__navigation2__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__navigation2__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__navigation2__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__navigation2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__navigation2__ubuntu_jammy_amd64__binary/) +| nav2_amcl | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_amcl__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_amcl__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_amcl__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_amcl__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_amcl__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_amcl__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_amcl__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_amcl__ubuntu_jammy_amd64__binary/) | +| nav2_behavior_tree | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_behavior_tree__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_behavior_tree__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_behavior_tree__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_behavior_tree__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_behavior_tree__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_behavior_tree__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_behavior_tree__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_behavior_tree__ubuntu_jammy_amd64__binary/) | +| nav2_behaviors | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_behaviors__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_behaviors__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_behaviors__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_behaviors__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_behaviors__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_behaviors__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_behaviors__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_behaviors__ubuntu_jammy_amd64__binary/) | +| nav2_bringup | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_bringup__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_bringup__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_bringup__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_bringup__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_bringup__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_bringup__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_bringup__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_bringup__ubuntu_jammy_amd64__binary/) | +| nav2_bt_navigator | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_bt_navigator__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_bt_navigator__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_bt_navigator__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_bt_navigator__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_bt_navigator__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_bt_navigator__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_bt_navigator__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_bt_navigator__ubuntu_jammy_amd64__binary/) | +| nav2_collision_monitor | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_collision_monitor__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_collision_monitor__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_collision_monitor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_collision_monitor__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_collision_monitor__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_collision_monitor__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_collision_monitor__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_collision_monitor__ubuntu_jammy_amd64__binary/) | +| nav2_common | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_common__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_common__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_common__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_common__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_common__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_common__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_common__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_common__ubuntu_jammy_amd64__binary/) | +| nav2_constrained_smoother | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_constrained_smoother__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_constrained_smoother__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_constrained_smoother__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_constrained_smoother__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_constrained_smoother__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_constrained_smoother__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_constrained_smoother__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_constrained_smoother__ubuntu_jammy_amd64__binary/) | +| nav2_controller | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_controller__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_controller__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_controller__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_controller__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_controller__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_controller__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_controller__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_controller__ubuntu_jammy_amd64__binary/) | +| nav2_core | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_core__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_core__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_core__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_core__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_core__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_core__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_core__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_core__ubuntu_jammy_amd64__binary/) | +| nav2_costmap_2d | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_costmap_2d__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_costmap_2d__ubuntu_jammy__source/) | [![Build 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Status](https://build.ros2.org/job/Hsrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Hbin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/) | [![Build Status](https://build.ros2.org/job/Isrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Isrc_uJ__nav2_voxel_grid__ubuntu_jammy__source/) | [![Build Status](https://build.ros2.org/job/Ibin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Ibin_uJ64__nav2_voxel_grid__ubuntu_jammy_amd64__binary/) | +| nav2_waypoint_follower | [![Build Status](https://build.ros2.org/job/Hsrc_uJ__nav2_waypoint_follower__ubuntu_jammy__source/badge/icon)](https://build.ros2.org/job/Hsrc_uJ__nav2_waypoint_follower__ubuntu_jammy__source/) | [![Build 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a/doc/sponsors_may_2023.png b/doc/sponsors_may_2023.png new file mode 100644 index 00000000000..ce928b75e84 Binary files /dev/null and b/doc/sponsors_may_2023.png differ diff --git a/nav2_amcl/README.md b/nav2_amcl/README.md index 7215500919a..5e8d737a760 100644 --- a/nav2_amcl/README.md +++ b/nav2_amcl/README.md @@ -1,4 +1,4 @@ # AMCL Adaptive Monte Carlo Localization (AMCL) is a probabilistic localization module which estimates the position and orientation (i.e. Pose) of a robot in a given known map using a 2D laser scanner. This is largely a refactored port from ROS 1 without any algorithmic changes. -See the [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings. +See the [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-amcl.html) for more details about configurable settings and their meanings. diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp index 2360d09c253..030a85f38cd 100644 --- a/nav2_amcl/include/nav2_amcl/amcl_node.hpp +++ b/nav2_amcl/include/nav2_amcl/amcl_node.hpp @@ -35,6 +35,7 @@ #include "nav2_amcl/sensors/laser/laser.hpp" #include "nav2_msgs/msg/particle.hpp" #include "nav2_msgs/msg/particle_cloud.hpp" +#include "nav2_msgs/srv/set_initial_pose.hpp" #include "nav_msgs/srv/set_map.hpp" #include "sensor_msgs/msg/laser_scan.hpp" #include "std_srvs/srv/empty.hpp" @@ -210,6 +211,16 @@ class AmclNode : public nav2_util::LifecycleNode const std::shared_ptr request, std::shared_ptr response); + // service server for providing an initial pose guess + rclcpp::Service::SharedPtr initial_guess_srv_; + /* + * @brief Service callback for an initial pose guess request + */ + void initialPoseReceivedSrv( + const std::shared_ptr request_header, + const std::shared_ptr request, + std::shared_ptr response); + // Let amcl update samples without requiring motion rclcpp::Service::SharedPtr nomotion_update_srv_; /* diff --git a/nav2_amcl/include/nav2_amcl/pf/pf_vector.hpp b/nav2_amcl/include/nav2_amcl/pf/pf_vector.hpp index c3b406cfd43..713478d24d3 100644 --- a/nav2_amcl/include/nav2_amcl/pf/pf_vector.hpp +++ b/nav2_amcl/include/nav2_amcl/pf/pf_vector.hpp @@ -49,7 +49,7 @@ typedef struct // Return a zero vector -pf_vector_t pf_vector_zero(); +pf_vector_t pf_vector_zero(void); // Check for NAN or INF in any component // int pf_vector_finite(pf_vector_t a); @@ -71,7 +71,7 @@ pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b); // Return a zero matrix -pf_matrix_t pf_matrix_zero(); +pf_matrix_t pf_matrix_zero(void); // Check for NAN or INF in any component // int pf_matrix_finite(pf_matrix_t a); diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml index 3ff62b68707..453fd17d281 100644 --- a/nav2_amcl/package.xml +++ b/nav2_amcl/package.xml @@ -2,7 +2,7 @@ nav2_amcl - 1.1.0 + 1.2.0

amcl is a probabilistic localization system for a robot moving in diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp index dd03b3be022..764a8f059fc 100644 --- a/nav2_amcl/src/amcl_node.cpp +++ b/nav2_amcl/src/amcl_node.cpp @@ -49,6 +49,7 @@ #pragma GCC diagnostic pop #include "nav2_amcl/portable_utils.hpp" +#include "nav2_util/validate_messages.hpp" using namespace std::placeholders; using rcl_interfaces::msg::ParameterType; @@ -325,13 +326,17 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/) // Get rid of the inputs first (services and message filter input), so we // don't continue to process incoming messages global_loc_srv_.reset(); + initial_guess_srv_.reset(); nomotion_update_srv_.reset(); + executor_thread_.reset(); // to make sure initial_pose_sub_ completely exit initial_pose_sub_.reset(); laser_scan_connection_.disconnect(); + tf_listener_.reset(); // listener may access lase_scan_filter_, so it should be reset earlier laser_scan_filter_.reset(); laser_scan_sub_.reset(); // Map + map_sub_.reset(); // map_sub_ may access map_, so it should be reset earlier if (map_ != NULL) { map_free(map_); map_ = nullptr; @@ -341,7 +346,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/) // Transforms tf_broadcaster_.reset(); - tf_listener_.reset(); tf_buffer_.reset(); // PubSub @@ -493,6 +497,15 @@ AmclNode::globalLocalizationCallback( pf_init_ = false; } +void +AmclNode::initialPoseReceivedSrv( + const std::shared_ptr/*request_header*/, + const std::shared_ptr req, + std::shared_ptr/*res*/) +{ + initialPoseReceived(std::make_shared(req->pose)); +} + // force nomotion updates (amcl updating without requiring motion) void AmclNode::nomotionUpdateCallback( @@ -511,11 +524,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha RCLCPP_INFO(get_logger(), "initialPoseReceived"); - if (msg->header.frame_id == "") { - // This should be removed at some point - RCLCPP_WARN( - get_logger(), - "Received initial pose with empty frame_id. You should always supply a frame_id."); + if (!nav2_util::validateMsg(*msg)) { + RCLCPP_ERROR(get_logger(), "Received initialpose message is malformed. Rejecting."); return; } if (nav2_util::strip_leading_slash(msg->header.frame_id) != global_frame_id_) { @@ -1102,20 +1112,20 @@ AmclNode::initParameters() // Semantic checks if (laser_likelihood_max_dist_ < 0) { RCLCPP_WARN( - get_logger(), "You've set laser_likelihood_max_dist to be negtive," + get_logger(), "You've set laser_likelihood_max_dist to be negative," " this isn't allowed so it will be set to default value 2.0."); laser_likelihood_max_dist_ = 2.0; } if (max_particles_ < 0) { RCLCPP_WARN( - get_logger(), "You've set max_particles to be negtive," + get_logger(), "You've set max_particles to be negative," " this isn't allowed so it will be set to default value 2000."); max_particles_ = 2000; } if (min_particles_ < 0) { RCLCPP_WARN( - get_logger(), "You've set min_particles to be negtive," + get_logger(), "You've set min_particles to be negative," " this isn't allowed so it will be set to default value 500."); min_particles_ = 500; } @@ -1129,7 +1139,7 @@ AmclNode::initParameters() if (resample_interval_ <= 0) { RCLCPP_WARN( - get_logger(), "You've set resample_interval to be zero or negtive," + get_logger(), "You've set resample_interval to be zero or negative," " this isn't allowed so it will be set to default value to 1."); resample_interval_ = 1; } @@ -1167,7 +1177,7 @@ AmclNode::dynamicParametersCallback( if (param_type == ParameterType::PARAMETER_DOUBLE) { if (param_name == "alpha1") { alpha1_ = parameter.as_double(); - //alpha restricted to be non-negative + // alpha restricted to be non-negative if (alpha1_ < 0.0) { RCLCPP_WARN( get_logger(), "You've set alpha1 to be negative," @@ -1177,7 +1187,7 @@ AmclNode::dynamicParametersCallback( reinit_odom = true; } else if (param_name == "alpha2") { alpha2_ = parameter.as_double(); - //alpha restricted to be non-negative + // alpha restricted to be non-negative if (alpha2_ < 0.0) { RCLCPP_WARN( get_logger(), "You've set alpha2 to be negative," @@ -1187,7 +1197,7 @@ AmclNode::dynamicParametersCallback( reinit_odom = true; } else if (param_name == "alpha3") { alpha3_ = parameter.as_double(); - //alpha restricted to be non-negative + // alpha restricted to be non-negative if (alpha3_ < 0.0) { RCLCPP_WARN( get_logger(), "You've set alpha3 to be negative," @@ -1197,7 +1207,7 @@ AmclNode::dynamicParametersCallback( reinit_odom = true; } else if (param_name == "alpha4") { alpha4_ = parameter.as_double(); - //alpha restricted to be non-negative + // alpha restricted to be non-negative if (alpha4_ < 0.0) { RCLCPP_WARN( get_logger(), "You've set alpha4 to be negative," @@ -1207,7 +1217,7 @@ AmclNode::dynamicParametersCallback( reinit_odom = true; } else if (param_name == "alpha5") { alpha5_ = parameter.as_double(); - //alpha restricted to be non-negative + // alpha restricted to be non-negative if (alpha5_ < 0.0) { RCLCPP_WARN( get_logger(), "You've set alpha5 to be negative," @@ -1378,6 +1388,10 @@ void AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg) { RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received."); + if (!nav2_util::validateMsg(*msg)) { + RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting."); + return; + } if (first_map_only_ && first_map_received_) { return; } @@ -1542,6 +1556,10 @@ AmclNode::initServices() "reinitialize_global_localization", std::bind(&AmclNode::globalLocalizationCallback, this, _1, _2, _3)); + initial_guess_srv_ = create_service( + "set_initial_pose", + std::bind(&AmclNode::initialPoseReceivedSrv, this, _1, _2, _3)); + nomotion_update_srv_ = create_service( "request_nomotion_update", std::bind(&AmclNode::nomotionUpdateCallback, this, _1, _2, _3)); diff --git a/nav2_amcl/src/pf/CMakeLists.txt b/nav2_amcl/src/pf/CMakeLists.txt index c6f16e6a7dc..3b4b2fa5ca1 100644 --- a/nav2_amcl/src/pf/CMakeLists.txt +++ b/nav2_amcl/src/pf/CMakeLists.txt @@ -15,6 +15,7 @@ target_include_directories(pf_lib PRIVATE ../include) if(HAVE_DRAND48) target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48") endif() +target_link_libraries(pf_lib m) install(TARGETS pf_lib diff --git a/nav2_amcl/src/pf/eig3.c b/nav2_amcl/src/pf/eig3.c index a5a84ae5df6..1980475aa01 100644 --- a/nav2_amcl/src/pf/eig3.c +++ b/nav2_amcl/src/pf/eig3.c @@ -43,7 +43,7 @@ static void tred2(double V[n][n], double d[n], double e[n]) // Fortran subroutine in EISPACK. int i, j, k; - double f, g, h, hh; + double f, g, hh; for (j = 0; j < n; j++) { d[j] = V[n - 1][j]; } @@ -122,7 +122,7 @@ static void tred2(double V[n][n], double d[n], double e[n]) for (i = 0; i < n - 1; i++) { V[n - 1][i] = V[i][i]; V[i][i] = 1.0; - h = d[i + 1]; + const double h = d[i + 1]; if (h != 0.0) { for (k = 0; k <= i; k++) { d[k] = V[k][i + 1] / h; diff --git a/nav2_amcl/src/pf/pf.c b/nav2_amcl/src/pf/pf.c index de4e3247d10..9d1f5a82892 100644 --- a/nav2_amcl/src/pf/pf.c +++ b/nav2_amcl/src/pf/pf.c @@ -463,7 +463,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set) // Workspace double m[4], c[2][2]; - size_t count; double weight; // Cluster the samples @@ -474,7 +473,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set) for (i = 0; i < set->cluster_max_count; i++) { cluster = set->clusters + i; - cluster->count = 0; cluster->weight = 0; cluster->mean = pf_vector_zero(); cluster->cov = pf_matrix_zero(); @@ -490,7 +488,6 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set) } // Initialize overall filter stats - count = 0; weight = 0.0; set->mean = pf_vector_zero(); set->cov = pf_matrix_zero(); @@ -521,10 +518,8 @@ void pf_cluster_stats(pf_t * pf, pf_sample_set_t * set) cluster = set->clusters + cidx; - cluster->count += 1; cluster->weight += sample->weight; - count += 1; weight += sample->weight; // Compute mean diff --git a/nav2_amcl/src/pf/pf_vector.c b/nav2_amcl/src/pf/pf_vector.c index a7a5cd39c61..00fa3840607 100644 --- a/nav2_amcl/src/pf/pf_vector.c +++ b/nav2_amcl/src/pf/pf_vector.c @@ -35,7 +35,7 @@ // Return a zero vector -pf_vector_t pf_vector_zero() +pf_vector_t pf_vector_zero(void) { pf_vector_t c; @@ -130,7 +130,7 @@ pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b) // Return a zero matrix -pf_matrix_t pf_matrix_zero() +pf_matrix_t pf_matrix_zero(void) { int i, j; pf_matrix_t c; diff --git a/nav2_amcl/src/sensors/laser/beam_model.cpp b/nav2_amcl/src/sensors/laser/beam_model.cpp index ebbfedcc7be..b6f281cbf78 100644 --- a/nav2_amcl/src/sensors/laser/beam_model.cpp +++ b/nav2_amcl/src/sensors/laser/beam_model.cpp @@ -72,6 +72,12 @@ BeamModel::sensorFunction(LaserData * data, pf_sample_set_t * set) step = (data->range_count - 1) / (self->max_beams_ - 1); for (i = 0; i < data->range_count; i += step) { obs_range = data->ranges[i][0]; + + // Check for NaN + if (isnan(obs_range)) { + continue; + } + obs_bearing = data->ranges[i][1]; // Compute the range according to the map diff --git a/nav2_amcl/src/sensors/laser/likelihood_field_model.cpp b/nav2_amcl/src/sensors/laser/likelihood_field_model.cpp index 491e64ecf1e..1148c2828db 100644 --- a/nav2_amcl/src/sensors/laser/likelihood_field_model.cpp +++ b/nav2_amcl/src/sensors/laser/likelihood_field_model.cpp @@ -53,6 +53,17 @@ LikelihoodFieldModel::sensorFunction(LaserData * data, pf_sample_set_t * set) self = reinterpret_cast(data->laser); + // Pre-compute a couple of things + double z_hit_denom = 2 * self->sigma_hit_ * self->sigma_hit_; + double z_rand_mult = 1.0 / data->range_max; + + step = (data->range_count - 1) / (self->max_beams_ - 1); + + // Step size must be at least 1 + if (step < 1) { + step = 1; + } + total_weight = 0.0; // Compute the sample weights @@ -65,17 +76,6 @@ LikelihoodFieldModel::sensorFunction(LaserData * data, pf_sample_set_t * set) p = 1.0; - // Pre-compute a couple of things - double z_hit_denom = 2 * self->sigma_hit_ * self->sigma_hit_; - double z_rand_mult = 1.0 / data->range_max; - - step = (data->range_count - 1) / (self->max_beams_ - 1); - - // Step size must be at least 1 - if (step < 1) { - step = 1; - } - for (i = 0; i < data->range_count; i += step) { obs_range = data->ranges[i][0]; obs_bearing = data->ranges[i][1]; diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt index 7a73c2da59a..91fc49b71d0 100644 --- a/nav2_behavior_tree/CMakeLists.txt +++ b/nav2_behavior_tree/CMakeLists.txt @@ -11,7 +11,7 @@ find_package(geometry_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(nav2_msgs REQUIRED) find_package(nav_msgs REQUIRED) -find_package(behaviortree_cpp_v3 REQUIRED) +find_package(behaviortree_cpp REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) find_package(std_msgs REQUIRED) @@ -34,7 +34,7 @@ set(dependencies sensor_msgs nav2_msgs nav_msgs - behaviortree_cpp_v3 + behaviortree_cpp tf2 tf2_ros tf2_geometry_msgs @@ -129,6 +129,9 @@ list(APPEND plugin_libs nav2_distance_traveled_condition_bt_node) add_library(nav2_initial_pose_received_condition_bt_node SHARED plugins/condition/initial_pose_received_condition.cpp) list(APPEND plugin_libs nav2_initial_pose_received_condition_bt_node) +add_library(nav2_is_battery_charging_condition_bt_node SHARED plugins/condition/is_battery_charging_condition.cpp) +list(APPEND plugin_libs nav2_is_battery_charging_condition_bt_node) + add_library(nav2_is_battery_low_condition_bt_node SHARED plugins/condition/is_battery_low_condition.cpp) list(APPEND plugin_libs nav2_is_battery_low_condition_bt_node) @@ -201,6 +204,9 @@ list(APPEND plugin_libs nav2_smoother_selector_bt_node) add_library(nav2_goal_checker_selector_bt_node SHARED plugins/action/goal_checker_selector_node.cpp) list(APPEND plugin_libs nav2_goal_checker_selector_bt_node) +add_library(nav2_progress_checker_selector_bt_node SHARED plugins/action/progress_checker_selector_node.cpp) +list(APPEND plugin_libs nav2_progress_checker_selector_bt_node) + add_library(nav2_goal_updated_controller_bt_node SHARED plugins/decorator/goal_updated_controller.cpp) list(APPEND plugin_libs nav2_goal_updated_controller_bt_node) @@ -216,11 +222,27 @@ install(TARGETS ${library_name} RUNTIME DESTINATION bin ) +# we will embed the list of plugin names inside a header file +set(GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/gen) +configure_file(plugins_list.hpp.in ${GENERATED_DIR}/plugins_list.hpp) + +add_executable(generate_nav2_tree_nodes_xml src/generate_nav2_tree_nodes_xml.cpp) +ament_target_dependencies(generate_nav2_tree_nodes_xml ${dependencies}) +# allow generate_nav2_tree_nodes_xml to find plugins_list.hpp +target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR}) +install(TARGETS generate_nav2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME}) + + install(DIRECTORY include/ DESTINATION include/ ) +install(DIRECTORY test/utils/ + DESTINATION include/${PROJECT_NAME}/utils/ +) + install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME}) +install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/nav2_behavior_tree/README.md b/nav2_behavior_tree/README.md index db761cb31dd..dab5b9a8a06 100644 --- a/nav2_behavior_tree/README.md +++ b/nav2_behavior_tree/README.md @@ -7,9 +7,9 @@ The nav2_behavior_tree module provides: * Navigation-specific behavior tree nodes, and * a generic BehaviorTreeEngine class that simplifies the integration of BT processing into ROS2 nodes for navigation or higher-level autonomy applications. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-xml.html) for additional parameter descriptions and a list of XML nodes made available in this package. Also review the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_bt_plugin.html) is also provided to explain how to create a simple BT plugin. -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. ## The bt_action_node Template and the Behavior Tree Engine @@ -41,7 +41,7 @@ BehaviorTreeEngine::BehaviorTreeEngine() Once a new node is registered with the factory, it is now available to the BehaviorTreeEngine and can be used in Behavior Trees. For example, the following simple XML description of a BT shows the FollowPath node in use: ```XML - + @@ -63,4 +63,4 @@ The BehaviorTree engine has a run method that accepts an XML description of a BT See the code in the [BT Navigator](../nav2_bt_navigator/src/bt_navigator.cpp) for an example usage of the BehaviorTreeEngine. -For more information about the behavior tree nodes that are available in the default BehaviorTreeCPP library, see documentation here: https://www.behaviortree.dev/bt_basics/ +For more information about the behavior tree nodes that are available in the default BehaviorTreeCPP library, see documentation here: https://www.behaviortree.dev/docs/3.8/learn-the-basics/BT_basics diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp index 6f0c9bfb914..9ee903fd78e 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp @@ -20,11 +20,11 @@ #include #include -#include "behaviortree_cpp_v3/behavior_tree.h" -#include "behaviortree_cpp_v3/bt_factory.h" -#include "behaviortree_cpp_v3/xml_parsing.h" -#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h" +#include "behaviortree_cpp/behavior_tree.h" +#include "behaviortree_cpp/bt_factory.h" +#include "behaviortree_cpp/xml_parsing.h" +#include "rclcpp/rclcpp.hpp" namespace nav2_behavior_tree { @@ -46,7 +46,8 @@ class BehaviorTreeEngine * @brief A constructor for nav2_behavior_tree::BehaviorTreeEngine * @param plugin_libraries vector of BT plugin library names to load */ - explicit BehaviorTreeEngine(const std::vector & plugin_libraries); + explicit BehaviorTreeEngine( + const std::vector & plugin_libraries); virtual ~BehaviorTreeEngine() {} /** @@ -85,9 +86,9 @@ class BehaviorTreeEngine /** * @brief Function to explicitly reset all BT nodes to initial state - * @param root_node Pointer to BT root node + * @param tree Tree to halt */ - void haltAllActions(BT::TreeNode * root_node); + void haltAllActions(BT::Tree & tree); protected: // The factory that will be used to dynamically construct the behavior tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp index b76403ff31e..8c9fcb54d25 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp @@ -19,10 +19,10 @@ #include #include -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" #include "nav2_util/node_utils.hpp" #include "rclcpp_action/rclcpp_action.hpp" -#include "nav2_behavior_tree/bt_conversions.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -56,11 +56,16 @@ class BtActionNode : public BT::ActionNodeBase callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface()); // Get the required items from the blackboard - bt_loop_duration_ = + auto bt_loop_duration = config().blackboard->template get("bt_loop_duration"); server_timeout_ = config().blackboard->template get("server_timeout"); getInput("server_timeout", server_timeout_); + wait_for_service_timeout_ = + config().blackboard->template get("wait_for_service_timeout"); + + // timeout should be less than bt_loop_duration to be able to finish the current tick + max_timeout_ = std::chrono::duration_cast(bt_loop_duration * 0.5); // Initialize the input and output messages goal_ = typename ActionT::Goal(); @@ -93,10 +98,11 @@ class BtActionNode : public BT::ActionNodeBase // Make sure the server is actually there before continuing RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str()); - if (!action_client_->wait_for_action_server(1s)) { + if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) { RCLCPP_ERROR( - node_->get_logger(), "\"%s\" action server not available after waiting for 1 s", - action_name.c_str()); + node_->get_logger(), "\"%s\" action server not available after waiting for %f s", + action_name.c_str(), + wait_for_service_timeout_.count() / 1000.0); throw std::runtime_error( std::string("Action server ") + action_name + std::string(" not available")); @@ -162,7 +168,7 @@ class BtActionNode : public BT::ActionNodeBase } /** - * @brief Function to perform some user-defined operation whe the action is aborted. + * @brief Function to perform some user-defined operation when the action is aborted. * @return BT::NodeStatus Returns FAILURE by default, user may override return another value */ virtual BT::NodeStatus on_aborted() @@ -186,7 +192,7 @@ class BtActionNode : public BT::ActionNodeBase BT::NodeStatus tick() override { // first step to be done only at the beginning of the Action - if (status() == BT::NodeStatus::IDLE) { + if (!BT::isStatusActive(status())) { // setting the status to RUNNING to notify the BT Loggers (if any) setStatus(BT::NodeStatus::RUNNING); @@ -206,7 +212,8 @@ class BtActionNode : public BT::ActionNodeBase // if new goal was sent and action server has not yet responded // check the future goal handle if (future_goal_handle_) { - auto elapsed = (node_->now() - time_goal_sent_).to_chrono(); + auto elapsed = + (node_->now() - time_goal_sent_).template to_chrono(); if (!is_future_goal_handle_complete(elapsed)) { // return RUNNING if there is still some time before timeout happens if (elapsed < server_timeout_) { @@ -237,7 +244,8 @@ class BtActionNode : public BT::ActionNodeBase { goal_updated_ = false; send_new_goal(); - auto elapsed = (node_->now() - time_goal_sent_).to_chrono(); + auto elapsed = + (node_->now() - time_goal_sent_).template to_chrono(); if (!is_future_goal_handle_complete(elapsed)) { if (elapsed < server_timeout_) { return BT::NodeStatus::RUNNING; @@ -266,7 +274,7 @@ class BtActionNode : public BT::ActionNodeBase // Action related failure that should not fail the tree, but the node return BT::NodeStatus::FAILURE; } else { - // Internal exception to propogate to the tree + // Internal exception to propagate to the tree throw e; } } @@ -300,6 +308,7 @@ class BtActionNode : public BT::ActionNodeBase void halt() override { if (should_cancel_goal()) { + auto future_result = action_client_->async_get_result(goal_handle_); auto future_cancel = action_client_->async_cancel_goal(goal_handle_); if (callback_group_executor_.spin_until_future_complete(future_cancel, server_timeout_) != rclcpp::FutureReturnCode::SUCCESS) @@ -308,9 +317,21 @@ class BtActionNode : public BT::ActionNodeBase node_->get_logger(), "Failed to cancel action server for %s", action_name_.c_str()); } + + if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) != + rclcpp::FutureReturnCode::SUCCESS) + { + RCLCPP_ERROR( + node_->get_logger(), + "Failed to get result for %s in node halt!", action_name_.c_str()); + } + + on_cancelled(); } - setStatus(BT::NodeStatus::IDLE); + // this is probably redundant, since the parent node + // is supposed to call it, but we keep it, just in case + resetStatus(); } protected: @@ -361,12 +382,14 @@ class BtActionNode : public BT::ActionNodeBase if (this->goal_handle_->get_goal_id() == result.goal_id) { goal_result_available_ = true; result_ = result; + emitWakeUpSignal(); } }; send_goal_options.feedback_callback = [this](typename rclcpp_action::ClientGoalHandle::SharedPtr, const std::shared_ptr feedback) { feedback_ = feedback; + emitWakeUpSignal(); }; future_goal_handle_ = std::make_shared< @@ -391,7 +414,7 @@ class BtActionNode : public BT::ActionNodeBase return false; } - auto timeout = remaining > bt_loop_duration_ ? bt_loop_duration_ : remaining; + auto timeout = remaining > max_timeout_ ? max_timeout_ : remaining; auto result = callback_group_executor_.spin_until_future_complete(*future_goal_handle_, timeout); elapsed += timeout; @@ -419,9 +442,9 @@ class BtActionNode : public BT::ActionNodeBase void increment_recovery_count() { int recovery_count = 0; - config().blackboard->template get("number_recoveries", recovery_count); // NOLINT + [[maybe_unused]] auto res = config().blackboard->get("number_recoveries", recovery_count); // NOLINT recovery_count += 1; - config().blackboard->template set("number_recoveries", recovery_count); // NOLINT + config().blackboard->set("number_recoveries", recovery_count); // NOLINT } std::string action_name_; @@ -447,7 +470,10 @@ class BtActionNode : public BT::ActionNodeBase std::chrono::milliseconds server_timeout_; // The timeout value for BT loop execution - std::chrono::milliseconds bt_loop_duration_; + std::chrono::milliseconds max_timeout_; + + // The timeout value for waiting for a service to response + std::chrono::milliseconds wait_for_service_timeout_; // To track the action server acknowledgement when a new goal is sent std::shared_ptr::SharedPtr>> diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp index 79b1df5bb40..2b323a67985 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp @@ -177,10 +177,11 @@ class BtActionServer /** * @brief Function to halt the current tree. It will interrupt the execution of RUNNING nodes * by calling their halt() implementation (only for Async nodes that may return RUNNING) + * This should already done for all the exit states of the action but preemption */ void haltTree() { - tree_.rootNode()->halt(); + tree_.haltTree(); } protected: @@ -196,6 +197,11 @@ class BtActionServer */ void populateErrorCode(typename std::shared_ptr result); + /** + * @brief Setting BT error codes to success. Used to clean blackboard between different BT runs + */ + void cleanErrorCodes(); + // Action name std::string action_name_; @@ -242,6 +248,12 @@ class BtActionServer // Default timeout value while waiting for response from a server std::chrono::milliseconds default_server_timeout_; + // The timeout value for waiting for a service to response + std::chrono::milliseconds wait_for_service_timeout_; + + // should the BT be reloaded even if the same xml filename is requested? + bool always_reload_bt_xml_ = false; + // User-provided callbacks OnGoalReceivedCallback on_goal_received_callback_; OnLoopCallback on_loop_callback_; diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp index 11110b09c2c..75dfff55979 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp @@ -26,6 +26,7 @@ #include "nav2_msgs/action/navigate_to_pose.hpp" #include "nav2_behavior_tree/bt_action_server.hpp" #include "ament_index_cpp/get_package_share_directory.hpp" +#include "nav2_util/node_utils.hpp" namespace nav2_behavior_tree { @@ -60,6 +61,15 @@ BtActionServer::BtActionServer( if (!node->has_parameter("default_server_timeout")) { node->declare_parameter("default_server_timeout", 20); } + if (!node->has_parameter("action_server_result_timeout")) { + node->declare_parameter("action_server_result_timeout", 900.0); + } + if (!node->has_parameter("always_reload_bt_xml")) { + node->declare_parameter("always_reload_bt_xml", false); + } + if (!node->has_parameter("wait_for_service_timeout")) { + node->declare_parameter("wait_for_service_timeout", 1000); + } std::vector error_code_names = { "follow_path_error_code", @@ -67,16 +77,29 @@ BtActionServer::BtActionServer( }; if (!node->has_parameter("error_code_names")) { - std::string error_codes_str; - for (const auto & error_code : error_code_names) { - error_codes_str += error_code + "\n"; + const rclcpp::ParameterValue value = node->declare_parameter( + "error_code_names", + rclcpp::PARAMETER_STRING_ARRAY); + if (value.get_type() == rclcpp::PARAMETER_NOT_SET) { + std::string error_codes_str; + for (const auto & error_code : error_code_names) { + error_codes_str += " " + error_code; + } + RCLCPP_WARN_STREAM( + logger_, "Error_code parameters were not set. Using default values of:" + << error_codes_str + "\n" + << "Make sure these match your BT and there are not other sources of error codes you" + "reported to your application"); + rclcpp::Parameter error_code_names_param("error_code_names", error_code_names); + node->set_parameter(error_code_names_param); + } else { + error_code_names = value.get>(); + std::string error_codes_str; + for (const auto & error_code : error_code_names) { + error_codes_str += " " + error_code; + } + RCLCPP_INFO_STREAM(logger_, "Error_code parameters were set to:" << error_codes_str); } - RCLCPP_WARN_STREAM( - logger_, "Error_code parameters were not set. Using default values of: " - << error_codes_str - << "Make sure these match your BT and there are not other sources of error codes you want " - "reported to your application"); - node->declare_parameter("error_code_names", error_code_names); } } @@ -109,19 +132,42 @@ bool BtActionServer::on_configure() // Support for handling the topic-based goal pose from rviz client_node_ = std::make_shared("_", options); + // Declare parameters for common client node applications to share with BT nodes + // Declare if not declared in case being used an external application, then copying + // all of the main node's parameters to the client for BT nodes to obtain + nav2_util::declare_parameter_if_not_declared( + node, "global_frame", rclcpp::ParameterValue(std::string("map"))); + nav2_util::declare_parameter_if_not_declared( + node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link"))); + nav2_util::declare_parameter_if_not_declared( + node, "transform_tolerance", rclcpp::ParameterValue(0.1)); + rclcpp::copy_all_parameter_values(node, client_node_); + + // set the timeout in seconds for the action server to discard goal handles if not finished + double action_server_result_timeout = + node->get_parameter("action_server_result_timeout").as_double(); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); + action_server_ = std::make_shared( node->get_node_base_interface(), node->get_node_clock_interface(), node->get_node_logging_interface(), node->get_node_waitables_interface(), - action_name_, std::bind(&BtActionServer::executeCallback, this)); + action_name_, std::bind(&BtActionServer::executeCallback, this), + nullptr, std::chrono::milliseconds(500), false, server_options); // Get parameters for BT timeouts - int timeout; - node->get_parameter("bt_loop_duration", timeout); - bt_loop_duration_ = std::chrono::milliseconds(timeout); - node->get_parameter("default_server_timeout", timeout); - default_server_timeout_ = std::chrono::milliseconds(timeout); + int bt_loop_duration; + node->get_parameter("bt_loop_duration", bt_loop_duration); + bt_loop_duration_ = std::chrono::milliseconds(bt_loop_duration); + int default_server_timeout; + node->get_parameter("default_server_timeout", default_server_timeout); + default_server_timeout_ = std::chrono::milliseconds(default_server_timeout); + int wait_for_service_timeout; + node->get_parameter("wait_for_service_timeout", wait_for_service_timeout); + wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout); + node->get_parameter("always_reload_bt_xml", always_reload_bt_xml_); // Get error code id names to grab off of the blackboard error_code_names_ = node->get_parameter("error_code_names").as_string_array(); @@ -136,6 +182,9 @@ bool BtActionServer::on_configure() blackboard_->set("node", client_node_); // NOLINT blackboard_->set("server_timeout", default_server_timeout_); // NOLINT blackboard_->set("bt_loop_duration", bt_loop_duration_); // NOLINT + blackboard_->set( + "wait_for_service_timeout", + wait_for_service_timeout_); return true; } @@ -167,7 +216,7 @@ bool BtActionServer::on_cleanup() plugin_lib_names_.clear(); current_bt_xml_filename_.clear(); blackboard_.reset(); - bt_->haltAllActions(tree_.rootNode()); + bt_->haltAllActions(tree_); bt_.reset(); return true; } @@ -178,8 +227,8 @@ bool BtActionServer::loadBehaviorTree(const std::string & bt_xml_filena // Empty filename is default for backward compatibility auto filename = bt_xml_filename.empty() ? default_bt_xml_filename_ : bt_xml_filename; - // Use previous BT if it is the existing one - if (current_bt_xml_filename_ == filename) { + // Use previous BT if it is the existing one and always reload flag is not set to true + if (!always_reload_bt_xml_ && current_bt_xml_filename_ == filename) { RCLCPP_DEBUG(logger_, "BT will not be reloaded as the given xml is already loaded"); return true; } @@ -195,6 +244,15 @@ bool BtActionServer::loadBehaviorTree(const std::string & bt_xml_filena // Create the Behavior Tree from the XML input try { tree_ = bt_->createTreeFromFile(filename, blackboard_); + for (auto & subtree : tree_.subtrees) { + auto & blackboard = subtree->blackboard; + blackboard->set("node", client_node_); + blackboard->set("server_timeout", default_server_timeout_); + blackboard->set("bt_loop_duration", bt_loop_duration_); + blackboard->set( + "wait_for_service_timeout", + wait_for_service_timeout_); + } } catch (const std::exception & e) { RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what()); return false; @@ -211,6 +269,7 @@ void BtActionServer::executeCallback() { if (!on_goal_received_callback_(action_server_->get_current_goal())) { action_server_->terminate_current(); + cleanErrorCodes(); return; } @@ -239,7 +298,7 @@ void BtActionServer::executeCallback() // Make sure that the Bt is not in a running state from a previous execution // note: if all the ControlNodes are implemented correctly, this is not needed. - bt_->haltAllActions(tree_.rootNode()); + bt_->haltAllActions(tree_); // Give server an opportunity to populate the result message or simple give // an indication that the action is complete. @@ -265,6 +324,8 @@ void BtActionServer::executeCallback() action_server_->terminate_all(result); break; } + + cleanErrorCodes(); } template @@ -279,7 +340,7 @@ void BtActionServer::populateErrorCode( highest_priority_error_code = current_error_code; } } catch (...) { - RCLCPP_ERROR( + RCLCPP_DEBUG( logger_, "Failed to get error code: %s from blackboard", error_code.c_str()); @@ -291,6 +352,14 @@ void BtActionServer::populateErrorCode( } } +template +void BtActionServer::cleanErrorCodes() +{ + for (const auto & error_code : error_code_names_) { + blackboard_->set(error_code, 0); //NOLINT + } +} + } // namespace nav2_behavior_tree #endif // NAV2_BEHAVIOR_TREE__BT_ACTION_SERVER_IMPL_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp index e87ffbfac48..789e30133dd 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp @@ -19,10 +19,10 @@ #include #include -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" #include "nav2_util/node_utils.hpp" #include "rclcpp_action/rclcpp_action.hpp" -#include "nav2_behavior_tree/bt_conversions.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -59,6 +59,8 @@ class BtCancelActionNode : public BT::ActionNodeBase server_timeout_ = config().blackboard->template get("server_timeout"); getInput("server_timeout", server_timeout_); + wait_for_service_timeout_ = + config().blackboard->template get("wait_for_service_timeout"); std::string remapped_action_name; if (getInput("server_name", remapped_action_name)) { @@ -89,7 +91,7 @@ class BtCancelActionNode : public BT::ActionNodeBase // Make sure the server is actually there before continuing RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str()); - if (!action_client_->wait_for_action_server(1s)) { + if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) { RCLCPP_ERROR( node_->get_logger(), "\"%s\" action server not available after waiting for 1 s", action_name.c_str()); @@ -116,7 +118,7 @@ class BtCancelActionNode : public BT::ActionNodeBase return basic; } - void halt() + void halt() override { } @@ -168,6 +170,8 @@ class BtCancelActionNode : public BT::ActionNodeBase // The timeout value while waiting for response from a server when a // new action goal is canceled std::chrono::milliseconds server_timeout_; + // The timeout value for waiting for a service to response + std::chrono::milliseconds wait_for_service_timeout_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp index cd0cd524b97..74ef275ddd5 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp @@ -19,10 +19,10 @@ #include #include -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" #include "nav2_util/node_utils.hpp" #include "rclcpp/rclcpp.hpp" -#include "nav2_behavior_tree/bt_conversions.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -57,11 +57,16 @@ class BtServiceNode : public BT::ActionNodeBase callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface()); // Get the required items from the blackboard - bt_loop_duration_ = + auto bt_loop_duration = config().blackboard->template get("bt_loop_duration"); server_timeout_ = config().blackboard->template get("server_timeout"); getInput("server_timeout", server_timeout_); + wait_for_service_timeout_ = + config().blackboard->template get("wait_for_service_timeout"); + + // timeout should be less than bt_loop_duration to be able to finish the current tick + max_timeout_ = std::chrono::duration_cast(bt_loop_duration * 0.5); // Now that we have node_ to use, create the service client for this BT service getInput("service_name", service_name_); @@ -77,7 +82,7 @@ class BtServiceNode : public BT::ActionNodeBase RCLCPP_DEBUG( node_->get_logger(), "Waiting for \"%s\" service", service_name_.c_str()); - if (!service_client_->wait_for_service(1s)) { + if (!service_client_->wait_for_service(wait_for_service_timeout_)) { RCLCPP_ERROR( node_->get_logger(), "\"%s\" service server not available after waiting for 1 s", service_node_name.c_str()); @@ -155,7 +160,7 @@ class BtServiceNode : public BT::ActionNodeBase void halt() override { request_sent_ = false; - setStatus(BT::NodeStatus::IDLE); + resetStatus(); } /** @@ -183,11 +188,11 @@ class BtServiceNode : public BT::ActionNodeBase */ virtual BT::NodeStatus check_future() { - auto elapsed = (node_->now() - sent_time_).to_chrono(); + auto elapsed = (node_->now() - sent_time_).template to_chrono(); auto remaining = server_timeout_ - elapsed; if (remaining > std::chrono::milliseconds(0)) { - auto timeout = remaining > bt_loop_duration_ ? bt_loop_duration_ : remaining; + auto timeout = remaining > max_timeout_ ? max_timeout_ : remaining; rclcpp::FutureReturnCode rc; rc = callback_group_executor_.spin_until_future_complete(future_result_, timeout); @@ -199,7 +204,7 @@ class BtServiceNode : public BT::ActionNodeBase if (rc == rclcpp::FutureReturnCode::TIMEOUT) { on_wait_for_result(); - elapsed = (node_->now() - sent_time_).to_chrono(); + elapsed = (node_->now() - sent_time_).template to_chrono(); if (elapsed < server_timeout_) { return BT::NodeStatus::RUNNING; } @@ -228,9 +233,9 @@ class BtServiceNode : public BT::ActionNodeBase void increment_recovery_count() { int recovery_count = 0; - config().blackboard->template get("number_recoveries", recovery_count); // NOLINT + [[maybe_unused]] auto res = config().blackboard->get("number_recoveries", recovery_count); // NOLINT recovery_count += 1; - config().blackboard->template set("number_recoveries", recovery_count); // NOLINT + config().blackboard->set("number_recoveries", recovery_count); // NOLINT } std::string service_name_, service_node_name_; @@ -247,7 +252,10 @@ class BtServiceNode : public BT::ActionNodeBase std::chrono::milliseconds server_timeout_; // The timeout value for BT loop execution - std::chrono::milliseconds bt_loop_duration_; + std::chrono::milliseconds max_timeout_; + + // The timeout value for waiting for a service to response + std::chrono::milliseconds wait_for_service_timeout_; // To track the server response when a new request is sent std::shared_future future_result_; diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp similarity index 65% rename from nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp rename to nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp index 4e9f8437ed6..7075bc63f48 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp @@ -12,14 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef NAV2_BEHAVIOR_TREE__BT_CONVERSIONS_HPP_ -#define NAV2_BEHAVIOR_TREE__BT_CONVERSIONS_HPP_ +#ifndef NAV2_BEHAVIOR_TREE__BT_UTILS_HPP_ +#define NAV2_BEHAVIOR_TREE__BT_UTILS_HPP_ #include #include #include "rclcpp/time.hpp" -#include "behaviortree_cpp_v3/behavior_tree.h" +#include "rclcpp/node.hpp" +#include "behaviortree_cpp/behavior_tree.h" #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/quaternion.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" @@ -130,6 +131,75 @@ inline std::set convertFromString(StringView key) return set; } +/** + * @brief Return parameter value from behavior tree node or ros2 parameter file. + * @param node rclcpp::Node::SharedPtr + * @param param_name std::string + * @param behavior_tree_node T2 + * @return + */ +template +T1 deconflictPortAndParamFrame( + rclcpp::Node::SharedPtr node, + std::string param_name, + const T2 * behavior_tree_node) +{ + T1 param_value; + bool param_from_input = behavior_tree_node->getInput(param_name, param_value).has_value(); + + if constexpr (std::is_same_v) { + // not valid if port doesn't exist or it is an empty string + param_from_input &= !param_value.empty(); + } + + if (!param_from_input) { + RCLCPP_DEBUG( + node->get_logger(), + "Parameter '%s' not provided by behavior tree xml file, " + "using parameter from ros2 parameter file", + param_name.c_str()); + node->get_parameter(param_name, param_value); + return param_value; + } else { + RCLCPP_DEBUG( + node->get_logger(), + "Parameter '%s' provided by behavior tree xml file", + param_name.c_str()); + return param_value; + } +} + +/** + * @brief Try reading an import port first, and if that doesn't work + * fallback to reading directly the blackboard. + * The blackboard must be passed explitly because config() is private in BT.CPP 4.X + * + * @param bt_node node + * @param blackboard the blackboard ovtained with node->config().blackboard + * @param param_name std::string + * @param behavior_tree_node the node + * @return + */ +template inline +bool getInputPortOrBlackboard( + const BT::TreeNode & bt_node, + const BT::Blackboard & blackboard, + const std::string & param_name, + T & value) +{ + if (bt_node.getInput(param_name, value)) { + return true; + } + if (blackboard.get(param_name, value)) { + return true; + } + return false; +} + +// Macro to remove boiler plate when using getInputPortOrBlackboard +#define getInputOrBlackboard(name, value) \ + getInputPortOrBlackboard(*this, *(this->config().blackboard), name, value); + } // namespace BT -#endif // NAV2_BEHAVIOR_TREE__BT_CONVERSIONS_HPP_ +#endif // NAV2_BEHAVIOR_TREE__BT_UTILS_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp index 22cde94c35f..97511608d50 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp @@ -29,6 +29,9 @@ namespace nav2_behavior_tree */ class AssistedTeleopAction : public BtActionNode { + using Action = nav2_msgs::action::AssistedTeleop; + using ActionResult = Action::Result; + public: /** * @brief A constructor for nav2_behavior_tree::nav2_msgs::action::AssistedTeleop @@ -46,8 +49,26 @@ class AssistedTeleopAction : public BtActionNode("time_allowance", 10.0, "Allowed time for running assisted teleop"), - BT::InputPort("is_recovery", false, "If true the recovery count will be incremented") + BT::InputPort("is_recovery", false, "If true the recovery count will be incremented"), + BT::OutputPort( + "error_code_id", "The assisted teleop behavior server error code") }); } private: bool is_recovery_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp index 4481198972f..1419c40661d 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp @@ -28,6 +28,9 @@ namespace nav2_behavior_tree */ class BackUpAction : public BtActionNode { + using Action = nav2_msgs::action::BackUp; + using ActionResult = Action::Result; + public: /** * @brief A constructor for nav2_behavior_tree::BackUpAction @@ -45,6 +48,27 @@ class BackUpAction : public BtActionNode */ void on_tick() override; + + /** + * @brief Function to perform some user-defined operation upon successful completion of the action + */ + BT::NodeStatus on_success() override; + + /** + * @brief Function to perform some user-defined operation upon abortion of the action + */ + BT::NodeStatus on_aborted() override; + + /** + * @brief Function to perform some user-defined operation upon cancellation of the action + */ + BT::NodeStatus on_cancelled() override; + + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing basic ports along with node-specific ports @@ -55,9 +79,14 @@ class BackUpAction : public BtActionNode { BT::InputPort("backup_dist", 0.15, "Distance to backup"), BT::InputPort("backup_speed", 0.025, "Speed at which to backup"), - BT::InputPort("time_allowance", 10.0, "Allowed time for reversing") + BT::InputPort("time_allowance", 10.0, "Allowed time for reversing"), + BT::OutputPort( + "error_code_id", "The back up behavior server error code") }); } + +private: + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp index 0b5f3b0972e..fe5d2e9dd25 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp @@ -34,7 +34,6 @@ class ComputePathThroughPosesAction { using Action = nav2_msgs::action::ComputePathThroughPoses; using ActionResult = Action::Result; - using ActionGoal = Action::Goal; public: /** diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp index 829fd044282..07e9a4a2f2f 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp @@ -31,7 +31,6 @@ class ComputePathToPoseAction : public BtActionNode { + using Action = nav2_msgs::action::DriveOnHeading; + using ActionResult = Action::Result; + public: /** * @brief A constructor for nav2_behavior_tree::DriveOnHeadingAction @@ -40,6 +43,11 @@ class DriveOnHeadingAction : public BtActionNode("dist_to_travel", 0.15, "Distance to travel"), BT::InputPort("speed", 0.025, "Speed at which to travel"), - BT::InputPort("time_allowance", 10.0, "Allowed time for driving on heading") + BT::InputPort("time_allowance", 10.0, "Allowed time for driving on heading"), + BT::OutputPort( + "error_code_id", "The drive on heading behavior server error code") }); } + + /** + * @brief Function to perform some user-defined operation on tick + */ + void on_tick() override; + + /** + * @brief Function to perform some user-defined operation upon successful completion of the action + */ + BT::NodeStatus on_success() override; + + /** + * @brief Function to perform some user-defined operation upon abortion of the action + */ + BT::NodeStatus on_aborted() override; + + /** + * @brief Function to perform some user-defined operation upon cancellation of the action + */ + BT::NodeStatus on_cancelled() override; + +private: + bool initalized_; }; } // namespace nav2_behavior_tree - #endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__DRIVE_ON_HEADING_ACTION_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp index 4460b0e9a41..c05c2c0d59f 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp @@ -31,7 +31,6 @@ class FollowPathAction : public BtActionNode { using Action = nav2_msgs::action::FollowPath; using ActionResult = Action::Result; - using ActionGoal = Action::Goal; public: /** @@ -84,6 +83,7 @@ class FollowPathAction : public BtActionNode BT::InputPort("path", "Path to follow"), BT::InputPort("controller_id", ""), BT::InputPort("goal_checker_id", ""), + BT::InputPort("progress_checker_id", ""), BT::OutputPort( "error_code_id", "The follow path error code"), }); diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp index 11f0d0f423d..90a10f1675c 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp @@ -21,7 +21,7 @@ #include "std_msgs/msg/string.hpp" -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" #include "rclcpp/rclcpp.hpp" diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp index 45d0adff108..44ad055ea24 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp @@ -16,6 +16,7 @@ #define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__NAVIGATE_THROUGH_POSES_ACTION_HPP_ #include +#include #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/quaternion.hpp" @@ -32,7 +33,6 @@ class NavigateThroughPosesAction : public BtActionNode("goals", "Destinations to plan through"), + BT::InputPort>( + "goals", "Destinations to plan through"), BT::InputPort("behavior_tree", "Behavior tree to run"), BT::OutputPort( "error_code_id", "The navigate through poses error code"), diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp index 51c59743904..849c8259a48 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp @@ -32,7 +32,6 @@ class NavigateToPoseAction : public BtActionNode +#include + +#include "std_msgs/msg/string.hpp" + +#include "behaviortree_cpp/action_node.h" + +#include "rclcpp/rclcpp.hpp" + +namespace nav2_behavior_tree +{ + +/** + * @brief The ProgressCheckerSelector behavior is used to switch the progress checker + * of the controller server. It subscribes to a topic "progress_checker_selector" + * to get the decision about what progress_checker must be used. It is usually used before of + * the FollowPath. The selected_progress_checker output port is passed to progress_checker_id + * input port of the FollowPath + */ +class ProgressCheckerSelector : public BT::SyncActionNode +{ +public: + /** + * @brief A constructor for nav2_behavior_tree::ProgressCheckerSelector + * + * @param xml_tag_name Name for the XML tag for this node + * @param conf BT node configuration + */ + ProgressCheckerSelector( + const std::string & xml_tag_name, + const BT::NodeConfiguration & conf); + + /** + * @brief Creates list of BT ports + * @return BT::PortsList Containing basic ports along with node-specific ports + */ + static BT::PortsList providedPorts() + { + return { + BT::InputPort( + "default_progress_checker", + "the default progress_checker to use if there is not any external topic message received."), + + BT::InputPort( + "topic_name", + "progress_checker_selector", + "the input topic name to select the progress_checker"), + + BT::OutputPort( + "selected_progress_checker", + "Selected progress_checker by subscription") + }; + } + +private: + /** + * @brief Function to perform some user-defined operation on tick + */ + BT::NodeStatus tick() override; + + /** + * @brief callback function for the progress_checker_selector topic + * + * @param msg the message with the id of the progress_checker_selector + */ + void callbackProgressCheckerSelect(const std_msgs::msg::String::SharedPtr msg); + + rclcpp::Subscription::SharedPtr progress_checker_selector_sub_; + + std::string last_selected_progress_checker_; + + rclcpp::Node::SharedPtr node_; + + std::string topic_name_; +}; + +} // namespace nav2_behavior_tree + +#endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__PROGRESS_CHECKER_SELECTOR_NODE_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp index 05c01ed58fd..344afd546d8 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp @@ -22,7 +22,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" #include "nav2_util/robot_utils.hpp" -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" namespace nav2_behavior_tree { @@ -36,6 +36,10 @@ class RemovePassedGoals : public BT::ActionNodeBase const std::string & xml_tag_name, const BT::NodeConfiguration & conf); + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); static BT::PortsList providedPorts() { @@ -43,8 +47,8 @@ class RemovePassedGoals : public BT::ActionNodeBase BT::InputPort("input_goals", "Original goals to remove viapoints from"), BT::OutputPort("output_goals", "Goals with passed viapoints removed"), BT::InputPort("radius", 0.5, "radius to goal for it to be considered for removal"), - BT::InputPort("global_frame", std::string("map"), "Global frame"), - BT::InputPort("robot_base_frame", std::string("base_link"), "Robot base frame"), + BT::InputPort("global_frame", "Global frame"), + BT::InputPort("robot_base_frame", "Robot base frame"), }; } @@ -53,9 +57,10 @@ class RemovePassedGoals : public BT::ActionNodeBase BT::NodeStatus tick() override; double viapoint_achieved_radius_; - std::string robot_base_frame_, global_frame_; double transform_tolerance_; std::shared_ptr tf_; + std::string robot_base_frame_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp index 4bf6dbb9344..d5ec4ced047 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp @@ -32,7 +32,6 @@ class SmoothPathAction : public nav2_behavior_tree::BtActionNode { + using Action = nav2_msgs::action::Spin; + using ActionResult = Action::Result; + public: /** * @brief A constructor for nav2_behavior_tree::SpinAction @@ -45,6 +48,11 @@ class SpinAction : public BtActionNode */ void on_tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing basic ports along with node-specific ports @@ -55,12 +63,30 @@ class SpinAction : public BtActionNode { BT::InputPort("spin_dist", 1.57, "Spin distance"), BT::InputPort("time_allowance", 10.0, "Allowed time for spinning"), - BT::InputPort("is_recovery", true, "True if recovery") + BT::InputPort("is_recovery", true, "True if recovery"), + BT::OutputPort( + "error_code_id", "The spin behavior error code") }); } + /** + * @brief Function to perform some user-defined operation upon successful completion of the action + */ + BT::NodeStatus on_success() override; + + /** + * @brief Function to perform some user-defined operation upon abortion of the action + */ + BT::NodeStatus on_aborted() override; + + /** + * @brief Function to perform some user-defined operation upon cancellation of the action + */ + BT::NodeStatus on_cancelled() override; + private: bool is_recovery_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_action.hpp index 2604bcfea13..5501d49cf32 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_action.hpp @@ -21,7 +21,7 @@ #include "nav_msgs/msg/path.hpp" -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" namespace nav2_behavior_tree { diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp index 113e0d83e72..94b4b66ca2a 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp @@ -22,7 +22,7 @@ #include "nav_msgs/msg/path.hpp" -#include "behaviortree_cpp_v3/action_node.h" +#include "behaviortree_cpp/action_node.h" #include "tf2_ros/buffer.h" namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp index f452d24d320..fdc320c16b0 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp @@ -45,6 +45,11 @@ class WaitAction : public BtActionNode */ void on_tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing basic ports along with node-specific ports @@ -53,9 +58,12 @@ class WaitAction : public BtActionNode { return providedBasicPorts( { - BT::InputPort("wait_duration", 1, "Wait time") + BT::InputPort("wait_duration", 1.0, "Wait time") }); } + +private: + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp index 4bb8ec46f71..209958c38d4 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp @@ -21,7 +21,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" namespace nav2_behavior_tree { @@ -34,14 +34,14 @@ class AreErrorCodesPresent : public BT::ConditionNode const BT::NodeConfiguration & conf) : BT::ConditionNode(condition_name, conf) { - getInput>("error_codes_to_check", error_codes_to_check_); //NOLINT + getInput>("error_codes_to_check", error_codes_to_check_); //NOLINT } AreErrorCodesPresent() = delete; BT::NodeStatus tick() { - getInput("error_code", error_code_); //NOLINT + getInput("error_code", error_code_); //NOLINT if (error_codes_to_check_.find(error_code_) != error_codes_to_check_.end()) { return BT::NodeStatus::SUCCESS; @@ -54,14 +54,14 @@ class AreErrorCodesPresent : public BT::ConditionNode { return { - BT::InputPort("error_code", "The active error codes"), //NOLINT - BT::InputPort>("error_codes_to_check", "Error codes to check")//NOLINT + BT::InputPort("error_code", "The active error codes"), //NOLINT + BT::InputPort>("error_codes_to_check", "Error codes to check")//NOLINT }; } protected: - unsigned short error_code_; //NOLINT - std::set error_codes_to_check_; //NOLINT + uint16_t error_code_; //NOLINT + std::set error_codes_to_check_; //NOLINT }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp index 6373a5600c1..67747c62b88 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp @@ -19,7 +19,7 @@ #include #include -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "rclcpp/rclcpp.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" @@ -52,6 +52,11 @@ class DistanceTraveledCondition : public BT::ConditionNode */ BT::NodeStatus tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -60,8 +65,8 @@ class DistanceTraveledCondition : public BT::ConditionNode { return { BT::InputPort("distance", 1.0, "Distance"), - BT::InputPort("global_frame", std::string("map"), "Global frame"), - BT::InputPort("robot_base_frame", std::string("base_link"), "Robot base frame") + BT::InputPort("global_frame", "Global frame"), + BT::InputPort("robot_base_frame", "Robot base frame") }; } @@ -73,8 +78,8 @@ class DistanceTraveledCondition : public BT::ConditionNode double distance_; double transform_tolerance_; - std::string global_frame_; - std::string robot_base_frame_; + std::string global_frame_, robot_base_frame_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp index 64f77f1473d..7e3e92e799d 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp @@ -20,7 +20,7 @@ #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "geometry_msgs/msg/pose_stamped.hpp" @@ -57,7 +57,12 @@ class GloballyUpdatedGoalCondition : public BT::ConditionNode */ static BT::PortsList providedPorts() { - return {}; + return { + BT::InputPort>( + "goals", "Vector of navigation goals"), + BT::InputPort( + "goal", "Navigation goal"), + }; } private: diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp index a4d41437d84..b79fabe2f9e 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp @@ -19,7 +19,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "tf2_ros/buffer.h" namespace nav2_behavior_tree @@ -73,8 +73,8 @@ class GoalReachedCondition : public BT::ConditionNode { return { BT::InputPort("goal", "Destination"), - BT::InputPort("global_frame", std::string("map"), "Global frame"), - BT::InputPort("robot_base_frame", std::string("base_link"), "Robot base frame") + BT::InputPort("global_frame", "Global frame"), + BT::InputPort("robot_base_frame", "Robot base frame") }; } @@ -91,9 +91,8 @@ class GoalReachedCondition : public BT::ConditionNode bool initialized_; double goal_reached_tol_; - std::string global_frame_; - std::string robot_base_frame_; double transform_tolerance_; + std::string robot_base_frame_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp index 1e8c9712c16..89d4b7a573c 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "geometry_msgs/msg/pose_stamped.hpp" namespace nav2_behavior_tree @@ -54,7 +54,12 @@ class GoalUpdatedCondition : public BT::ConditionNode */ static BT::PortsList providedPorts() { - return {}; + return { + BT::InputPort>( + "goals", "Vector of navigation goals"), + BT::InputPort( + "goal", "Navigation goal"), + }; } private: diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp index 2bb7d995b80..548c15268b0 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp @@ -15,7 +15,8 @@ #ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_ #define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_ -#include "behaviortree_cpp_v3/behavior_tree.h" +#include +#include "behaviortree_cpp/behavior_tree.h" namespace nav2_behavior_tree { @@ -23,7 +24,21 @@ namespace nav2_behavior_tree * @brief A BT::ConditionNode that returns SUCCESS if initial pose * has been received and FAILURE otherwise */ -BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node); -} +class InitialPoseReceived : public BT::ConditionNode +{ +public: + InitialPoseReceived( + const std::string & name, + const BT::NodeConfiguration & config); + + static BT::PortsList providedPorts() + { + return {BT::InputPort("initial_pose_received")}; + } + + BT::NodeStatus tick() override; +}; + +} // namespace nav2_behavior_tree #endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp new file mode 100644 index 00000000000..704154a31d0 --- /dev/null +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp @@ -0,0 +1,81 @@ +// Copyright (c) 2023 Alberto J. Tudela Roldán +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_BATTERY_CHARGING_CONDITION_HPP_ +#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_BATTERY_CHARGING_CONDITION_HPP_ + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/battery_state.hpp" +#include "behaviortree_cpp/condition_node.h" + +namespace nav2_behavior_tree +{ + +/** + * @brief A BT::ConditionNode that listens to a battery topic and + * returns SUCCESS when battery is charging and FAILURE otherwise + */ +class IsBatteryChargingCondition : public BT::ConditionNode +{ +public: + /** + * @brief A constructor for nav2_behavior_tree::IsBatteryChargingCondition + * @param condition_name Name for the XML tag for this node + * @param conf BT node configuration + */ + IsBatteryChargingCondition( + const std::string & condition_name, + const BT::NodeConfiguration & conf); + + IsBatteryChargingCondition() = delete; + + /** + * @brief The main override required by a BT action + * @return BT::NodeStatus Status of tick execution + */ + BT::NodeStatus tick() override; + + /** + * @brief Creates list of BT ports + * @return BT::PortsList Containing node-specific ports + */ + static BT::PortsList providedPorts() + { + return { + BT::InputPort( + "battery_topic", std::string("/battery_status"), "Battery topic") + }; + } + +private: + /** + * @brief Callback function for battery topic + * @param msg Shared pointer to sensor_msgs::msg::BatteryState message + */ + void batteryCallback(sensor_msgs::msg::BatteryState::SharedPtr msg); + + rclcpp::CallbackGroup::SharedPtr callback_group_; + rclcpp::executors::SingleThreadedExecutor callback_group_executor_; + rclcpp::Subscription::SharedPtr battery_sub_; + std::string battery_topic_; + bool is_battery_charging_; +}; + +} // namespace nav2_behavior_tree + +#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_BATTERY_CHARGING_CONDITION_HPP_ diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp index 5c4753cf9a1..59a023ff3c2 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp @@ -22,7 +22,7 @@ #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/battery_state.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" namespace nav2_behavior_tree { @@ -51,6 +51,11 @@ class IsBatteryLowCondition : public BT::ConditionNode */ BT::NodeStatus tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -81,6 +86,7 @@ class IsBatteryLowCondition : public BT::ConditionNode double min_battery_; bool is_voltage_; bool is_battery_low_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp index a04b1263f4b..5a9f255a9b7 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp @@ -19,7 +19,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_msgs/srv/is_path_valid.hpp" @@ -50,6 +50,11 @@ class IsPathValidCondition : public BT::ConditionNode */ BT::NodeStatus tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -68,6 +73,7 @@ class IsPathValidCondition : public BT::ConditionNode // The timeout value while waiting for a responce from the // is path valid service std::chrono::milliseconds server_timeout_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp index 565f261100f..e532822d42a 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp @@ -20,7 +20,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "nav_msgs/msg/odometry.hpp" namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp index fb2f42f3d4d..8871892949a 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp @@ -18,7 +18,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "nav_msgs/msg/path.hpp" namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp index 9f8c47afab0..26a3431b5db 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp @@ -19,7 +19,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" namespace nav2_behavior_tree { @@ -48,6 +48,11 @@ class TimeExpiredCondition : public BT::ConditionNode */ BT::NodeStatus tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -63,6 +68,7 @@ class TimeExpiredCondition : public BT::ConditionNode rclcpp::Node::SharedPtr node_; rclcpp::Time start_; double period_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp index 64572e21b7a..511c381321b 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp @@ -20,7 +20,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "tf2_ros/buffer.h" namespace nav2_behavior_tree @@ -55,6 +55,11 @@ class TransformAvailableCondition : public BT::ConditionNode */ BT::NodeStatus tick() override; + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -75,6 +80,7 @@ class TransformAvailableCondition : public BT::ConditionNode std::string child_frame_; std::string parent_frame_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp index 6c5b4f3982e..bdd979f7889 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.hpp @@ -26,7 +26,7 @@ namespace nav2_behavior_tree class WouldAControllerRecoveryHelp : public AreErrorCodesPresent { using Action = nav2_msgs::action::FollowPath; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; public: WouldAControllerRecoveryHelp( diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp index 4c37893bc4b..729271a8c5a 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.hpp @@ -18,6 +18,7 @@ #include #include "nav2_msgs/action/compute_path_to_pose.hpp" +#include "nav2_msgs/action/compute_path_through_poses.hpp" #include "nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp" namespace nav2_behavior_tree @@ -26,7 +27,9 @@ namespace nav2_behavior_tree class WouldAPlannerRecoveryHelp : public AreErrorCodesPresent { using Action = nav2_msgs::action::ComputePathToPose; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; + using ThroughAction = nav2_msgs::action::ComputePathThroughPoses; + using ThroughActionResult = Action::Result; public: WouldAPlannerRecoveryHelp( diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp index a13a6c76eb9..8cdbcd156dc 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.hpp @@ -27,7 +27,7 @@ namespace nav2_behavior_tree class WouldASmootherRecoveryHelp : public AreErrorCodesPresent { using Action = nav2_msgs::action::SmoothPath; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; public: WouldASmootherRecoveryHelp( diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pipeline_sequence.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pipeline_sequence.hpp index 0384381d2a9..ce3406904f5 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pipeline_sequence.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pipeline_sequence.hpp @@ -16,8 +16,8 @@ #define NAV2_BEHAVIOR_TREE__PLUGINS__CONTROL__PIPELINE_SEQUENCE_HPP_ #include -#include "behaviortree_cpp_v3/control_node.h" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/control_node.h" +#include "behaviortree_cpp/bt_factory.h" namespace nav2_behavior_tree { diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/recovery_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/recovery_node.hpp index 89c0cfa300c..62759ea7113 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/recovery_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/recovery_node.hpp @@ -16,7 +16,7 @@ #define NAV2_BEHAVIOR_TREE__PLUGINS__CONTROL__RECOVERY_NODE_HPP_ #include -#include "behaviortree_cpp_v3/control_node.h" +#include "behaviortree_cpp/control_node.h" namespace nav2_behavior_tree { diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/round_robin_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/round_robin_node.hpp index 8c374ce6af0..86f2b38c5bb 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/round_robin_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/round_robin_node.hpp @@ -17,8 +17,8 @@ #include -#include "behaviortree_cpp_v3/control_node.h" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/control_node.h" +#include "behaviortree_cpp/bt_factory.h" namespace nav2_behavior_tree { diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp index 2d571597eab..7fbda19c63e 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp @@ -22,7 +22,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "tf2_ros/buffer.h" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" namespace nav2_behavior_tree { @@ -51,8 +51,8 @@ class DistanceController : public BT::DecoratorNode { return { BT::InputPort("distance", 1.0, "Distance"), - BT::InputPort("global_frame", std::string("map"), "Global frame"), - BT::InputPort("robot_base_frame", std::string("base_link"), "Robot base frame") + BT::InputPort("global_frame", "Global frame"), + BT::InputPort("robot_base_frame", "Robot base frame") }; } @@ -70,9 +70,7 @@ class DistanceController : public BT::DecoratorNode geometry_msgs::msg::PoseStamped start_pose_; double distance_; - - std::string global_frame_; - std::string robot_base_frame_; + std::string global_frame_, robot_base_frame_; bool first_time_; }; diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp index 4ac0ab44eeb..bdd4171185c 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp @@ -19,7 +19,7 @@ #include #include -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "rclcpp/rclcpp.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" @@ -48,7 +48,12 @@ class GoalUpdatedController : public BT::DecoratorNode */ static BT::PortsList providedPorts() { - return {}; + return { + BT::InputPort>( + "goals", "Vector of navigation goals"), + BT::InputPort( + "goal", "Navigation goal"), + }; } private: diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp index 49dfbc1a0c5..ddce12cf02e 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp @@ -21,7 +21,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "rclcpp/rclcpp.hpp" diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp index 6e41516434c..bdf4a080d18 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.hpp @@ -21,7 +21,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav_msgs/msg/path.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "rclcpp/rclcpp.hpp" namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp index 201f4868cfd..c390357b342 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" namespace nav2_behavior_tree { @@ -38,6 +38,11 @@ class RateController : public BT::DecoratorNode const std::string & name, const BT::NodeConfiguration & conf); + /** + * @brief Function to read parameters and initialize class variables + */ + void initialize(); + /** * @brief Creates list of BT ports * @return BT::PortsList Containing node-specific ports @@ -59,6 +64,7 @@ class RateController : public BT::DecoratorNode std::chrono::time_point start_; double period_; bool first_time_; + bool initialized_; }; } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp index c16ef63efa9..02c0c1812ef 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" namespace nav2_behavior_tree { diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp index 8150eb31098..ed454c0aa1d 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp @@ -24,7 +24,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "nav2_util/odometry_utils.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" namespace nav2_behavior_tree { @@ -57,6 +57,10 @@ class SpeedController : public BT::DecoratorNode BT::InputPort("max_rate", 1.0, "Maximum rate"), BT::InputPort("min_speed", 0.0, "Minimum speed"), BT::InputPort("max_speed", 0.5, "Maximum speed"), + BT::InputPort>( + "goals", "Vector of navigation goals"), + BT::InputPort( + "goal", "Navigation goal"), }; } diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp index d71a57bc046..d1ccef107e2 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp @@ -19,7 +19,7 @@ #include #include -#include "behaviortree_cpp_v3/loggers/abstract_logger.h" +#include "behaviortree_cpp/loggers/abstract_logger.h" #include "rclcpp/rclcpp.hpp" #include "nav2_msgs/msg/behavior_tree_log.hpp" #include "nav2_msgs/msg/behavior_tree_status_change.h" @@ -69,6 +69,7 @@ class RosTopicLogger : public BT::StatusChangeLogger // before converting to a msg. event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp)); event.node_name = node.name(); + event.uid = node.UID(); event.previous_status = toStr(prev_status, false); event.current_status = toStr(status, false); event_log_.push_back(std::move(event)); diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml index e7b853400bc..925e9c35797 100644 --- a/nav2_behavior_tree/nav2_tree_nodes.xml +++ b/nav2_behavior_tree/nav2_tree_nodes.xml @@ -4,7 +4,7 @@ please refer to the groot_instructions.md and REAMDE.md respectively located in the nav2_behavior_tree package. --> - + @@ -13,6 +13,7 @@ Allowed time for reversing Server name Server timeout + "Back up error code" @@ -21,6 +22,7 @@ Allowed time for reversing Server name Server timeout + "Drive on heading error code" @@ -112,7 +114,8 @@ Path to follow Goal checker - Server name + Progress checker + Service name Server timeout Follow Path error code @@ -179,11 +182,18 @@ Name of the selected goal checker received from the topic subcription + + Name of the topic to receive progress checker selection commands + Default progress checker of the controller selector + Name of the selected progress checker received from the topic subcription + + Spin distance Allowed time for spinning Server name Server timeout + Spin error code @@ -197,6 +207,7 @@ If true recovery count will be incremented Service name Server timeout + Assisted teleop error code @@ -213,9 +224,15 @@ Parent frame for transform - + + Vector of navigation goals + Navigation goal + - + + Vector of navigation goals + Navigation goal + Min battery % or voltage before triggering @@ -223,6 +240,10 @@ Bool if check based on voltage or total % + + Topic for battery info + + Distance to check if passed reference frame to check in @@ -240,6 +261,7 @@ + SUCCESS if initial_pose_received true @@ -298,6 +320,8 @@ Maximum rate Minimum speed Maximum speed + Vector of navigation goals + Navigation goal @@ -307,6 +331,8 @@ + Vector of navigation goals + Navigation goal diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml index 81e24a8cb30..b9ed847ce38 100644 --- a/nav2_behavior_tree/package.xml +++ b/nav2_behavior_tree/package.xml @@ -2,7 +2,7 @@ nav2_behavior_tree - 1.1.0 + 1.2.0 TODO Michael Jeronimo Carlos Orduno @@ -17,7 +17,7 @@ rclcpp rclcpp_action rclcpp_lifecycle - behaviortree_cpp_v3 + behaviortree_cpp builtin_interfaces geometry_msgs sensor_msgs @@ -36,7 +36,7 @@ rclcpp_action rclcpp_lifecycle std_msgs - behaviortree_cpp_v3 + behaviortree_cpp builtin_interfaces geometry_msgs sensor_msgs diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp index 025f4786fc5..e876d2ce40b 100644 --- a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp +++ b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp @@ -24,7 +24,11 @@ AssistedTeleopAction::AssistedTeleopAction( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: BtActionNode(xml_tag_name, action_name, conf) +: BtActionNode(xml_tag_name, action_name, conf), + initialized_(false) +{} + +void AssistedTeleopAction::initialize() { double time_allowance; getInput("time_allowance", time_allowance); @@ -32,23 +36,41 @@ AssistedTeleopAction::AssistedTeleopAction( // Populate the input message goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance); + initialized_ = true; } void AssistedTeleopAction::on_tick() { + if (!initialized_) { + initialize(); + } + if (is_recovery_) { increment_recovery_count(); } } +BT::NodeStatus AssistedTeleopAction::on_success() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + BT::NodeStatus AssistedTeleopAction::on_aborted() { + setOutput("error_code_id", result_.result->error_code); return is_recovery_ ? BT::NodeStatus::FAILURE : BT::NodeStatus::SUCCESS; } +BT::NodeStatus AssistedTeleopAction::on_cancelled() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp index e226ba19753..362499c9f2e 100644 --- a/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp @@ -32,7 +32,7 @@ AssistedTeleopCancel::AssistedTeleopCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/back_up_action.cpp b/nav2_behavior_tree/plugins/action/back_up_action.cpp index b72afaf8106..e17580fe71c 100644 --- a/nav2_behavior_tree/plugins/action/back_up_action.cpp +++ b/nav2_behavior_tree/plugins/action/back_up_action.cpp @@ -24,7 +24,12 @@ BackUpAction::BackUpAction( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: BtActionNode(xml_tag_name, action_name, conf) +: BtActionNode(xml_tag_name, action_name, conf), + initialized_(false) +{ +} + +void nav2_behavior_tree::BackUpAction::initialize() { double dist; getInput("backup_dist", dist); @@ -39,16 +44,39 @@ BackUpAction::BackUpAction( goal_.target.z = 0.0; goal_.speed = speed; goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance); + initialized_ = true; } void BackUpAction::on_tick() { + if (!initialized_) { + initialize(); + } + increment_recovery_count(); } +BT::NodeStatus BackUpAction::on_success() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + +BT::NodeStatus BackUpAction::on_aborted() +{ + setOutput("error_code_id", result_.result->error_code); + return BT::NodeStatus::FAILURE; +} + +BT::NodeStatus BackUpAction::on_cancelled() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp b/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp index 3baa1ffb1e3..21835c326a8 100644 --- a/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp @@ -32,7 +32,7 @@ BackUpCancel::BackUpCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp b/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp index 08d2b00632b..2d007a6623e 100644 --- a/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp +++ b/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp @@ -60,7 +60,7 @@ void ClearCostmapAroundRobotService::on_tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("ClearEntireCostmap"); diff --git a/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp index 5fede84f2cf..a0572ecad61 100644 --- a/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp +++ b/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp @@ -42,7 +42,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_success() { setOutput("path", result_.result->path); // Set empty error code, action was successful - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -59,13 +59,13 @@ BT::NodeStatus ComputePathThroughPosesAction::on_cancelled() nav_msgs::msg::Path empty_path; setOutput("path", empty_path); // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp index 0619a41ee06..c7f1a0164e8 100644 --- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp +++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp @@ -41,7 +41,7 @@ BT::NodeStatus ComputePathToPoseAction::on_success() { setOutput("path", result_.result->path); // Set empty error code, action was successful - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -58,7 +58,7 @@ BT::NodeStatus ComputePathToPoseAction::on_cancelled() nav_msgs::msg::Path empty_path; setOutput("path", empty_path); // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -71,7 +71,7 @@ void ComputePathToPoseAction::halt() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp b/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp index 966ee01e10a..b2eb4358c20 100644 --- a/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/controller_cancel_node.cpp @@ -32,7 +32,7 @@ ControllerCancel::ControllerCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/controller_selector_node.cpp b/nav2_behavior_tree/plugins/action/controller_selector_node.cpp index 7d77adbee39..b58d78bb78f 100644 --- a/nav2_behavior_tree/plugins/action/controller_selector_node.cpp +++ b/nav2_behavior_tree/plugins/action/controller_selector_node.cpp @@ -84,7 +84,7 @@ ControllerSelector::callbackControllerSelect(const std_msgs::msg::String::Shared } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("ControllerSelector"); diff --git a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp index 81a93a63628..03c00344141 100644 --- a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp +++ b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp @@ -24,7 +24,12 @@ DriveOnHeadingAction::DriveOnHeadingAction( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: BtActionNode(xml_tag_name, action_name, conf) +: BtActionNode(xml_tag_name, action_name, conf), + initalized_(false) +{ +} + +void DriveOnHeadingAction::initialize() { double dist; getInput("dist_to_travel", dist); @@ -39,11 +44,37 @@ DriveOnHeadingAction::DriveOnHeadingAction( goal_.target.z = 0.0; goal_.speed = speed; goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance); + initalized_ = true; +} + +void DriveOnHeadingAction::on_tick() +{ + if (!initalized_) { + initialize(); + } +} + +BT::NodeStatus DriveOnHeadingAction::on_success() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + +BT::NodeStatus DriveOnHeadingAction::on_aborted() +{ + setOutput("error_code_id", result_.result->error_code); + return BT::NodeStatus::FAILURE; +} + +BT::NodeStatus DriveOnHeadingAction::on_cancelled() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp index b29de63df55..8ac530f8df0 100644 --- a/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp @@ -32,7 +32,7 @@ DriveOnHeadingCancel::DriveOnHeadingCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp index 3649fad8a1b..b662221de0f 100644 --- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp +++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp @@ -33,11 +33,12 @@ void FollowPathAction::on_tick() getInput("path", goal_.path); getInput("controller_id", goal_.controller_id); getInput("goal_checker_id", goal_.goal_checker_id); + getInput("progress_checker_id", goal_.progress_checker_id); } BT::NodeStatus FollowPathAction::on_success() { - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -50,7 +51,7 @@ BT::NodeStatus FollowPathAction::on_aborted() BT::NodeStatus FollowPathAction::on_cancelled() { // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -83,11 +84,19 @@ void FollowPathAction::on_wait_for_result( goal_.goal_checker_id = new_goal_checker_id; goal_updated_ = true; } + + std::string new_progress_checker_id; + getInput("progress_checker_id", new_progress_checker_id); + + if (goal_.progress_checker_id != new_progress_checker_id) { + goal_.progress_checker_id = new_progress_checker_id; + goal_updated_ = true; + } } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp b/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp index 1a2e9c703b0..3ee9d832609 100644 --- a/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp +++ b/nav2_behavior_tree/plugins/action/goal_checker_selector_node.cpp @@ -75,7 +75,7 @@ GoalCheckerSelector::callbackGoalCheckerSelect(const std_msgs::msg::String::Shar } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GoalCheckerSelector"); diff --git a/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp b/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp index 5e3e65f424b..9213cd564f4 100644 --- a/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp +++ b/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp @@ -41,7 +41,7 @@ void NavigateThroughPosesAction::on_tick() BT::NodeStatus NavigateThroughPosesAction::on_success() { - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -54,14 +54,14 @@ BT::NodeStatus NavigateThroughPosesAction::on_aborted() BT::NodeStatus NavigateThroughPosesAction::on_cancelled() { // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp index dabc576fccd..07bea22436f 100644 --- a/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp +++ b/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp @@ -40,7 +40,7 @@ void NavigateToPoseAction::on_tick() BT::NodeStatus NavigateToPoseAction::on_success() { - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -53,13 +53,13 @@ BT::NodeStatus NavigateToPoseAction::on_aborted() BT::NodeStatus NavigateToPoseAction::on_cancelled() { // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/planner_selector_node.cpp b/nav2_behavior_tree/plugins/action/planner_selector_node.cpp index ccb85184127..5d0610c0fa5 100644 --- a/nav2_behavior_tree/plugins/action/planner_selector_node.cpp +++ b/nav2_behavior_tree/plugins/action/planner_selector_node.cpp @@ -84,7 +84,7 @@ PlannerSelector::callbackPlannerSelect(const std_msgs::msg::String::SharedPtr ms } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("PlannerSelector"); diff --git a/nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp b/nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp new file mode 100644 index 00000000000..fea2194158b --- /dev/null +++ b/nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp @@ -0,0 +1,81 @@ +// Copyright (c) 2024 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include "std_msgs/msg/string.hpp" + +#include "nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp" + +#include "rclcpp/rclcpp.hpp" + +namespace nav2_behavior_tree +{ + +using std::placeholders::_1; + +ProgressCheckerSelector::ProgressCheckerSelector( + const std::string & name, + const BT::NodeConfiguration & conf) +: BT::SyncActionNode(name, conf) +{ + node_ = config().blackboard->get("node"); + + getInput("topic_name", topic_name_); + + rclcpp::QoS qos(rclcpp::KeepLast(1)); + qos.transient_local().reliable(); + + progress_checker_selector_sub_ = node_->create_subscription( + topic_name_, qos, std::bind(&ProgressCheckerSelector::callbackProgressCheckerSelect, this, _1)); +} + +BT::NodeStatus ProgressCheckerSelector::tick() +{ + rclcpp::spin_some(node_); + + // This behavior always use the last selected progress checker received from the topic input. + // When no input is specified it uses the default goaprogressl checker. + // If the default progress checker is not specified then we work in + // "required progress checker mode": In this mode, the behavior returns failure if the progress + // checker selection is not received from the topic input. + if (last_selected_progress_checker_.empty()) { + std::string default_progress_checker; + getInput("default_progress_checker", default_progress_checker); + if (default_progress_checker.empty()) { + return BT::NodeStatus::FAILURE; + } else { + last_selected_progress_checker_ = default_progress_checker; + } + } + + setOutput("selected_progress_checker", last_selected_progress_checker_); + + return BT::NodeStatus::SUCCESS; +} + +void +ProgressCheckerSelector::callbackProgressCheckerSelect(const std_msgs::msg::String::SharedPtr msg) +{ + last_selected_progress_checker_ = msg->data; +} + +} // namespace nav2_behavior_tree + +#include "behaviortree_cpp/bt_factory.h" +BT_REGISTER_NODES(factory) +{ + factory.registerNodeType("ProgressCheckerSelector"); +} diff --git a/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp b/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp index 388f16ccb25..30b876d5346 100644 --- a/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp +++ b/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.cpp @@ -26,7 +26,7 @@ ReinitializeGlobalLocalizationService::ReinitializeGlobalLocalizationService( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( diff --git a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp index 99568f933f9..86f5fffd6b2 100644 --- a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp +++ b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp @@ -20,6 +20,7 @@ #include "nav2_util/geometry_utils.hpp" #include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -28,21 +29,30 @@ RemovePassedGoals::RemovePassedGoals( const std::string & name, const BT::NodeConfiguration & conf) : BT::ActionNodeBase(name, conf), - viapoint_achieved_radius_(0.5) + viapoint_achieved_radius_(0.5), + initialized_(false) +{} + +void RemovePassedGoals::initialize() { getInput("radius", viapoint_achieved_radius_); - getInput("global_frame", global_frame_); - getInput("robot_base_frame", robot_base_frame_); tf_ = config().blackboard->get>("tf_buffer"); auto node = config().blackboard->get("node"); node->get_parameter("transform_tolerance", transform_tolerance_); + + robot_base_frame_ = BT::deconflictPortAndParamFrame( + node, "robot_base_frame", this); } inline BT::NodeStatus RemovePassedGoals::tick() { setStatus(BT::NodeStatus::RUNNING); + if (!initialized_) { + initialize(); + } + Goals goal_poses; getInput("input_goals", goal_poses); @@ -55,7 +65,7 @@ inline BT::NodeStatus RemovePassedGoals::tick() geometry_msgs::msg::PoseStamped current_pose; if (!nav2_util::getCurrentPose( - current_pose, *tf_, global_frame_, robot_base_frame_, + current_pose, *tf_, goal_poses[0].header.frame_id, robot_base_frame_, transform_tolerance_)) { return BT::NodeStatus::FAILURE; @@ -79,7 +89,7 @@ inline BT::NodeStatus RemovePassedGoals::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("RemovePassedGoals"); diff --git a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp index b3291b73ccc..3a67904558b 100644 --- a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp +++ b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp @@ -45,7 +45,7 @@ BT::NodeStatus SmoothPathAction::on_success() setOutput("smoothing_duration", rclcpp::Duration(result_.result->smoothing_duration).seconds()); setOutput("was_completed", result_.result->was_completed); // Set empty error code, action was successful - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } @@ -58,13 +58,13 @@ BT::NodeStatus SmoothPathAction::on_aborted() BT::NodeStatus SmoothPathAction::on_cancelled() { // Set empty error code, action was cancelled - setOutput("error_code_id", ActionGoal::NONE); + setOutput("error_code_id", ActionResult::NONE); return BT::NodeStatus::SUCCESS; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp b/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp index 0a84062e088..c717332c79b 100644 --- a/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp +++ b/nav2_behavior_tree/plugins/action/smoother_selector_node.cpp @@ -85,7 +85,7 @@ SmootherSelector::callbackSmootherSelect(const std_msgs::msg::String::SharedPtr } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("SmootherSelector"); diff --git a/nav2_behavior_tree/plugins/action/spin_action.cpp b/nav2_behavior_tree/plugins/action/spin_action.cpp index 73dc8c589fb..d10bb83f32b 100644 --- a/nav2_behavior_tree/plugins/action/spin_action.cpp +++ b/nav2_behavior_tree/plugins/action/spin_action.cpp @@ -12,7 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include #include #include "nav2_behavior_tree/plugins/action/spin_action.hpp" @@ -24,7 +23,12 @@ SpinAction::SpinAction( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: BtActionNode(xml_tag_name, action_name, conf) +: BtActionNode(xml_tag_name, action_name, conf), + initialized_(false) +{ +} + +void SpinAction::initialize() { double dist; getInput("spin_dist", dist); @@ -33,18 +37,42 @@ SpinAction::SpinAction( goal_.target_yaw = dist; goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance); getInput("is_recovery", is_recovery_); + + initialized_ = true; } void SpinAction::on_tick() { + if (!initialized_) { + initialize(); + } + if (is_recovery_) { increment_recovery_count(); } } +BT::NodeStatus SpinAction::on_success() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + +BT::NodeStatus SpinAction::on_aborted() +{ + setOutput("error_code_id", result_.result->error_code); + return BT::NodeStatus::FAILURE; +} + +BT::NodeStatus SpinAction::on_cancelled() +{ + setOutput("error_code_id", ActionResult::NONE); + return BT::NodeStatus::SUCCESS; +} + } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp b/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp index 62ddbc4719c..1d75c5cf275 100644 --- a/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp @@ -32,7 +32,7 @@ SpinCancel::SpinCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/truncate_path_action.cpp b/nav2_behavior_tree/plugins/action/truncate_path_action.cpp index 7f919a30f3a..7bebfbfba38 100644 --- a/nav2_behavior_tree/plugins/action/truncate_path_action.cpp +++ b/nav2_behavior_tree/plugins/action/truncate_path_action.cpp @@ -20,7 +20,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "nav2_behavior_tree/plugins/action/truncate_path_action.hpp" @@ -33,12 +33,12 @@ TruncatePath::TruncatePath( : BT::ActionNodeBase(name, conf), distance_(1.0) { - getInput("distance", distance_); } inline BT::NodeStatus TruncatePath::tick() { setStatus(BT::NodeStatus::RUNNING); + getInput("distance", distance_); nav_msgs::msg::Path input_path; @@ -82,7 +82,7 @@ inline BT::NodeStatus TruncatePath::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("TruncatePath"); diff --git a/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp b/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp index 934f2b86bb8..35dc8635c8c 100644 --- a/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp +++ b/nav2_behavior_tree/plugins/action/truncate_path_local_action.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" #include "nav2_util/robot_utils.hpp" @@ -150,7 +150,7 @@ TruncatePathLocal::poseDistance( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( "TruncatePathLocal"); diff --git a/nav2_behavior_tree/plugins/action/wait_action.cpp b/nav2_behavior_tree/plugins/action/wait_action.cpp index d2b0e6484be..b607d026e59 100644 --- a/nav2_behavior_tree/plugins/action/wait_action.cpp +++ b/nav2_behavior_tree/plugins/action/wait_action.cpp @@ -14,6 +14,7 @@ #include #include +#include #include "nav2_behavior_tree/plugins/action/wait_action.hpp" @@ -24,28 +25,38 @@ WaitAction::WaitAction( const std::string & xml_tag_name, const std::string & action_name, const BT::NodeConfiguration & conf) -: BtActionNode(xml_tag_name, action_name, conf) +: BtActionNode(xml_tag_name, action_name, conf), + initialized_(false) { - int duration; +} + +void WaitAction::initialize() +{ + double duration; getInput("wait_duration", duration); if (duration <= 0) { RCLCPP_WARN( node_->get_logger(), "Wait duration is negative or zero " - "(%i). Setting to positive.", duration); + "(%f). Setting to positive.", duration); duration *= -1; } - goal_.time.sec = duration; + goal_.time = rclcpp::Duration::from_seconds(duration); + initialized_ = true; } void WaitAction::on_tick() { + if (!initialized_) { + initialize(); + } + increment_recovery_count(); } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp b/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp index 9365b7e06fa..b45db33396f 100644 --- a/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp +++ b/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp @@ -32,7 +32,7 @@ WaitCancel::WaitCancel( } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp b/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp index 6764cccd116..f39dd8fbce4 100644 --- a/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.cpp @@ -14,7 +14,7 @@ #include "nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( diff --git a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp index 00be8be846b..7db1817c65e 100644 --- a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp @@ -20,6 +20,7 @@ #include "nav2_util/geometry_utils.hpp" #include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -30,20 +31,32 @@ DistanceTraveledCondition::DistanceTraveledCondition( : BT::ConditionNode(condition_name, conf), distance_(1.0), transform_tolerance_(0.1), - global_frame_("map"), - robot_base_frame_("base_link") + initialized_(false) +{ +} + +void DistanceTraveledCondition::initialize() { getInput("distance", distance_); - getInput("global_frame", global_frame_); - getInput("robot_base_frame", robot_base_frame_); + node_ = config().blackboard->get("node"); tf_ = config().blackboard->get>("tf_buffer"); node_->get_parameter("transform_tolerance", transform_tolerance_); + + global_frame_ = BT::deconflictPortAndParamFrame( + node_, "global_frame", this); + robot_base_frame_ = BT::deconflictPortAndParamFrame( + node_, "robot_base_frame", this); + initialized_ = true; } BT::NodeStatus DistanceTraveledCondition::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!initialized_) { + initialize(); + } + + if (!BT::isStatusActive(status())) { if (!nav2_util::getCurrentPose( start_pose_, *tf_, global_frame_, robot_base_frame_, transform_tolerance_)) @@ -79,7 +92,7 @@ BT::NodeStatus DistanceTraveledCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("DistanceTraveled"); diff --git a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp index fee838c9379..dbd84d8b2ef 100644 --- a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp @@ -16,6 +16,7 @@ #include #include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -33,15 +34,15 @@ BT::NodeStatus GloballyUpdatedGoalCondition::tick() { if (first_time) { first_time = false; - config().blackboard->get>("goals", goals_); - config().blackboard->get("goal", goal_); + BT::getInputOrBlackboard("goals", goals_); + BT::getInputOrBlackboard("goal", goal_); return BT::NodeStatus::SUCCESS; } std::vector current_goals; - config().blackboard->get>("goals", current_goals); + BT::getInputOrBlackboard("goals", current_goals); geometry_msgs::msg::PoseStamped current_goal; - config().blackboard->get("goal", current_goal); + BT::getInputOrBlackboard("goal", current_goal); if (goal_ != current_goal || goals_ != current_goals) { goal_ = current_goal; @@ -54,7 +55,7 @@ BT::NodeStatus GloballyUpdatedGoalCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GlobalUpdatedGoal"); diff --git a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp index 3a5b8d821c9..70243562034 100644 --- a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp @@ -20,6 +20,7 @@ #include "nav2_util/node_utils.hpp" #include "nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -28,12 +29,12 @@ GoalReachedCondition::GoalReachedCondition( const std::string & condition_name, const BT::NodeConfiguration & conf) : BT::ConditionNode(condition_name, conf), - initialized_(false), - global_frame_("map"), - robot_base_frame_("base_link") + initialized_(false) { - getInput("global_frame", global_frame_); - getInput("robot_base_frame", robot_base_frame_); + auto node = config().blackboard->get("node"); + + robot_base_frame_ = BT::deconflictPortAndParamFrame( + node, "robot_base_frame", this); } GoalReachedCondition::~GoalReachedCondition() @@ -41,18 +42,6 @@ GoalReachedCondition::~GoalReachedCondition() cleanup(); } -BT::NodeStatus GoalReachedCondition::tick() -{ - if (!initialized_) { - initialize(); - } - - if (isGoalReached()) { - return BT::NodeStatus::SUCCESS; - } - return BT::NodeStatus::FAILURE; -} - void GoalReachedCondition::initialize() { node_ = config().blackboard->get("node"); @@ -68,19 +57,31 @@ void GoalReachedCondition::initialize() initialized_ = true; } +BT::NodeStatus GoalReachedCondition::tick() +{ + if (!initialized_) { + initialize(); + } + + if (isGoalReached()) { + return BT::NodeStatus::SUCCESS; + } + return BT::NodeStatus::FAILURE; +} + bool GoalReachedCondition::isGoalReached() { - geometry_msgs::msg::PoseStamped current_pose; + geometry_msgs::msg::PoseStamped goal; + getInput("goal", goal); + geometry_msgs::msg::PoseStamped current_pose; if (!nav2_util::getCurrentPose( - current_pose, *tf_, global_frame_, robot_base_frame_, transform_tolerance_)) + current_pose, *tf_, goal.header.frame_id, robot_base_frame_, transform_tolerance_)) { RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available."); return false; } - geometry_msgs::msg::PoseStamped goal; - getInput("goal", goal); double dx = goal.pose.position.x - current_pose.pose.position.x; double dy = goal.pose.position.y - current_pose.pose.position.y; @@ -89,7 +90,7 @@ bool GoalReachedCondition::isGoalReached() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GoalReached"); diff --git a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp index 34930bb582e..88d329efc2a 100644 --- a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp @@ -15,6 +15,7 @@ #include #include #include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -27,16 +28,16 @@ GoalUpdatedCondition::GoalUpdatedCondition( BT::NodeStatus GoalUpdatedCondition::tick() { - if (status() == BT::NodeStatus::IDLE) { - config().blackboard->get>("goals", goals_); - config().blackboard->get("goal", goal_); + if (!BT::isStatusActive(status())) { + BT::getInputOrBlackboard("goals", goals_); + BT::getInputOrBlackboard("goal", goal_); return BT::NodeStatus::FAILURE; } std::vector current_goals; - config().blackboard->get>("goals", current_goals); geometry_msgs::msg::PoseStamped current_goal; - config().blackboard->get("goal", current_goal); + BT::getInputOrBlackboard("goals", current_goals); + BT::getInputOrBlackboard("goal", current_goal); if (goal_ != current_goal || goals_ != current_goals) { goal_ = current_goal; @@ -49,7 +50,7 @@ BT::NodeStatus GoalUpdatedCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GoalUpdated"); diff --git a/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp b/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp index 41796834c63..9d930229124 100644 --- a/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp @@ -13,22 +13,28 @@ // limitations under the License. #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { +InitialPoseReceived::InitialPoseReceived( + const std::string & name, + const BT::NodeConfiguration & config) +: BT::ConditionNode(name, config) +{ +} -BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node) +BT::NodeStatus InitialPoseReceived::tick() { - auto initPoseReceived = tree_node.config().blackboard->get("initial_pose_received"); + bool initPoseReceived = false; + BT::getInputOrBlackboard("initial_pose_received", initPoseReceived); return initPoseReceived ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { - factory.registerSimpleCondition( - "InitialPoseReceived", - std::bind(&nav2_behavior_tree::initialPoseReceived, std::placeholders::_1)); + factory.registerNodeType("InitialPoseReceived"); } diff --git a/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp b/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp new file mode 100644 index 00000000000..27e1bd55fc7 --- /dev/null +++ b/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp @@ -0,0 +1,66 @@ +// Copyright (c) 2023 Alberto J. Tudela Roldán +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include "nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp" + +namespace nav2_behavior_tree +{ + +IsBatteryChargingCondition::IsBatteryChargingCondition( + const std::string & condition_name, + const BT::NodeConfiguration & conf) +: BT::ConditionNode(condition_name, conf), + battery_topic_("/battery_status"), + is_battery_charging_(false) +{ + getInput("battery_topic", battery_topic_); + auto node = config().blackboard->get("node"); + callback_group_ = node->create_callback_group( + rclcpp::CallbackGroupType::MutuallyExclusive, + false); + callback_group_executor_.add_callback_group(callback_group_, node->get_node_base_interface()); + + rclcpp::SubscriptionOptions sub_option; + sub_option.callback_group = callback_group_; + battery_sub_ = node->create_subscription( + battery_topic_, + rclcpp::SystemDefaultsQoS(), + std::bind(&IsBatteryChargingCondition::batteryCallback, this, std::placeholders::_1), + sub_option); +} + +BT::NodeStatus IsBatteryChargingCondition::tick() +{ + callback_group_executor_.spin_some(); + if (is_battery_charging_) { + return BT::NodeStatus::SUCCESS; + } + return BT::NodeStatus::FAILURE; +} + +void IsBatteryChargingCondition::batteryCallback(sensor_msgs::msg::BatteryState::SharedPtr msg) +{ + is_battery_charging_ = + (msg->power_supply_status == sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_CHARGING); +} + +} // namespace nav2_behavior_tree + +#include "behaviortree_cpp/bt_factory.h" +BT_REGISTER_NODES(factory) +{ + factory.registerNodeType("IsBatteryCharging"); +} diff --git a/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp index b8630261e6e..a0e3761f28c 100644 --- a/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp @@ -27,7 +27,12 @@ IsBatteryLowCondition::IsBatteryLowCondition( battery_topic_("/battery_status"), min_battery_(0.0), is_voltage_(false), - is_battery_low_(false) + is_battery_low_(false), + initialized_(false) +{ +} + +void IsBatteryLowCondition::initialize() { getInput("min_battery", min_battery_); getInput("battery_topic", battery_topic_); @@ -45,10 +50,15 @@ IsBatteryLowCondition::IsBatteryLowCondition( rclcpp::SystemDefaultsQoS(), std::bind(&IsBatteryLowCondition::batteryCallback, this, std::placeholders::_1), sub_option); + initialized_ = true; } BT::NodeStatus IsBatteryLowCondition::tick() { + if (!initialized_) { + initialize(); + } + callback_group_executor_.spin_some(); if (is_battery_low_) { return BT::NodeStatus::SUCCESS; @@ -67,7 +77,7 @@ void IsBatteryLowCondition::batteryCallback(sensor_msgs::msg::BatteryState::Shar } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("IsBatteryLow"); diff --git a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp index 4a02dede9aa..7274743e1e9 100644 --- a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp @@ -23,17 +23,27 @@ namespace nav2_behavior_tree IsPathValidCondition::IsPathValidCondition( const std::string & condition_name, const BT::NodeConfiguration & conf) -: BT::ConditionNode(condition_name, conf) +: BT::ConditionNode(condition_name, conf), + initialized_(false) { node_ = config().blackboard->get("node"); client_ = node_->create_client("is_path_valid"); server_timeout_ = config().blackboard->template get("server_timeout"); +} + +void IsPathValidCondition::initialize() +{ getInput("server_timeout", server_timeout_); + initialized_ = true; } BT::NodeStatus IsPathValidCondition::tick() { + if (!initialized_) { + initialize(); + } + nav_msgs::msg::Path path; getInput("path", path); @@ -54,7 +64,7 @@ BT::NodeStatus IsPathValidCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("IsPathValid"); diff --git a/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp b/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp index 211254dafe9..d0ca48cd7f5 100644 --- a/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/is_stuck_condition.cpp @@ -95,7 +95,7 @@ void IsStuckCondition::logStuck(const std::string & msg) const return; } - RCLCPP_INFO(node_->get_logger(), msg.c_str()); + RCLCPP_INFO(node_->get_logger(), "%s", msg.c_str()); prev_msg = msg; } @@ -143,7 +143,7 @@ bool IsStuckCondition::isStuck() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("IsStuck"); diff --git a/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp b/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp index e018e025352..540af1d83d3 100644 --- a/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp @@ -15,7 +15,7 @@ #include #include -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp" @@ -29,13 +29,13 @@ PathExpiringTimerCondition::PathExpiringTimerCondition( period_(1.0), first_time_(true) { - getInput("seconds", period_); node_ = config().blackboard->get("node"); } BT::NodeStatus PathExpiringTimerCondition::tick() { if (first_time_) { + getInput("seconds", period_); getInput("path", prev_path_); first_time_ = false; start_ = node_->now(); @@ -68,7 +68,7 @@ BT::NodeStatus PathExpiringTimerCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("PathExpiringTimer"); diff --git a/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp b/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp index 4dc7e588937..f03c9711aa8 100644 --- a/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp @@ -16,7 +16,7 @@ #include #include -#include "behaviortree_cpp_v3/condition_node.h" +#include "behaviortree_cpp/condition_node.h" #include "nav2_behavior_tree/plugins/condition/time_expired_condition.hpp" @@ -27,16 +27,26 @@ TimeExpiredCondition::TimeExpiredCondition( const std::string & condition_name, const BT::NodeConfiguration & conf) : BT::ConditionNode(condition_name, conf), - period_(1.0) + period_(1.0), + initialized_(false) +{ +} + +void TimeExpiredCondition::initialize() { getInput("seconds", period_); node_ = config().blackboard->get("node"); start_ = node_->now(); + initialized_ = true; } BT::NodeStatus TimeExpiredCondition::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!initialized_) { + initialize(); + } + + if (!BT::isStatusActive(status())) { start_ = node_->now(); return BT::NodeStatus::FAILURE; } @@ -57,7 +67,7 @@ BT::NodeStatus TimeExpiredCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("TimeExpired"); diff --git a/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp b/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp index ddc67534469..0ee491fbfd2 100644 --- a/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp @@ -27,11 +27,20 @@ TransformAvailableCondition::TransformAvailableCondition( const std::string & condition_name, const BT::NodeConfiguration & conf) : BT::ConditionNode(condition_name, conf), - was_found_(false) + was_found_(false), + initialized_(false) { node_ = config().blackboard->get("node"); tf_ = config().blackboard->get>("tf_buffer"); +} +TransformAvailableCondition::~TransformAvailableCondition() +{ + RCLCPP_DEBUG(node_->get_logger(), "Shutting down TransformAvailableCondition BT node"); +} + +void TransformAvailableCondition::initialize() +{ getInput("child", child_frame_); getInput("parent", parent_frame_); @@ -39,19 +48,19 @@ TransformAvailableCondition::TransformAvailableCondition( RCLCPP_FATAL( node_->get_logger(), "Child frame (%s) or parent frame (%s) were empty.", child_frame_.c_str(), parent_frame_.c_str()); - exit(-1); + throw std::runtime_error("TransformAvailableCondition: Child or parent frames not provided!"); } RCLCPP_DEBUG(node_->get_logger(), "Initialized an TransformAvailableCondition BT node"); -} - -TransformAvailableCondition::~TransformAvailableCondition() -{ - RCLCPP_DEBUG(node_->get_logger(), "Shutting down TransformAvailableCondition BT node"); + initialized_ = true; } BT::NodeStatus TransformAvailableCondition::tick() { + if (!initialized_) { + initialize(); + } + if (was_found_) { return BT::NodeStatus::SUCCESS; } @@ -74,7 +83,7 @@ BT::NodeStatus TransformAvailableCondition::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("TransformAvailable"); diff --git a/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.cpp b/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.cpp index f299f4b7b42..87625d4511f 100644 --- a/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/would_a_controller_recovery_help_condition.cpp @@ -24,16 +24,16 @@ WouldAControllerRecoveryHelp::WouldAControllerRecoveryHelp( : AreErrorCodesPresent(condition_name, conf) { error_codes_to_check_ = { - ActionGoal::UNKNOWN, - ActionGoal::PATIENCE_EXCEEDED, - ActionGoal::FAILED_TO_MAKE_PROGRESS, - ActionGoal::NO_VALID_CONTROL + ActionResult::UNKNOWN, + ActionResult::PATIENCE_EXCEEDED, + ActionResult::FAILED_TO_MAKE_PROGRESS, + ActionResult::NO_VALID_CONTROL }; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( diff --git a/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.cpp b/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.cpp index 2420c1ea025..603eb60f107 100644 --- a/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/would_a_planner_recovery_help_condition.cpp @@ -24,15 +24,18 @@ WouldAPlannerRecoveryHelp::WouldAPlannerRecoveryHelp( : AreErrorCodesPresent(condition_name, conf) { error_codes_to_check_ = { - ActionGoal::UNKNOWN, - ActionGoal::NO_VALID_PATH, - ActionGoal::TIMEOUT + ActionResult::UNKNOWN, + ActionResult::NO_VALID_PATH, + ActionResult::TIMEOUT, + ThroughActionResult::UNKNOWN, + ThroughActionResult::TIMEOUT, + ThroughActionResult::NO_VALID_PATH }; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( diff --git a/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.cpp b/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.cpp index 7bcf01f0915..50665256c25 100644 --- a/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.cpp +++ b/nav2_behavior_tree/plugins/condition/would_a_smoother_recovery_help_condition.cpp @@ -24,16 +24,16 @@ WouldASmootherRecoveryHelp::WouldASmootherRecoveryHelp( : AreErrorCodesPresent(condition_name, conf) { error_codes_to_check_ = { - ActionGoal::UNKNOWN, - ActionGoal::TIMEOUT, - ActionGoal::FAILED_TO_SMOOTH_PATH, - ActionGoal::SMOOTHED_PATH_IN_COLLISION + ActionResult::UNKNOWN, + ActionResult::TIMEOUT, + ActionResult::FAILED_TO_SMOOTH_PATH, + ActionResult::SMOOTHED_PATH_IN_COLLISION }; } } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType( diff --git a/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp b/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp index 640c3ed7b4c..bc2327af284 100644 --- a/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp +++ b/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp @@ -35,6 +35,7 @@ PipelineSequence::PipelineSequence( BT::NodeStatus PipelineSequence::tick() { + unsigned skipped_count = 0; for (std::size_t i = 0; i < children_nodes_.size(); ++i) { auto status = children_nodes_[i]->executeTick(); switch (status) { @@ -42,6 +43,10 @@ BT::NodeStatus PipelineSequence::tick() ControlNode::haltChildren(); last_child_ticked_ = 0; // reset return status; + case BT::NodeStatus::SKIPPED: + skipped_count++; + // do nothing and continue on to the next child. + break; case BT::NodeStatus::SUCCESS: // do nothing and continue on to the next child. If it is the last child // we'll exit the loop and hit the wrap-up code at the end of the method. @@ -63,6 +68,10 @@ BT::NodeStatus PipelineSequence::tick() // Wrap up. ControlNode::haltChildren(); last_child_ticked_ = 0; // reset + if (skipped_count == children_nodes_.size()) { + // All the children were skipped + return BT::NodeStatus::SKIPPED; + } return BT::NodeStatus::SUCCESS; } diff --git a/nav2_behavior_tree/plugins/control/recovery_node.cpp b/nav2_behavior_tree/plugins/control/recovery_node.cpp index 42fc8076be6..6eb3c6e99e5 100644 --- a/nav2_behavior_tree/plugins/control/recovery_node.cpp +++ b/nav2_behavior_tree/plugins/control/recovery_node.cpp @@ -26,11 +26,11 @@ RecoveryNode::RecoveryNode( number_of_retries_(1), retry_count_(0) { - getInput("number_of_retries", number_of_retries_); } BT::NodeStatus RecoveryNode::tick() { + getInput("number_of_retries", number_of_retries_); const unsigned children_count = children_nodes_.size(); if (children_count != 2) { @@ -45,12 +45,18 @@ BT::NodeStatus RecoveryNode::tick() if (current_child_idx_ == 0) { switch (child_status) { + case BT::NodeStatus::SKIPPED: + // If first child is skipped, the entire branch is considered skipped + halt(); + return BT::NodeStatus::SKIPPED; + case BT::NodeStatus::SUCCESS: - { - // reset node and return success when first child returns success - halt(); - return BT::NodeStatus::SUCCESS; - } + // reset node and return success when first child returns success + halt(); + return BT::NodeStatus::SUCCESS; + + case BT::NodeStatus::RUNNING: + return BT::NodeStatus::RUNNING; case BT::NodeStatus::FAILURE: { @@ -66,44 +72,41 @@ BT::NodeStatus RecoveryNode::tick() } } - case BT::NodeStatus::RUNNING: - { - return BT::NodeStatus::RUNNING; - } - default: - { - throw BT::LogicError("A child node must never return IDLE"); - } + throw BT::LogicError("A child node must never return IDLE"); } // end switch } else if (current_child_idx_ == 1) { switch (child_status) { + case BT::NodeStatus::SKIPPED: + { + // if we skip the recovery (maybe a precondition fails), then we + // should assume that no recovery is possible. For this reason, + // we should return FAILURE and reset the index. + // This does not count as a retry. + current_child_idx_ = 0; + ControlNode::haltChild(1); + return BT::NodeStatus::FAILURE; + } + case BT::NodeStatus::RUNNING: + return child_status; + case BT::NodeStatus::SUCCESS: { // halt second child, increment recovery count, and tick first child in next iteration ControlNode::haltChild(1); retry_count_++; - current_child_idx_--; + current_child_idx_ = 0; } break; case BT::NodeStatus::FAILURE: - { - // reset node and return failure if second child fails - halt(); - return BT::NodeStatus::FAILURE; - } - - case BT::NodeStatus::RUNNING: - { - return BT::NodeStatus::RUNNING; - } + // reset node and return failure if second child fails + halt(); + return BT::NodeStatus::FAILURE; default: - { - throw BT::LogicError("A child node must never return IDLE"); - } + throw BT::LogicError("A child node must never return IDLE"); } // end switch } } // end while loop @@ -122,7 +125,7 @@ void RecoveryNode::halt() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("RecoveryNode"); diff --git a/nav2_behavior_tree/plugins/control/round_robin_node.cpp b/nav2_behavior_tree/plugins/control/round_robin_node.cpp index 135ea09b744..9293a5b1181 100644 --- a/nav2_behavior_tree/plugins/control/round_robin_node.cpp +++ b/nav2_behavior_tree/plugins/control/round_robin_node.cpp @@ -36,18 +36,22 @@ BT::NodeStatus RoundRobinNode::tick() const auto num_children = children_nodes_.size(); setStatus(BT::NodeStatus::RUNNING); + unsigned num_skipped_children = 0; - while (num_failed_children_ < num_children) { + while (num_failed_children_ + num_skipped_children < num_children) { TreeNode * child_node = children_nodes_[current_child_idx_]; const BT::NodeStatus child_status = child_node->executeTick(); + if (child_status != BT::NodeStatus::RUNNING) { + // Increment index and wrap around to the first child + if (++current_child_idx_ == num_children) { + current_child_idx_ = 0; + } + } + switch (child_status) { case BT::NodeStatus::SUCCESS: { - // Wrap around to the first child - if (++current_child_idx_ >= num_children) { - current_child_idx_ = 0; - } num_failed_children_ = 0; ControlNode::haltChildren(); return BT::NodeStatus::SUCCESS; @@ -55,27 +59,27 @@ BT::NodeStatus RoundRobinNode::tick() case BT::NodeStatus::FAILURE: { - if (++current_child_idx_ >= num_children) { - current_child_idx_ = 0; - } num_failed_children_++; break; } - case BT::NodeStatus::RUNNING: + case BT::NodeStatus::SKIPPED: { - return BT::NodeStatus::RUNNING; + num_skipped_children++; + break; } + case BT::NodeStatus::RUNNING: + return BT::NodeStatus::RUNNING; default: - { - throw BT::LogicError("Invalid status return from BT node"); - } + throw BT::LogicError("Invalid status return from BT node"); } } + const bool all_skipped = (num_skipped_children == num_children); halt(); - return BT::NodeStatus::FAILURE; + // If all the children were skipped, this node is considered skipped + return all_skipped ? BT::NodeStatus::SKIPPED : BT::NodeStatus::FAILURE; } void RoundRobinNode::halt() diff --git a/nav2_behavior_tree/plugins/decorator/distance_controller.cpp b/nav2_behavior_tree/plugins/decorator/distance_controller.cpp index eca2d99346f..7f87695416d 100644 --- a/nav2_behavior_tree/plugins/decorator/distance_controller.cpp +++ b/nav2_behavior_tree/plugins/decorator/distance_controller.cpp @@ -23,9 +23,10 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "tf2_ros/buffer.h" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "nav2_behavior_tree/plugins/decorator/distance_controller.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -35,22 +36,22 @@ DistanceController::DistanceController( const BT::NodeConfiguration & conf) : BT::DecoratorNode(name, conf), distance_(1.0), - global_frame_("map"), - robot_base_frame_("base_link"), first_time_(false) { getInput("distance", distance_); - getInput("global_frame", global_frame_); - getInput("robot_base_frame", robot_base_frame_); node_ = config().blackboard->get("node"); tf_ = config().blackboard->get>("tf_buffer"); - node_->get_parameter("transform_tolerance", transform_tolerance_); + + global_frame_ = BT::deconflictPortAndParamFrame( + node_, "global_frame", this); + robot_base_frame_ = BT::deconflictPortAndParamFrame( + node_, "robot_base_frame", this); } inline BT::NodeStatus DistanceController::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!BT::isStatusActive(status())) { // Reset the starting position since we're starting a new iteration of // the distance controller (moving from IDLE to RUNNING) if (!nav2_util::getCurrentPose( @@ -89,8 +90,9 @@ inline BT::NodeStatus DistanceController::tick() const BT::NodeStatus child_state = child_node_->executeTick(); switch (child_state) { + case BT::NodeStatus::SKIPPED: case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; + return child_state; case BT::NodeStatus::SUCCESS: if (!nav2_util::getCurrentPose( @@ -113,7 +115,7 @@ inline BT::NodeStatus DistanceController::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("DistanceController"); diff --git a/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp b/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp index f8a2d8cefc2..d0de9205452 100644 --- a/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp +++ b/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp @@ -17,9 +17,9 @@ #include "rclcpp/rclcpp.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp" - +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -33,12 +33,12 @@ GoalUpdatedController::GoalUpdatedController( BT::NodeStatus GoalUpdatedController::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!BT::isStatusActive(status())) { // Reset since we're starting a new iteration of // the goal updated controller (moving from IDLE to RUNNING) - config().blackboard->get>("goals", goals_); - config().blackboard->get("goal", goal_); + BT::getInputOrBlackboard("goals", goals_); + BT::getInputOrBlackboard("goal", goal_); goal_was_updated_ = true; } @@ -46,9 +46,9 @@ BT::NodeStatus GoalUpdatedController::tick() setStatus(BT::NodeStatus::RUNNING); std::vector current_goals; - config().blackboard->get>("goals", current_goals); + BT::getInputOrBlackboard("goals", current_goals); geometry_msgs::msg::PoseStamped current_goal; - config().blackboard->get("goal", current_goal); + BT::getInputOrBlackboard("goal", current_goal); if (goal_ != current_goal || goals_ != current_goals) { goal_ = current_goal; @@ -61,19 +61,7 @@ BT::NodeStatus GoalUpdatedController::tick() // 'til completion if ((child_node_->status() == BT::NodeStatus::RUNNING) || goal_was_updated_) { goal_was_updated_ = false; - const BT::NodeStatus child_state = child_node_->executeTick(); - - switch (child_state) { - case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; - - case BT::NodeStatus::SUCCESS: - return BT::NodeStatus::SUCCESS; - - case BT::NodeStatus::FAILURE: - default: - return BT::NodeStatus::FAILURE; - } + return child_node_->executeTick(); } return status(); @@ -81,7 +69,7 @@ BT::NodeStatus GoalUpdatedController::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GoalUpdatedController"); diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp index febaa7de648..fa5badf750d 100644 --- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp +++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp @@ -17,7 +17,7 @@ #include #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/decorator_node.h" +#include "behaviortree_cpp/decorator_node.h" #include "nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp" @@ -46,7 +46,7 @@ GoalUpdater::GoalUpdater( sub_option.callback_group = callback_group_; goal_sub_ = node_->create_subscription( goal_updater_topic, - 10, + rclcpp::SystemDefaultsQoS(), std::bind(&GoalUpdater::callback_updated_goal, this, _1), sub_option); } @@ -59,8 +59,17 @@ inline BT::NodeStatus GoalUpdater::tick() callback_group_executor_.spin_some(); - if (rclcpp::Time(last_goal_received_.header.stamp) > rclcpp::Time(goal.header.stamp)) { - goal = last_goal_received_; + if (last_goal_received_.header.stamp != rclcpp::Time(0)) { + auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp); + auto goal_time = rclcpp::Time(goal.header.stamp); + if (last_goal_received_time > goal_time) { + goal = last_goal_received_; + } else { + RCLCPP_WARN( + node_->get_logger(), "The timestamp of the received goal (%f) is older than the " + "current goal (%f). Ignoring the received goal.", + last_goal_received_time.seconds(), goal_time.seconds()); + } } setOutput("output_goal", goal); @@ -75,7 +84,7 @@ GoalUpdater::callback_updated_goal(const geometry_msgs::msg::PoseStamped::Shared } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("GoalUpdater"); diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp index d4b40b0964e..1b3f8abd564 100644 --- a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp +++ b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp @@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated( { return new_path != old_path && old_path.poses.size() != 0 && new_path.poses.size() != 0 && - old_path.poses.back() == new_path.poses.back(); + old_path.poses.back().pose == new_path.poses.back().pose; } bool PathLongerOnApproach::isRobotInGoalProximity( @@ -62,12 +62,11 @@ inline BT::NodeStatus PathLongerOnApproach::tick() getInput("prox_len", prox_len_); getInput("length_factor", length_factor_); - if (status() == BT::NodeStatus::IDLE) { - // Reset the starting point since we're starting a new iteration of - // PathLongerOnApproach (moving from IDLE to RUNNING) - first_time_ = true; + if (first_time_ == false) { + if (old_path_.poses.back() != new_path_.poses.back()) { + first_time_ = true; + } } - setStatus(BT::NodeStatus::RUNNING); // Check if the path is updated and valid, compare the old and the new path length, @@ -77,14 +76,14 @@ inline BT::NodeStatus PathLongerOnApproach::tick() { const BT::NodeStatus child_state = child_node_->executeTick(); switch (child_state) { + case BT::NodeStatus::SKIPPED: case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; + return child_state; case BT::NodeStatus::SUCCESS: - old_path_ = new_path_; - return BT::NodeStatus::SUCCESS; case BT::NodeStatus::FAILURE: old_path_ = new_path_; - return BT::NodeStatus::FAILURE; + resetChild(); + return child_state; default: old_path_ = new_path_; return BT::NodeStatus::FAILURE; @@ -97,7 +96,7 @@ inline BT::NodeStatus PathLongerOnApproach::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("PathLongerOnApproach"); diff --git a/nav2_behavior_tree/plugins/decorator/rate_controller.cpp b/nav2_behavior_tree/plugins/decorator/rate_controller.cpp index 13e98e0d29d..9592d119c96 100644 --- a/nav2_behavior_tree/plugins/decorator/rate_controller.cpp +++ b/nav2_behavior_tree/plugins/decorator/rate_controller.cpp @@ -24,16 +24,26 @@ RateController::RateController( const std::string & name, const BT::NodeConfiguration & conf) : BT::DecoratorNode(name, conf), - first_time_(false) + first_time_(false), + initialized_(false) +{ +} + +void RateController::initialize() { double hz = 1.0; getInput("hz", hz); period_ = 1.0 / hz; + initialized_ = true; } BT::NodeStatus RateController::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!initialized_) { + initialize(); + } + + if (!BT::isStatusActive(status())) { // Reset the starting point since we're starting a new iteration of // the rate controller (moving from IDLE to RUNNING) start_ = std::chrono::high_resolution_clock::now(); @@ -60,14 +70,15 @@ BT::NodeStatus RateController::tick() const BT::NodeStatus child_state = child_node_->executeTick(); switch (child_state) { + case BT::NodeStatus::SKIPPED: case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; + case BT::NodeStatus::FAILURE: + return child_state; case BT::NodeStatus::SUCCESS: start_ = std::chrono::high_resolution_clock::now(); // Reset the timer return BT::NodeStatus::SUCCESS; - case BT::NodeStatus::FAILURE: default: return BT::NodeStatus::FAILURE; } @@ -78,7 +89,7 @@ BT::NodeStatus RateController::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("RateController"); diff --git a/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp b/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp index 84f0fadfbbc..c95d646438a 100644 --- a/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp +++ b/nav2_behavior_tree/plugins/decorator/single_trigger_node.cpp @@ -30,7 +30,7 @@ SingleTrigger::SingleTrigger( BT::NodeStatus SingleTrigger::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!BT::isStatusActive(status())) { first_time_ = true; } @@ -40,16 +40,14 @@ BT::NodeStatus SingleTrigger::tick() const BT::NodeStatus child_state = child_node_->executeTick(); switch (child_state) { + case BT::NodeStatus::SKIPPED: case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; - - case BT::NodeStatus::SUCCESS: - first_time_ = false; - return BT::NodeStatus::SUCCESS; + return child_state; case BT::NodeStatus::FAILURE: + case BT::NodeStatus::SUCCESS: first_time_ = false; - return BT::NodeStatus::FAILURE; + return child_state; default: first_time_ = false; @@ -62,7 +60,7 @@ BT::NodeStatus SingleTrigger::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("SingleTrigger"); diff --git a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp index e5c96eba2c2..b8e5b3915a3 100644 --- a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp +++ b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp @@ -19,6 +19,7 @@ #include "nav2_util/geometry_utils.hpp" #include "nav2_behavior_tree/plugins/decorator/speed_controller.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" namespace nav2_behavior_tree { @@ -43,7 +44,7 @@ SpeedController::SpeedController( if (min_rate_ <= 0.0 || max_rate_ <= 0.0) { std::string err_msg = "SpeedController node cannot have rate <= 0.0"; - RCLCPP_FATAL(node_->get_logger(), err_msg.c_str()); + RCLCPP_FATAL(node_->get_logger(), "%s", err_msg.c_str()); throw BT::BehaviorTreeException(err_msg); } @@ -58,20 +59,20 @@ SpeedController::SpeedController( inline BT::NodeStatus SpeedController::tick() { - if (status() == BT::NodeStatus::IDLE) { + if (!BT::isStatusActive(status())) { // Reset since we're starting a new iteration of // the speed controller (moving from IDLE to RUNNING) - config().blackboard->get>("goals", goals_); - config().blackboard->get("goal", goal_); + BT::getInputOrBlackboard("goals", goals_); + BT::getInputOrBlackboard("goal", goal_); period_ = 1.0 / max_rate_; start_ = node_->now(); first_tick_ = true; } std::vector current_goals; - config().blackboard->get>("goals", current_goals); + BT::getInputOrBlackboard("goals", current_goals); geometry_msgs::msg::PoseStamped current_goal; - config().blackboard->get("goal", current_goal); + BT::getInputOrBlackboard("goal", current_goal); if (goal_ != current_goal || goals_ != current_goals) { // Reset state and set period to max since we have a new goal @@ -100,19 +101,7 @@ inline BT::NodeStatus SpeedController::tick() start_ = node_->now(); } - const BT::NodeStatus child_state = child_node_->executeTick(); - - switch (child_state) { - case BT::NodeStatus::RUNNING: - return BT::NodeStatus::RUNNING; - - case BT::NodeStatus::SUCCESS: - return BT::NodeStatus::SUCCESS; - - case BT::NodeStatus::FAILURE: - default: - return BT::NodeStatus::FAILURE; - } + return child_node_->executeTick(); } return status(); @@ -120,7 +109,7 @@ inline BT::NodeStatus SpeedController::tick() } // namespace nav2_behavior_tree -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { factory.registerNodeType("SpeedController"); diff --git a/nav2_behavior_tree/plugins_list.hpp.in b/nav2_behavior_tree/plugins_list.hpp.in new file mode 100644 index 00000000000..148583b9271 --- /dev/null +++ b/nav2_behavior_tree/plugins_list.hpp.in @@ -0,0 +1,6 @@ + +// This was automativally generated by cmake +namespace nav2::details +{ + const char* BT_BUILTIN_PLUGINS = "@plugin_libs@"; +} diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp index 7bfc003cf1c..8ed1cd4e71b 100644 --- a/nav2_behavior_tree/src/behavior_tree_engine.cpp +++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp @@ -20,17 +20,23 @@ #include #include "rclcpp/rclcpp.hpp" -#include "behaviortree_cpp_v3/utils/shared_library.h" +#include "behaviortree_cpp/utils/shared_library.h" namespace nav2_behavior_tree { -BehaviorTreeEngine::BehaviorTreeEngine(const std::vector & plugin_libraries) +BehaviorTreeEngine::BehaviorTreeEngine( + const std::vector & plugin_libraries) { BT::SharedLibrary loader; for (const auto & p : plugin_libraries) { factory_.registerFromPlugin(loader.getOSName(p)); } + + // FIXME: the next two line are needed for back-compatibility with BT.CPP 3.8.x + // Note that the can be removed, once we migrate from BT.CPP 4.5.x to 4.6+ + BT::ReactiveSequence::EnableException(false); + BT::ReactiveFallback::EnableException(false); } BtStatus @@ -47,15 +53,20 @@ BehaviorTreeEngine::run( try { while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) { if (cancelRequested()) { - tree->rootNode()->halt(); + tree->haltTree(); return BtStatus::CANCELED; } - result = tree->tickRoot(); + result = tree->tickOnce(); onLoop(); - loopRate.sleep(); + if (!loopRate.sleep()) { + RCLCPP_WARN( + rclcpp::get_logger("BehaviorTreeEngine"), + "Behavior Tree tick rate %0.2f was exceeded!", + 1.0 / (loopRate.period().count() * 1.0e-9)); + } } } catch (const std::exception & ex) { RCLCPP_ERROR( @@ -85,22 +96,10 @@ BehaviorTreeEngine::createTreeFromFile( // In order to re-run a Behavior Tree, we must be able to reset all nodes to the initial state void -BehaviorTreeEngine::haltAllActions(BT::TreeNode * root_node) +BehaviorTreeEngine::haltAllActions(BT::Tree & tree) { - if (!root_node) { - return; - } - // this halt signal should propagate through the entire tree. - root_node->halt(); - - // but, just in case... - auto visitor = [](BT::TreeNode * node) { - if (node->status() == BT::NodeStatus::RUNNING) { - node->halt(); - } - }; - BT::applyRecursiveVisitor(root_node, visitor); + tree.haltTree(); } } // namespace nav2_behavior_tree diff --git a/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp b/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp new file mode 100644 index 00000000000..4992e2e7775 --- /dev/null +++ b/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp @@ -0,0 +1,47 @@ +// Copyright (c) 2024 Davide Faconti +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. Reserved. + +#include +#include +#include +#include + +#include "behaviortree_cpp/behavior_tree.h" +#include "behaviortree_cpp/bt_factory.h" +#include "behaviortree_cpp/utils/shared_library.h" +#include "behaviortree_cpp/xml_parsing.h" + +#include "plugins_list.hpp" + +int main() +{ + BT::BehaviorTreeFactory factory; + + std::vector plugins_list; + boost::split(plugins_list, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); + + for (const auto & plugin : plugins_list) { + std::cout << "Loading: " << plugin << "\n"; + factory.registerFromPlugin(BT::SharedLibrary::getOSName(plugin)); + } + std::cout << "\nGenerating file: nav2_tree_nodes.xml\n" + << "\nCompare it with the one in the git repo and update the latter if necessary.\n"; + + std::ofstream xml_file; + xml_file.open("nav2_tree_nodes.xml"); + xml_file << BT::writeTreeNodesModelXML(factory) << std::endl; + xml_file.close(); + + return 0; +} diff --git a/nav2_behavior_tree/test/CMakeLists.txt b/nav2_behavior_tree/test/CMakeLists.txt index 42b00f50d66..eff6e78c5db 100644 --- a/nav2_behavior_tree/test/CMakeLists.txt +++ b/nav2_behavior_tree/test/CMakeLists.txt @@ -1,5 +1,5 @@ -ament_add_gtest(test_bt_conversions test_bt_conversions.cpp) -ament_target_dependencies(test_bt_conversions ${dependencies}) +ament_add_gtest(test_bt_utils test_bt_utils.cpp) +ament_target_dependencies(test_bt_utils ${dependencies}) include_directories(.) @@ -7,8 +7,3 @@ add_subdirectory(plugins/condition) add_subdirectory(plugins/decorator) add_subdirectory(plugins/control) add_subdirectory(plugins/action) - -install(DIRECTORY utils - DESTINATION include/) - -ament_export_include_directories(utils) diff --git a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt index c640e824244..4aaf185306b 100644 --- a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt +++ b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt @@ -107,3 +107,7 @@ ament_target_dependencies(test_smoother_selector_node ${dependencies}) ament_add_gtest(test_goal_checker_selector_node test_goal_checker_selector_node.cpp) target_link_libraries(test_goal_checker_selector_node nav2_goal_checker_selector_bt_node) ament_target_dependencies(test_goal_checker_selector_node ${dependencies}) + +ament_add_gtest(test_progress_checker_selector_node test_progress_checker_selector_node.cpp) +target_link_libraries(test_progress_checker_selector_node nav2_progress_checker_selector_bt_node) +ament_target_dependencies(test_progress_checker_selector_node ${dependencies}) diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp index 38033598d01..c5d40f0f4e6 100644 --- a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp" @@ -59,7 +59,7 @@ class AssistedTeleopActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -68,8 +68,11 @@ class AssistedTeleopActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -120,7 +123,7 @@ TEST_F(AssistedTeleopActionTestFixture, test_ports) { std::string xml_txt = R"( - + @@ -131,7 +134,7 @@ TEST_F(AssistedTeleopActionTestFixture, test_ports) xml_txt = R"( - + @@ -145,7 +148,7 @@ TEST_F(AssistedTeleopActionTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -169,7 +172,7 @@ TEST_F(AssistedTeleopActionTestFixture, test_failure) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp index a7af3efef6a..a516d868e4f 100644 --- a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.hpp" @@ -56,7 +56,7 @@ class CancelAssistedTeleopActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -65,6 +65,9 @@ class CancelAssistedTeleopActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "assisted_teleop"); @@ -119,7 +122,7 @@ TEST_F(CancelAssistedTeleopActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp index 6f0d54e7ca9..846e7e86db9 100644 --- a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/back_up_action.hpp" @@ -59,7 +59,7 @@ class BackUpActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -68,8 +68,11 @@ class BackUpActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -119,7 +122,7 @@ TEST_F(BackUpActionTestFixture, test_ports) { std::string xml_txt = R"( - + @@ -131,7 +134,7 @@ TEST_F(BackUpActionTestFixture, test_ports) xml_txt = R"( - + @@ -146,7 +149,7 @@ TEST_F(BackUpActionTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -171,7 +174,7 @@ TEST_F(BackUpActionTestFixture, test_failure) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp index 35ab9d2f88d..a3ea28791c6 100644 --- a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp" @@ -55,7 +55,7 @@ class CancelBackUpActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -64,6 +64,9 @@ class CancelBackUpActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "back_up"); @@ -117,7 +120,7 @@ TEST_F(CancelBackUpActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp index d95cbd4a848..d22ed27c7a2 100644 --- a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp @@ -23,7 +23,7 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/bt_action_node.hpp" #include "test_msgs/action/fibonacci.hpp" @@ -54,11 +54,17 @@ class FibonacciActionServer : public rclcpp::Node sleep_duration_ = sleep_duration; } + void setServerLoopRate(std::chrono::nanoseconds server_loop_rate) + { + server_loop_rate_ = server_loop_rate; + } + protected: rclcpp_action::GoalResponse handle_goal( const rclcpp_action::GoalUUID &, std::shared_ptr) { + RCLCPP_INFO(this->get_logger(), "Goal is received.."); if (sleep_duration_ > 0ms) { std::this_thread::sleep_for(sleep_duration_); } @@ -73,6 +79,13 @@ class FibonacciActionServer : public rclcpp::Node void handle_accepted( const std::shared_ptr> handle) + { + // this needs to return quickly to avoid blocking the executor, so spin up a new thread + std::thread{std::bind(&FibonacciActionServer::execute, this, _1), handle}.detach(); + } + + void execute( + const std::shared_ptr> handle) { // this needs to return quickly to avoid blocking the executor, so spin up a new thread if (handle) { @@ -88,8 +101,17 @@ class FibonacciActionServer : public rclcpp::Node sequence.push_back(0); sequence.push_back(1); + rclcpp::Rate rate(server_loop_rate_); for (int i = 1; (i < goal->order) && rclcpp::ok(); ++i) { + if (handle->is_canceling()) { + RCLCPP_INFO(this->get_logger(), "Goal is canceling."); + handle->canceled(result); + return; + } + + RCLCPP_INFO(this->get_logger(), "Goal is feedbacking."); sequence.push_back(sequence[i] + sequence[i - 1]); + rate.sleep(); } handle->succeed(result); @@ -99,6 +121,7 @@ class FibonacciActionServer : public rclcpp::Node protected: rclcpp_action::Server::SharedPtr action_server_; std::chrono::milliseconds sleep_duration_; + std::chrono::nanoseconds server_loop_rate_; }; class FibonacciAction : public nav2_behavior_tree::BtActionNode @@ -117,7 +140,14 @@ class FibonacciAction : public nav2_behavior_tree::BtActionNodeset>("sequence", result_.result->sequence); + config().blackboard->set("sequence", result_.result->sequence); + return BT::NodeStatus::SUCCESS; + } + + BT::NodeStatus on_cancelled() override + { + config().blackboard->set("sequence", result_.result->sequence); + config().blackboard->set("on_cancelled_triggered", true); return BT::NodeStatus::SUCCESS; } @@ -140,10 +170,12 @@ class BTActionNodeTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); config_->blackboard->set("server_timeout", 20ms); config_->blackboard->set("bt_loop_duration", 10ms); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("wait_for_service_timeout", 1000ms); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("on_cancelled_triggered", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -206,7 +238,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success) // create tree std::string xml_txt = R"( - + @@ -220,6 +252,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success) // setting a small action server goal handling duration action_server_->setHandleGoalSleepDuration(2ms); + action_server_->setServerLoopRate(10ns); // to keep track of the number of ticks it took to reach a terminal result int ticks = 0; @@ -231,7 +264,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success) // main BT execution loop while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) { - result = tree_->tickRoot(); + result = tree_->tickOnce(); ticks++; loopRate.sleep(); } @@ -255,19 +288,26 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success) // start a new execution cycle with the previous BT to ensure previous state doesn't leak into // the new cycle - // halt BT for a new execution cycle + // halt BT for a new execution cycle, + // get if the on_cancelled is triggered from blackboard and assert + // that the on_cancelled triggers after halting node + RCLCPP_INFO(node_->get_logger(), "Tree is halting."); tree_->haltTree(); + bool on_cancelled_triggered = config_->blackboard->get("on_cancelled_triggered"); + EXPECT_EQ(on_cancelled_triggered, false); // setting a large action server goal handling duration action_server_->setHandleGoalSleepDuration(100ms); + action_server_->setServerLoopRate(10ns); // reset state variables ticks = 0; result = BT::NodeStatus::RUNNING; + config_->blackboard->set("on_cancelled_triggered", false); // main BT execution loop while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) { - result = tree_->tickRoot(); + result = tree_->tickOnce(); ticks++; loopRate.sleep(); } @@ -276,8 +316,10 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success) // the BT should have failed EXPECT_EQ(result, BT::NodeStatus::FAILURE); - // since the server timeout is 20ms and bt loop duration is 10ms, number of ticks should be 2 - EXPECT_EQ(ticks, 2); + // since the server timeout is 20ms and bt loop duration is 10ms, number of ticks should + // be at most 2, but it can be 1 too, because the tickOnce may execute two ticks. + EXPECT_LE(ticks, 3); + EXPECT_GE(ticks, 1); } TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) @@ -285,7 +327,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) // create tree std::string xml_txt = R"( - + @@ -300,6 +342,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) // the action server will take 100ms before accepting the goal action_server_->setHandleGoalSleepDuration(100ms); + action_server_->setServerLoopRate(10ns); // to keep track of the number of ticks it took to reach a terminal result int ticks = 0; @@ -311,7 +354,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) // main BT execution loop while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) { - result = tree_->tickRoot(); + result = tree_->tickOnce(); ticks++; loopRate.sleep(); } @@ -321,24 +364,31 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) EXPECT_EQ(result, BT::NodeStatus::FAILURE); // since the server timeout is 90ms and bt loop duration is 10ms, number of ticks should be 9 - EXPECT_EQ(ticks, 9); + EXPECT_EQ(ticks, 10); // start a new execution cycle with the previous BT to ensure previous state doesn't leak into // the new cycle // halt BT for a new execution cycle + // get if the on_cancel is triggered from blackboard and assert + // that the on_cancelled never can trigger after halting node + RCLCPP_INFO(node_->get_logger(), "Tree is halting."); tree_->haltTree(); + bool on_cancelled_triggered = config_->blackboard->get("on_cancelled_triggered"); + EXPECT_EQ(on_cancelled_triggered, false); // setting a small action server goal handling duration action_server_->setHandleGoalSleepDuration(25ms); + action_server_->setServerLoopRate(10ns); // reset state variables ticks = 0; result = BT::NodeStatus::RUNNING; + config_->blackboard->set("on_cancelled_triggered", false); // main BT execution loop while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) { - result = tree_->tickRoot(); + result = tree_->tickOnce(); ticks++; loopRate.sleep(); } @@ -348,6 +398,90 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure) EXPECT_EQ(result, BT::NodeStatus::SUCCESS); } +TEST_F(BTActionNodeTestFixture, test_server_cancel) +{ + // create tree + std::string xml_txt = + R"( + + + + + )"; + + // setting a server timeout smaller than the time the action server will take to accept the goal + // to simulate a server timeout scenario + config_->blackboard->set("server_timeout", 100ms); + config_->blackboard->set("bt_loop_duration", 10ms); + + tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); + + // the action server will take 2ms before accepting the goal + // and the feedback period of the action server will be 50ms + action_server_->setHandleGoalSleepDuration(2ms); + action_server_->setServerLoopRate(50ms); + + // to keep track of the number of ticks it took to reach expected tick count + int ticks = 0; + + BT::NodeStatus result = BT::NodeStatus::RUNNING; + + // BT loop execution rate + rclcpp::WallRate loopRate(100ms); + + // main BT execution loop + while (rclcpp::ok() && result == BT::NodeStatus::RUNNING && ticks < 5) { + result = tree_->tickOnce(); + ticks++; + loopRate.sleep(); + } + + // halt BT for testing if the action node cancels the goal correctly + RCLCPP_INFO(node_->get_logger(), "Tree is halting."); + tree_->haltTree(); + + // get if the on_cancel is triggered from blackboard and assert + // that the on_cancel is triggered after halting node + bool on_cancelled_triggered = config_->blackboard->get("on_cancelled_triggered"); + EXPECT_EQ(on_cancelled_triggered, true); + + // ticks variable must be 5 because execution time of the action server + // is at least 1000000 x 50 ms + EXPECT_EQ(ticks, 5); + + // send new goal to the action server for a new execution cycle + + // the action server will take 2ms before accepting the goal + // and the feedback period of the action server will be 1000ms + action_server_->setHandleGoalSleepDuration(2ms); + action_server_->setServerLoopRate(50ms); + + // reset state variable + ticks = 0; + config_->blackboard->set("on_cancelled_triggered", false); + result = BT::NodeStatus::RUNNING; + + // main BT execution loop + while (rclcpp::ok() && result == BT::NodeStatus::RUNNING && ticks < 7) { + result = tree_->tickOnce(); + ticks++; + loopRate.sleep(); + } + + // halt BT for testing if the action node cancels the goal correctly + RCLCPP_INFO(node_->get_logger(), "Tree is halting."); + tree_->haltTree(); + + // get if the on_cancel is triggered from blackboard and assert + // that the on_cancel is triggered after halting node + on_cancelled_triggered = config_->blackboard->get("on_cancelled_triggered"); + EXPECT_EQ(on_cancelled_triggered, true); + + // ticks variable must be 7 because execution time of the action server + // is at least 1000000 x 50 ms + EXPECT_EQ(ticks, 7); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp index 4351152acfb..76f3b1d025a 100644 --- a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_service.hpp" #include "nav2_behavior_tree/plugins/action/clear_costmap_service.hpp" @@ -44,7 +44,7 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -53,8 +53,11 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); factory_->registerNodeType("ClearEntireCostmap"); } @@ -97,7 +100,7 @@ TEST_F(ClearEntireCostmapServiceTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -130,7 +133,7 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -139,8 +142,11 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); factory_->registerNodeType( "ClearCostmapExceptRegion"); @@ -189,7 +195,7 @@ TEST_F(ClearCostmapExceptRegionServiceTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -222,7 +228,7 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -231,8 +237,11 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); factory_->registerNodeType( "ClearCostmapAroundRobot"); @@ -281,7 +290,7 @@ TEST_F(ClearCostmapAroundRobotServiceTestFixture, test_tick) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp index 40bbeb1a375..24d10b63d63 100644 --- a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp @@ -22,7 +22,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp" @@ -67,7 +67,7 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -76,7 +76,10 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -125,7 +128,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -153,13 +156,13 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick) // check if returned path is correct nav_msgs::msg::Path path; - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 0.0); EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal @@ -173,7 +176,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick) EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_EQ(action_server_->getCurrentGoal()->goals[0].pose.position.x, -2.5); - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 0.0); EXPECT_EQ(path.poses[1].pose.position.x, -2.5); @@ -184,7 +187,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start) // create tree std::string xml_txt = R"( - + @@ -219,13 +222,13 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start) // check if returned path is correct nav_msgs::msg::Path path; - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 2.0); EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal and new start @@ -241,7 +244,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start) EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_EQ(action_server_->getCurrentGoal()->goals[0].pose.position.x, -2.5); - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, -1.5); EXPECT_EQ(path.poses[1].pose.position.x, -2.5); diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp index ca5bcea666c..29ebaef9362 100644 --- a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp @@ -21,7 +21,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp" @@ -65,7 +65,7 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -74,7 +74,10 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -122,7 +125,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -150,13 +153,13 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick) // check if returned path is correct nav_msgs::msg::Path path; - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 0.0); EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal @@ -170,7 +173,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick) EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, -2.5); - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 0.0); EXPECT_EQ(path.poses[1].pose.position.x, -2.5); @@ -181,7 +184,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start) // create tree std::string xml_txt = R"( - + @@ -216,13 +219,13 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start) // check if returned path is correct nav_msgs::msg::Path path; - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 2.0); EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal and new start @@ -238,7 +241,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start) EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, -2.5); - config_->blackboard->get("path", path); + EXPECT_TRUE(config_->blackboard->get("path", path)); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, -1.5); EXPECT_EQ(path.poses[1].pose.position.x, -2.5); diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp index 5128391d03b..564e72d3d54 100644 --- a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/controller_cancel_node.hpp" @@ -55,7 +55,7 @@ class CancelControllerActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -64,6 +64,9 @@ class CancelControllerActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "follow_path"); @@ -117,7 +120,7 @@ TEST_F(CancelControllerActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp index 73a1510a1e2..c7f04ae9a95 100644 --- a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp @@ -20,7 +20,7 @@ #include #include "utils/test_action_server.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/plugins/action/controller_selector_node.hpp" #include "nav_msgs/msg/path.hpp" #include "std_msgs/msg/string.hpp" @@ -38,7 +38,7 @@ class ControllerSelectorTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { return std::make_unique(name, config); @@ -80,7 +80,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic) // create tree std::string xml_txt = R"( - + @@ -95,7 +95,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic) // check default value std::string selected_controller_result; - config_->blackboard->get("selected_controller", selected_controller_result); + EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result)); EXPECT_EQ(selected_controller_result, "DWB"); @@ -119,7 +119,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic) } // check controller updated - config_->blackboard->get("selected_controller", selected_controller_result); + EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result)); EXPECT_EQ("DWC", selected_controller_result); } @@ -128,7 +128,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic) // create tree std::string xml_txt = R"( - + @@ -143,7 +143,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic) // check default value std::string selected_controller_result; - config_->blackboard->get("selected_controller", selected_controller_result); + EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result)); EXPECT_EQ(selected_controller_result, "GridBased"); @@ -167,7 +167,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic) } // check controller updated - config_->blackboard->get("selected_controller", selected_controller_result); + EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result)); EXPECT_EQ("RRT", selected_controller_result); } diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp index 043f1aedb62..baa5ea02a2c 100644 --- a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp" @@ -60,7 +60,7 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -69,7 +69,10 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -115,7 +118,7 @@ TEST_F(DriveOnHeadingActionTestFixture, test_ports) { std::string xml_txt = R"( - + @@ -128,7 +131,7 @@ TEST_F(DriveOnHeadingActionTestFixture, test_ports) xml_txt = R"( - + @@ -143,7 +146,7 @@ TEST_F(DriveOnHeadingActionTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -166,7 +169,7 @@ TEST_F(DriveOnHeadingActionTestFixture, test_failure) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp index cc2e7f0693f..c94ed1d89f8 100644 --- a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.hpp" @@ -56,7 +56,7 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -65,6 +65,9 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "drive_on_heading_cancel"); @@ -120,7 +123,7 @@ TEST_F(CancelDriveOnHeadingTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp index 4fa291c4b78..4f272208198 100644 --- a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp @@ -21,7 +21,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/follow_path_action.hpp" @@ -58,7 +58,7 @@ class FollowPathActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -67,7 +67,10 @@ class FollowPathActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -115,7 +118,7 @@ TEST_F(FollowPathActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -127,7 +130,7 @@ TEST_F(FollowPathActionTestFixture, test_tick) nav_msgs::msg::Path path; path.poses.resize(1); path.poses[0].pose.position.x = 1.0; - config_->blackboard->set("path", path); + config_->blackboard->set("path", path); // tick until node succeeds while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { @@ -142,12 +145,12 @@ TEST_F(FollowPathActionTestFixture, test_tick) EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("FollowPath")); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal path.poses[0].pose.position.x = -2.5; - config_->blackboard->set("path", path); + config_->blackboard->set("path", path); while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { tree_->rootNode()->executeTick(); diff --git a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp index e797dbd4cfd..19089fb6f3e 100644 --- a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp @@ -20,7 +20,7 @@ #include #include "utils/test_action_server.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp" #include "nav_msgs/msg/path.hpp" #include "std_msgs/msg/string.hpp" @@ -38,7 +38,7 @@ class GoalCheckerSelectorTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { return std::make_unique(name, config); @@ -80,7 +80,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic) // create tree std::string xml_txt = R"( - + @@ -95,7 +95,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic) // check default value std::string selected_goal_checker_result; - config_->blackboard->get("selected_goal_checker", selected_goal_checker_result); + EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result)); EXPECT_EQ(selected_goal_checker_result, "SimpleGoalCheck"); @@ -119,7 +119,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic) } // check goal_checker updated - config_->blackboard->get("selected_goal_checker", selected_goal_checker_result); + EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result)); EXPECT_EQ("AngularGoalChecker", selected_goal_checker_result); } @@ -128,7 +128,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic) // create tree std::string xml_txt = R"( - + @@ -143,7 +143,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic) // check default value std::string selected_goal_checker_result; - config_->blackboard->get("selected_goal_checker", selected_goal_checker_result); + EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result)); EXPECT_EQ(selected_goal_checker_result, "GridBased"); @@ -167,7 +167,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic) } // check goal_checker updated - config_->blackboard->get("selected_goal_checker", selected_goal_checker_result); + EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result)); EXPECT_EQ("RRT", selected_goal_checker_result); } diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp index bd028827af8..a805a721b9f 100644 --- a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp @@ -23,7 +23,7 @@ #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/quaternion.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp" @@ -61,7 +61,7 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -70,9 +70,12 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); std::vector poses; - config_->blackboard->set>( + config_->blackboard->set( "goals", poses); BT::NodeBuilder builder = @@ -121,7 +124,7 @@ TEST_F(NavigateThroughPosesActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -133,7 +136,7 @@ TEST_F(NavigateThroughPosesActionTestFixture, test_tick) poses.resize(1); poses[0].pose.position.x = -2.5; poses[0].pose.orientation.x = 1.0; - config_->blackboard->set>("goals", poses); + config_->blackboard->set("goals", poses); // tick until node succeeds while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { @@ -145,7 +148,7 @@ TEST_F(NavigateThroughPosesActionTestFixture, test_tick) EXPECT_EQ(action_server_->getCurrentGoal()->poses, poses); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); } diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp index 13e3a2a2ca9..4ed5120b986 100644 --- a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp @@ -22,7 +22,7 @@ #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/quaternion.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp" @@ -59,7 +59,7 @@ class NavigateToPoseActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -68,7 +68,10 @@ class NavigateToPoseActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -116,7 +119,7 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -136,13 +139,13 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick) EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal pose.pose.position.x = -2.5; pose.pose.orientation.x = 1.0; - config_->blackboard->set("goal", pose); + config_->blackboard->set("goal", pose); while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { tree_->rootNode()->executeTick(); diff --git a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp index 8c76e1440db..ade80c57daf 100644 --- a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp @@ -20,7 +20,7 @@ #include #include "utils/test_action_server.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/plugins/action/planner_selector_node.hpp" #include "nav_msgs/msg/path.hpp" #include "std_msgs/msg/string.hpp" @@ -38,7 +38,7 @@ class PlannerSelectorTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { return std::make_unique(name, config); @@ -78,7 +78,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic) // create tree std::string xml_txt = R"( - + @@ -93,7 +93,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic) // check default value std::string selected_planner_result; - config_->blackboard->get("selected_planner", selected_planner_result); + EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result)); EXPECT_EQ(selected_planner_result, "GridBased"); @@ -117,7 +117,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic) } // check planner updated - config_->blackboard->get("selected_planner", selected_planner_result); + EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result)); EXPECT_EQ("RRT", selected_planner_result); } @@ -126,7 +126,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic) // create tree std::string xml_txt = R"( - + @@ -141,7 +141,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic) // check default value std::string selected_planner_result; - config_->blackboard->get("selected_planner", selected_planner_result); + EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result)); EXPECT_EQ(selected_planner_result, "GridBased"); @@ -165,7 +165,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic) } // check planner updated - config_->blackboard->get("selected_planner", selected_planner_result); + EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result)); EXPECT_EQ("RRT", selected_planner_result); } diff --git a/nav2_behavior_tree/test/plugins/action/test_progress_checker_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_progress_checker_selector_node.cpp new file mode 100644 index 00000000000..c97bbc19699 --- /dev/null +++ b/nav2_behavior_tree/test/plugins/action/test_progress_checker_selector_node.cpp @@ -0,0 +1,191 @@ +// Copyright (c) 2024 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include + +#include "utils/test_action_server.hpp" +#include "behaviortree_cpp/bt_factory.h" +#include "nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp" +#include "nav_msgs/msg/path.hpp" +#include "std_msgs/msg/string.hpp" + +class ProgressCheckerSelectorTestFixture : public ::testing::Test +{ +public: + static void SetUpTestCase() + { + node_ = std::make_shared("progress_checker_selector_test_fixture"); + factory_ = std::make_shared(); + + config_ = new BT::NodeConfiguration(); + + // Create the blackboard that will be shared by all of the nodes in the tree + config_->blackboard = BT::Blackboard::create(); + // Put items on the blackboard + config_->blackboard->set("node", node_); + + BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { + return std::make_unique(name, config); + }; + + factory_->registerBuilder( + "ProgressCheckerSelector", + builder); + } + + static void TearDownTestCase() + { + delete config_; + config_ = nullptr; + node_.reset(); + factory_.reset(); + } + + void TearDown() override + { + tree_.reset(); + } + +protected: + static rclcpp::Node::SharedPtr node_; + static BT::NodeConfiguration * config_; + static std::shared_ptr factory_; + static std::shared_ptr tree_; +}; + +rclcpp::Node::SharedPtr ProgressCheckerSelectorTestFixture::node_ = nullptr; + +BT::NodeConfiguration * ProgressCheckerSelectorTestFixture::config_ = nullptr; +std::shared_ptr ProgressCheckerSelectorTestFixture::factory_ = nullptr; +std::shared_ptr ProgressCheckerSelectorTestFixture::tree_ = nullptr; + +TEST_F(ProgressCheckerSelectorTestFixture, test_custom_topic) +{ + // create tree + std::string xml_txt = + R"( + + + + + )"; + + tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); + + // tick until node succeeds + while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { + tree_->rootNode()->executeTick(); + } + + // check default value + std::string selected_progress_checker_result; + [[maybe_unused]] auto res = config_->blackboard->get( + "selected_progress_checker", + selected_progress_checker_result); + + EXPECT_EQ(selected_progress_checker_result, "SimpleProgressCheck"); + + std_msgs::msg::String selected_progress_checker_cmd; + + selected_progress_checker_cmd.data = "AngularProgressChecker"; + + rclcpp::QoS qos(rclcpp::KeepLast(1)); + qos.transient_local().reliable(); + + auto progress_checker_selector_pub = + node_->create_publisher( + "progress_checker_selector_custom_topic_name", qos); + + // publish a few updates of the selected_progress_checker + auto start = node_->now(); + while ((node_->now() - start).seconds() < 0.5) { + tree_->rootNode()->executeTick(); + progress_checker_selector_pub->publish(selected_progress_checker_cmd); + + rclcpp::spin_some(node_); + } + + // check progress_checker updated + res = config_->blackboard->get("selected_progress_checker", selected_progress_checker_result); + EXPECT_EQ("AngularProgressChecker", selected_progress_checker_result); +} + +TEST_F(ProgressCheckerSelectorTestFixture, test_default_topic) +{ + // create tree + std::string xml_txt = + R"( + + + + + )"; + + tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); + + // tick until node succeeds + while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { + tree_->rootNode()->executeTick(); + } + + // check default value + std::string selected_progress_checker_result; + [[maybe_unused]] auto res = config_->blackboard->get( + "selected_progress_checker", + selected_progress_checker_result); + + EXPECT_EQ(selected_progress_checker_result, "GridBased"); + + std_msgs::msg::String selected_progress_checker_cmd; + + selected_progress_checker_cmd.data = "RRT"; + + rclcpp::QoS qos(rclcpp::KeepLast(1)); + qos.transient_local().reliable(); + + auto progress_checker_selector_pub = + node_->create_publisher("progress_checker_selector", qos); + + // publish a few updates of the selected_progress_checker + auto start = node_->now(); + while ((node_->now() - start).seconds() < 0.5) { + tree_->rootNode()->executeTick(); + progress_checker_selector_pub->publish(selected_progress_checker_cmd); + + rclcpp::spin_some(node_); + } + + // check goal_checker updated + res = config_->blackboard->get("selected_progress_checker", selected_progress_checker_result); + EXPECT_EQ("RRT", selected_progress_checker_result); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + + // initialize ROS + rclcpp::init(argc, argv); + + int all_successful = RUN_ALL_TESTS(); + + // shutdown ROS + rclcpp::shutdown(); + + return all_successful; +} diff --git a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp index 122e6d0e0b1..04b0e704903 100644 --- a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_service.hpp" #include "nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.hpp" @@ -44,7 +44,7 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -53,7 +53,10 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); factory_->registerNodeType( "ReinitializeGlobalLocalization"); @@ -94,7 +97,7 @@ TEST_F(ReinitializeGlobalLocalizationServiceTestFixture, test_tick) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp index 9e1aa32f8ea..ce9d0debf8e 100644 --- a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp @@ -23,7 +23,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp" @@ -43,10 +43,10 @@ class RemovePassedGoalsTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); - config_->blackboard->set>( + config_->blackboard->set( "tf_buffer", transform_handler_->getBuffer()); @@ -105,7 +105,7 @@ TEST_F(RemovePassedGoalsTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -137,7 +137,7 @@ TEST_F(RemovePassedGoalsTestFixture, test_tick) // check that it removed the point in range std::vector output_poses; - config_->blackboard->get("goals", output_poses); + EXPECT_TRUE(config_->blackboard->get("goals", output_poses)); EXPECT_EQ(output_poses.size(), 2u); EXPECT_EQ(output_poses[0], poses[2]); diff --git a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp index d1c930b5e40..d60ed2ffb78 100644 --- a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp @@ -21,7 +21,7 @@ #include "nav_msgs/msg/path.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/smooth_path_action.hpp" @@ -58,7 +58,7 @@ class SmoothPathActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -67,7 +67,10 @@ class SmoothPathActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -115,7 +118,7 @@ TEST_F(SmoothPathActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -135,7 +138,7 @@ TEST_F(SmoothPathActionTestFixture, test_tick) EXPECT_EQ(action_server_->getCurrentGoal()->path, path); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); // set new goal @@ -143,7 +146,7 @@ TEST_F(SmoothPathActionTestFixture, test_tick) pose.pose.position.x = -2.5; pose.pose.orientation.x = 1.0; path.poses.push_back(pose); - config_->blackboard->set("unsmoothed_path", path); + config_->blackboard->set("unsmoothed_path", path); while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { tree_->rootNode()->executeTick(); diff --git a/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp index d3516aba199..f93f6df878f 100644 --- a/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp @@ -20,7 +20,7 @@ #include #include "utils/test_action_server.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/plugins/action/smoother_selector_node.hpp" #include "nav_msgs/msg/path.hpp" #include "std_msgs/msg/string.hpp" @@ -38,7 +38,7 @@ class SmootherSelectorTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) { return std::make_unique(name, config); @@ -80,7 +80,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic) // create tree std::string xml_txt = R"( - + @@ -95,7 +95,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic) // check default value std::string selected_smoother_result; - config_->blackboard->get("selected_smoother", selected_smoother_result); + EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result)); EXPECT_EQ(selected_smoother_result, "DWB"); @@ -119,7 +119,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic) } // check smoother updated - config_->blackboard->get("selected_smoother", selected_smoother_result); + EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result)); EXPECT_EQ("DWC", selected_smoother_result); } @@ -128,7 +128,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic) // create tree std::string xml_txt = R"( - + @@ -143,7 +143,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic) // check default value std::string selected_smoother_result; - config_->blackboard->get("selected_smoother", selected_smoother_result); + EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result)); EXPECT_EQ(selected_smoother_result, "GridBased"); @@ -167,7 +167,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic) } // check smoother updated - config_->blackboard->get("selected_smoother", selected_smoother_result); + EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result)); EXPECT_EQ("RRT", selected_smoother_result); } diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp index 56f5cdae746..e3d2e80c85d 100644 --- a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/spin_action.hpp" @@ -59,7 +59,7 @@ class SpinActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -68,8 +68,11 @@ class SpinActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -119,7 +122,7 @@ TEST_F(SpinActionTestFixture, test_ports) { std::string xml_txt = R"( - + @@ -130,7 +133,7 @@ TEST_F(SpinActionTestFixture, test_ports) xml_txt = R"( - + @@ -144,7 +147,7 @@ TEST_F(SpinActionTestFixture, test_tick) { std::string xml_txt = R"( - + @@ -166,7 +169,7 @@ TEST_F(SpinActionTestFixture, test_failure) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp index d773e88bcad..54a0270e786 100644 --- a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/spin_cancel_node.hpp" @@ -55,7 +55,7 @@ class CancelSpinActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -64,6 +64,9 @@ class CancelSpinActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "spin"); @@ -117,7 +120,7 @@ TEST_F(CancelSpinActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp index 5540b7b645c..2e7ac3fccd2 100644 --- a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp @@ -22,7 +22,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/truncate_path_action.hpp" @@ -41,7 +41,7 @@ class TruncatePathTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); @@ -87,7 +87,7 @@ TEST_F(TruncatePathTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -127,7 +127,7 @@ TEST_F(TruncatePathTestFixture, test_tick) } nav_msgs::msg::Path truncated_path; - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_NE(path, truncated_path); EXPECT_EQ(truncated_path.poses.size(), 2u); diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp index 00564d4e8fb..c3333605f89 100644 --- a/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp @@ -21,7 +21,7 @@ #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/geometry_utils.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_behavior_tree_fixture.hpp" #include "nav2_behavior_tree/plugins/action/truncate_path_local_action.hpp" @@ -107,7 +107,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick) // create tree std::string xml_txt = R"( - + blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); @@ -160,7 +160,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick) { tree_->rootNode()->executeTick(); } - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); @@ -182,7 +182,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick) { tree_->rootNode()->executeTick(); } - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); @@ -201,7 +201,7 @@ TEST_F(TruncatePathLocalTestFixture, test_success_on_empty_path) // create tree std::string xml_txt = R"( - + rootNode()->executeTick(); } nav_msgs::msg::Path truncated_path; - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_EQ(path, truncated_path); @@ -245,7 +245,7 @@ TEST_F(TruncatePathLocalTestFixture, test_failure_on_no_pose) // create tree std::string xml_txt = R"( - + rootNode()->executeTick(); } nav_msgs::msg::Path truncated_path; - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::FAILURE); SUCCEED(); @@ -287,7 +287,7 @@ TEST_F(TruncatePathLocalTestFixture, test_failure_on_invalid_robot_frame) // create tree std::string xml_txt = R"( - + rootNode()->executeTick(); } nav_msgs::msg::Path truncated_path; - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::FAILURE); SUCCEED(); @@ -328,7 +328,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning) // create tree std::string xml_txt = R"( - + rootNode()->executeTick(); } - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); @@ -395,7 +395,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning) { tree_->rootNode()->executeTick(); } - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); @@ -428,7 +428,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning) { tree_->rootNode()->executeTick(); } - config_->blackboard->get("truncated_path", truncated_path); + EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path)); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); EXPECT_NE(path, truncated_path); diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp index 75a115b8f58..bc0acfd94d2 100644 --- a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp @@ -18,7 +18,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/wait_action.hpp" @@ -50,7 +50,7 @@ class WaitActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -59,8 +59,11 @@ class WaitActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); - config_->blackboard->set("number_recoveries", 0); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); + config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("number_recoveries", 0); BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) @@ -110,34 +113,34 @@ TEST_F(WaitActionTestFixture, test_ports) { std::string xml_txt = R"( - + )"; tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); - EXPECT_EQ(tree_->rootNode()->getInput("wait_duration"), 1); + EXPECT_EQ(tree_->rootNode()->getInput("wait_duration"), 1.0); xml_txt = R"( - + - + )"; tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); - EXPECT_EQ(tree_->rootNode()->getInput("wait_duration"), 10); + EXPECT_EQ(tree_->rootNode()->getInput("wait_duration"), 10.0); } TEST_F(WaitActionTestFixture, test_tick) { std::string xml_txt = R"( - + - + )"; diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp index e8d4d053c7d..4b55e3d1335 100644 --- a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp +++ b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/action/wait_cancel_node.hpp" @@ -55,7 +55,7 @@ class CancelWaitActionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); config_->blackboard->set( @@ -64,6 +64,9 @@ class CancelWaitActionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); + config_->blackboard->set( + "wait_for_service_timeout", + std::chrono::milliseconds(1000)); client_ = rclcpp_action::create_client( node_, "wait"); @@ -117,7 +120,7 @@ TEST_F(CancelWaitActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt b/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt index b23ed7d4508..d2ba3c1179d 100644 --- a/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt +++ b/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt @@ -34,6 +34,10 @@ ament_add_gtest(test_condition_is_stuck test_is_stuck.cpp) target_link_libraries(test_condition_is_stuck nav2_is_stuck_condition_bt_node) ament_target_dependencies(test_condition_is_stuck ${dependencies}) +ament_add_gtest(test_condition_is_battery_charging test_is_battery_charging.cpp) +target_link_libraries(test_condition_is_battery_charging nav2_is_battery_charging_condition_bt_node) +ament_target_dependencies(test_condition_is_battery_charging ${dependencies}) + ament_add_gtest(test_condition_is_battery_low test_is_battery_low.cpp) target_link_libraries(test_condition_is_battery_low nav2_is_battery_low_condition_bt_node) ament_target_dependencies(test_condition_is_battery_low ${dependencies}) diff --git a/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp b/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp index 2185b0a0d3e..111cda7d005 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp @@ -24,17 +24,17 @@ class AreErrorCodesPresentFixture : public nav2_behavior_tree::BehaviorTreeTestF { public: using Action = nav2_msgs::action::FollowPath; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; void SetUp() { - int error_code = ActionGoal::NONE; - std::set error_codes_to_check = {ActionGoal::UNKNOWN}; //NOLINT + uint16_t error_code = ActionResult::NONE; + std::set error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT config_->blackboard->set("error_code", error_code); config_->blackboard->set("error_codes_to_check", error_codes_to_check); std::string xml_txt = R"( - + @@ -58,14 +58,14 @@ std::shared_ptr AreErrorCodesPresentFixture::tree_ = nullptr; TEST_F(AreErrorCodesPresentFixture, test_condition) { - std::map error_to_status_map = { - {ActionGoal::NONE, BT::NodeStatus::FAILURE}, - {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS}, + std::map error_to_status_map = { + {ActionResult::NONE, BT::NodeStatus::FAILURE}, + {ActionResult::UNKNOWN, BT::NodeStatus::SUCCESS}, }; for (const auto & error_to_status : error_to_status_map) { config_->blackboard->set("error_code", error_to_status.first); - EXPECT_EQ(tree_->tickRoot(), error_to_status.second); + EXPECT_EQ(tree_->tickOnce(), error_to_status.second); } } diff --git a/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp b/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp index adc446937fc..180e2d879e4 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_distance_traveled.cpp @@ -27,6 +27,8 @@ class DistanceTraveledConditionTestFixture : public nav2_behavior_tree::Behavior public: void SetUp() { + config_->input_ports["global_frame"] = "map"; + config_->input_ports["robot_base_frame"] = "base_link"; bt_node_ = std::make_shared( "distance_traveled", *config_); } diff --git a/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp b/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp index 7eeb2f87158..1034c4f9b6f 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp @@ -43,9 +43,9 @@ class GoalReachedConditionTestFixture : public nav2_behavior_tree::BehaviorTreeT std::string xml_txt = R"( - + - + )"; @@ -66,32 +66,32 @@ std::shared_ptr GoalReachedConditionTestFixture::tree_ = nullptr; TEST_F(GoalReachedConditionTestFixture, test_behavior) { - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::FAILURE); geometry_msgs::msg::Pose pose; pose.position.x = 0.0; pose.position.y = 0.0; transform_handler_->updateRobotPose(pose); std::this_thread::sleep_for(500ms); - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::FAILURE); pose.position.x = 0.5; pose.position.y = 0.5; transform_handler_->updateRobotPose(pose); std::this_thread::sleep_for(500ms); - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::FAILURE); pose.position.x = 0.9; pose.position.y = 0.9; transform_handler_->updateRobotPose(pose); std::this_thread::sleep_for(500ms); - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::SUCCESS); pose.position.x = 1.0; pose.position.y = 1.0; transform_handler_->updateRobotPose(pose); std::this_thread::sleep_for(500ms); - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp b/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp index 1f9aa41bb84..7b8a67529ed 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp @@ -21,48 +21,30 @@ #include "utils/test_behavior_tree_fixture.hpp" #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp" -class TestNode : public BT::SyncActionNode -{ -public: - TestNode(const std::string & name, const BT::NodeConfiguration & config) - : SyncActionNode(name, config) - {} - - BT::NodeStatus tick() - { - return BT::NodeStatus::SUCCESS; - } - - static BT::PortsList providedPorts() - { - return {}; - } -}; - class InitialPoseReceivedConditionTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture { public: void SetUp() { - test_node_ = std::make_shared("TestNode", *config_); + bt_node_ = std::make_shared("TestNode", *config_); } void TearDown() { - test_node_.reset(); + bt_node_.reset(); } protected: - static std::shared_ptr test_node_; + static std::shared_ptr bt_node_; }; -std::shared_ptr InitialPoseReceivedConditionTestFixture::test_node_ = nullptr; +std::shared_ptr InitialPoseReceivedConditionTestFixture::bt_node_ = nullptr; TEST_F(InitialPoseReceivedConditionTestFixture, test_behavior) { - EXPECT_EQ(nav2_behavior_tree::initialPoseReceived(*test_node_), BT::NodeStatus::FAILURE); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE); config_->blackboard->set("initial_pose_received", true); - EXPECT_EQ(nav2_behavior_tree::initialPoseReceived(*test_node_), BT::NodeStatus::SUCCESS); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp new file mode 100644 index 00000000000..8cd761aadf1 --- /dev/null +++ b/nav2_behavior_tree/test/plugins/condition/test_is_battery_charging.cpp @@ -0,0 +1,130 @@ +// Copyright (c) 2023 Alberto J. Tudela Roldán +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include +#include + +#include "sensor_msgs/msg/battery_state.hpp" + +#include "utils/test_behavior_tree_fixture.hpp" +#include "nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp" + +class IsBatteryChargingConditionTestFixture : public ::testing::Test +{ +public: + static void SetUpTestCase() + { + node_ = std::make_shared("test_is_battery_charging"); + factory_ = std::make_shared(); + + config_ = new BT::NodeConfiguration(); + + // Create the blackboard that will be shared by all of the nodes in the tree + config_->blackboard = BT::Blackboard::create(); + // Put items on the blackboard + config_->blackboard->set( + "node", + node_); + + factory_->registerNodeType("IsBatteryCharging"); + + battery_pub_ = node_->create_publisher( + "/battery_status", + rclcpp::SystemDefaultsQoS()); + } + + static void TearDownTestCase() + { + delete config_; + config_ = nullptr; + battery_pub_.reset(); + node_.reset(); + factory_.reset(); + } + +protected: + static rclcpp::Node::SharedPtr node_; + static BT::NodeConfiguration * config_; + static std::shared_ptr factory_; + static rclcpp::Publisher::SharedPtr battery_pub_; +}; + +rclcpp::Node::SharedPtr IsBatteryChargingConditionTestFixture::node_ = nullptr; +BT::NodeConfiguration * IsBatteryChargingConditionTestFixture::config_ = nullptr; +std::shared_ptr IsBatteryChargingConditionTestFixture::factory_ = nullptr; +rclcpp::Publisher::SharedPtr +IsBatteryChargingConditionTestFixture::battery_pub_ = nullptr; + +TEST_F(IsBatteryChargingConditionTestFixture, test_behavior_power_supply_status) +{ + std::string xml_txt = + R"( + + + + + )"; + + auto tree = factory_->createTreeFromText(xml_txt, config_->blackboard); + + sensor_msgs::msg::BatteryState battery_msg; + battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_UNKNOWN; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); + + battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_CHARGING; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS); + + battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_DISCHARGING; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); + + battery_msg.power_supply_status = + sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_NOT_CHARGING; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); + + battery_msg.power_supply_status = sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_FULL; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + + // initialize ROS + rclcpp::init(argc, argv); + + bool all_successful = RUN_ALL_TESTS(); + + // shutdown ROS + rclcpp::shutdown(); + + return all_successful; +} diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp index da27d33e476..5e763f56d42 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp @@ -37,7 +37,7 @@ class IsBatteryLowConditionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); @@ -74,7 +74,7 @@ TEST_F(IsBatteryLowConditionTestFixture, test_behavior_percentage) { std::string xml_txt = R"( - + @@ -87,32 +87,32 @@ TEST_F(IsBatteryLowConditionTestFixture, test_behavior_percentage) battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); battery_msg.percentage = 0.49; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS); battery_msg.percentage = 0.51; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); battery_msg.percentage = 0.0; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS); } TEST_F(IsBatteryLowConditionTestFixture, test_behavior_voltage) { std::string xml_txt = R"( - + @@ -125,25 +125,25 @@ TEST_F(IsBatteryLowConditionTestFixture, test_behavior_voltage) battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); battery_msg.voltage = 4.9; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS); battery_msg.voltage = 5.1; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::FAILURE); battery_msg.voltage = 0.0; battery_pub_->publish(battery_msg); std::this_thread::sleep_for(std::chrono::milliseconds(100)); rclcpp::spin_some(node_); - EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree.tickOnce(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp index f8142b9ad4d..df973cb280a 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_is_path_valid.cpp @@ -56,7 +56,7 @@ class IsPathValidTestFixture : public ::testing::Test factory_ = std::make_shared(); config_ = new BT::NodeConfiguration(); config_->blackboard = BT::Blackboard::create(); - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); config_->blackboard->set( "server_timeout", std::chrono::milliseconds(10)); @@ -92,7 +92,7 @@ TEST_F(IsPathValidTestFixture, test_behavior) { std::string xml_txt = R"( - + diff --git a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp index 8885821bcc6..2f47ab826ad 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp @@ -34,7 +34,7 @@ class PathExpiringTimerConditionTestFixture : public nav2_behavior_tree::Behavio node_ = std::make_shared("test_path_expiring_condition"); config_ = new BT::NodeConfiguration(); config_->blackboard = BT::Blackboard::create(); - config_->blackboard->set("node", node_); + config_->blackboard->set("node", node_); bt_node_ = std::make_shared( "time_expired", *config_); } @@ -78,7 +78,7 @@ TEST_F(PathExpiringTimerConditionTestFixture, test_behavior) pose.pose.position.x = 1.0; path.poses.push_back(pose); - config_->blackboard->set("path", path); + config_->blackboard->set("path", path); EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE); rclcpp::sleep_for(1500ms); EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS); diff --git a/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp b/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp index 9dc6d9b2a47..73316dfa63f 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_transform_available.cpp @@ -36,10 +36,10 @@ class TransformAvailableConditionTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); - config_->blackboard->set>( + config_->blackboard->set( "tf_buffer", transform_handler_->getBuffer()); config_->blackboard->set( @@ -48,7 +48,7 @@ class TransformAvailableConditionTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("initial_pose_received", false); } static void TearDownTestCase() @@ -65,7 +65,7 @@ class TransformAvailableConditionTestFixture : public ::testing::Test { std::string xml_txt = R"( - + @@ -99,10 +99,10 @@ std::shared_ptr TransformAvailableConditionTestFixture::tree_ = nullpt TEST_F(TransformAvailableConditionTestFixture, test_behavior) { - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::FAILURE); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::FAILURE); transform_handler_->activate(); transform_handler_->waitForTransform(); - EXPECT_EQ(tree_->tickRoot(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(tree_->tickOnce(), BT::NodeStatus::SUCCESS); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp index 79335a2ba25..839a4003fe8 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_would_a_controller_recovery_help.cpp @@ -24,15 +24,15 @@ class WouldAControllerRecoveryHelpFixture : public nav2_behavior_tree::BehaviorT { public: using Action = nav2_msgs::action::FollowPath; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; void SetUp() { - int error_code = ActionGoal::NONE; + uint16_t error_code = ActionResult::NONE; config_->blackboard->set("error_code", error_code); std::string xml_txt = R"( - + @@ -56,20 +56,20 @@ std::shared_ptr WouldAControllerRecoveryHelpFixture::tree_ = nullptr; TEST_F(WouldAControllerRecoveryHelpFixture, test_condition) { - std::map error_to_status_map = { - {ActionGoal::NONE, BT::NodeStatus::FAILURE}, - {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS}, - {ActionGoal::INVALID_CONTROLLER, BT::NodeStatus::FAILURE}, - {ActionGoal::TF_ERROR, BT::NodeStatus::FAILURE}, - {ActionGoal::INVALID_PATH, BT::NodeStatus::FAILURE}, - {ActionGoal::PATIENCE_EXCEEDED, BT::NodeStatus::SUCCESS}, - {ActionGoal::FAILED_TO_MAKE_PROGRESS, BT::NodeStatus::SUCCESS}, - {ActionGoal::NO_VALID_CONTROL, BT::NodeStatus::SUCCESS}, + std::map error_to_status_map = { + {ActionResult::NONE, BT::NodeStatus::FAILURE}, + {ActionResult::UNKNOWN, BT::NodeStatus::SUCCESS}, + {ActionResult::INVALID_CONTROLLER, BT::NodeStatus::FAILURE}, + {ActionResult::TF_ERROR, BT::NodeStatus::FAILURE}, + {ActionResult::INVALID_PATH, BT::NodeStatus::FAILURE}, + {ActionResult::PATIENCE_EXCEEDED, BT::NodeStatus::SUCCESS}, + {ActionResult::FAILED_TO_MAKE_PROGRESS, BT::NodeStatus::SUCCESS}, + {ActionResult::NO_VALID_CONTROL, BT::NodeStatus::SUCCESS}, }; for (const auto & error_to_status : error_to_status_map) { config_->blackboard->set("error_code", error_to_status.first); - EXPECT_EQ(tree_->tickRoot(), error_to_status.second); + EXPECT_EQ(tree_->tickOnce(), error_to_status.second); } } diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp index 4313ad0a0e0..89e09265dc4 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_would_a_planner_recovery_help.cpp @@ -24,15 +24,15 @@ class WouldAPlannerRecoveryHelpFixture : public nav2_behavior_tree::BehaviorTree { public: using Action = nav2_msgs::action::ComputePathToPose; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; void SetUp() { - int error_code = ActionGoal::NONE; + uint16_t error_code = ActionResult::NONE; config_->blackboard->set("error_code", error_code); std::string xml_txt = R"( - + @@ -56,15 +56,15 @@ std::shared_ptr WouldAPlannerRecoveryHelpFixture::tree_ = nullptr; TEST_F(WouldAPlannerRecoveryHelpFixture, test_condition) { - std::map error_to_status_map = { - {ActionGoal::NONE, BT::NodeStatus::FAILURE}, - {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS}, - {ActionGoal::NO_VALID_PATH, BT::NodeStatus::SUCCESS}, + std::map error_to_status_map = { + {ActionResult::NONE, BT::NodeStatus::FAILURE}, + {ActionResult::UNKNOWN, BT::NodeStatus::SUCCESS}, + {ActionResult::NO_VALID_PATH, BT::NodeStatus::SUCCESS}, }; for (const auto & error_to_status : error_to_status_map) { config_->blackboard->set("error_code", error_to_status.first); - EXPECT_EQ(tree_->tickRoot(), error_to_status.second); + EXPECT_EQ(tree_->tickOnce(), error_to_status.second); } } diff --git a/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp b/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp index db93a32fa3a..7a6dff9be97 100644 --- a/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp +++ b/nav2_behavior_tree/test/plugins/condition/test_would_a_smoother_recovery_help.cpp @@ -24,15 +24,15 @@ class WouldASmootherRecoveryHelpFixture : public nav2_behavior_tree::BehaviorTre { public: using Action = nav2_msgs::action::SmoothPath; - using ActionGoal = Action::Goal; + using ActionGoal = Action::Result; void SetUp() { - int error_code = ActionGoal::NONE; + uint16_t error_code = ActionGoal::NONE; config_->blackboard->set("error_code", error_code); std::string xml_txt = R"( - + @@ -56,7 +56,7 @@ std::shared_ptr WouldASmootherRecoveryHelpFixture::tree_ = nullptr; TEST_F(WouldASmootherRecoveryHelpFixture, test_condition) { - std::map error_to_status_map = { + std::map error_to_status_map = { {ActionGoal::NONE, BT::NodeStatus::FAILURE}, {ActionGoal::UNKNOWN, BT::NodeStatus::SUCCESS}, {ActionGoal::TIMEOUT, BT::NodeStatus::SUCCESS}, @@ -66,7 +66,7 @@ TEST_F(WouldASmootherRecoveryHelpFixture, test_condition) for (const auto & error_to_status : error_to_status_map) { config_->blackboard->set("error_code", error_to_status.first); - EXPECT_EQ(tree_->tickRoot(), error_to_status.second); + EXPECT_EQ(tree_->tickOnce(), error_to_status.second); } } diff --git a/nav2_behavior_tree/test/plugins/control/test_pipeline_sequence.cpp b/nav2_behavior_tree/test/plugins/control/test_pipeline_sequence.cpp index d50a6d4c51c..517ee1f04a8 100644 --- a/nav2_behavior_tree/test/plugins/control/test_pipeline_sequence.cpp +++ b/nav2_behavior_tree/test/plugins/control/test_pipeline_sequence.cpp @@ -125,6 +125,33 @@ TEST_F(PipelineSequenceTestFixture, test_behavior) EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); } +TEST_F(PipelineSequenceTestFixture, test_skipped) +{ + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SUCCESS); + third_child_->changeStatus(BT::NodeStatus::SUCCESS); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); + + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SUCCESS); + third_child_->changeStatus(BT::NodeStatus::FAILURE); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); + + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SKIPPED); + third_child_->changeStatus(BT::NodeStatus::SKIPPED); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SKIPPED); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/nav2_behavior_tree/test/plugins/control/test_recovery_node.cpp b/nav2_behavior_tree/test/plugins/control/test_recovery_node.cpp index cc5e2d29699..1ca41e798e8 100644 --- a/nav2_behavior_tree/test/plugins/control/test_recovery_node.cpp +++ b/nav2_behavior_tree/test/plugins/control/test_recovery_node.cpp @@ -144,6 +144,26 @@ TEST_F(RecoveryNodeTestFixture, test_failure_one_retry) EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); } +TEST_F(RecoveryNodeTestFixture, test_skipping) +{ + // first child skipped + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SUCCESS); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SKIPPED); + EXPECT_EQ(bt_node_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + + // first child fails, second child skipped + first_child_->changeStatus(BT::NodeStatus::FAILURE); + second_child_->changeStatus(BT::NodeStatus::SKIPPED); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE); + EXPECT_EQ(bt_node_->status(), BT::NodeStatus::FAILURE); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); +} + + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/nav2_behavior_tree/test/plugins/control/test_round_robin_node.cpp b/nav2_behavior_tree/test/plugins/control/test_round_robin_node.cpp index 2996bca25a8..7daa91c0697 100644 --- a/nav2_behavior_tree/test/plugins/control/test_round_robin_node.cpp +++ b/nav2_behavior_tree/test/plugins/control/test_round_robin_node.cpp @@ -114,6 +114,33 @@ TEST_F(RoundRobinNodeTestFixture, test_behavior) EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); } +TEST_F(RoundRobinNodeTestFixture, test_skikpped) +{ + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SUCCESS); + third_child_->changeStatus(BT::NodeStatus::FAILURE); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); + + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SKIPPED); + third_child_->changeStatus(BT::NodeStatus::FAILURE); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); + + first_child_->changeStatus(BT::NodeStatus::SKIPPED); + second_child_->changeStatus(BT::NodeStatus::SKIPPED); + third_child_->changeStatus(BT::NodeStatus::SKIPPED); + EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SKIPPED); + EXPECT_EQ(first_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(second_child_->status(), BT::NodeStatus::IDLE); + EXPECT_EQ(third_child_->status(), BT::NodeStatus::IDLE); +} + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp b/nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp index fa1af51e43f..dadbec3cd4a 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp @@ -30,6 +30,8 @@ class DistanceControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTes public: void SetUp() { + config_->input_ports["global_frame"] = "map"; + config_->input_ports["robot_base_frame"] = "base_link"; bt_node_ = std::make_shared( "distance_controller", *config_); dummy_node_ = std::make_shared(); diff --git a/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp b/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp index 7fc4a21e489..b33e9e3a8b2 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp @@ -35,7 +35,7 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree std::vector poses1; poses1.push_back(goal1); config_->blackboard->set("goal", goal1); - config_->blackboard->set>("goals", poses1); + config_->blackboard->set("goals", poses1); bt_node_ = std::make_shared( "goal_updated_controller", *config_); @@ -86,7 +86,7 @@ TEST_F(GoalUpdatedControllerTestFixture, test_behavior) EXPECT_EQ(dummy_node_->status(), BT::NodeStatus::IDLE); // tick again with updated goals, dummy node should be ticked - config_->blackboard->set>("goals", poses2); + config_->blackboard->set("goals", poses2); dummy_node_->changeStatus(BT::NodeStatus::SUCCESS); EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS); EXPECT_EQ(dummy_node_->status(), BT::NodeStatus::IDLE); diff --git a/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp b/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp index 9dc67914bd8..fa56a2064ab 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp @@ -21,7 +21,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "utils/test_action_server.hpp" #include "nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp" @@ -40,7 +40,7 @@ class GoalUpdaterTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); @@ -86,7 +86,7 @@ TEST_F(GoalUpdaterTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -95,6 +95,8 @@ TEST_F(GoalUpdaterTestFixture, test_tick) )"; tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); + auto goal_updater_pub = + node_->create_publisher("goal_update", 10); // create new goal and set it on blackboard geometry_msgs::msg::PoseStamped goal; @@ -102,35 +104,92 @@ TEST_F(GoalUpdaterTestFixture, test_tick) goal.pose.position.x = 1.0; config_->blackboard->set("goal", goal); - // tick until node succeeds - while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) { - tree_->rootNode()->executeTick(); - } - + // tick tree without publishing updated goal and get updated_goal + tree_->rootNode()->executeTick(); geometry_msgs::msg::PoseStamped updated_goal; - config_->blackboard->get("updated_goal", updated_goal); + EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal)); +} - EXPECT_EQ(updated_goal, goal); +TEST_F(GoalUpdaterTestFixture, test_older_goal_update) +{ + // create tree + std::string xml_txt = + R"( + + + + + + + )"; + + tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); + auto goal_updater_pub = + node_->create_publisher("goal_update", 10); + + // create new goal and set it on blackboard + geometry_msgs::msg::PoseStamped goal; + goal.header.stamp = node_->now(); + goal.pose.position.x = 1.0; + config_->blackboard->set("goal", goal); + // publish updated_goal older than goal geometry_msgs::msg::PoseStamped goal_to_update; - goal_to_update.header.stamp = node_->now(); + goal_to_update.header.stamp = rclcpp::Time(goal.header.stamp) - rclcpp::Duration(1, 0); goal_to_update.pose.position.x = 2.0; + goal_updater_pub->publish(goal_to_update); + tree_->rootNode()->executeTick(); + geometry_msgs::msg::PoseStamped updated_goal; + EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal)); + + // expect to succeed and not update goal + EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); + EXPECT_EQ(updated_goal, goal); +} + +TEST_F(GoalUpdaterTestFixture, test_get_latest_goal_update) +{ + // create tree + std::string xml_txt = + R"( + + + + + + + )"; + + tree_ = std::make_shared(factory_->createTreeFromText(xml_txt, config_->blackboard)); auto goal_updater_pub = node_->create_publisher("goal_update", 10); - auto start = node_->now(); - while ((node_->now() - start).seconds() < 0.5) { - tree_->rootNode()->executeTick(); - goal_updater_pub->publish(goal_to_update); + // create new goal and set it on blackboard + geometry_msgs::msg::PoseStamped goal; + goal.header.stamp = node_->now(); + goal.pose.position.x = 1.0; + config_->blackboard->set("goal", goal); + + // publish updated_goal older than goal + geometry_msgs::msg::PoseStamped goal_to_update_1; + goal_to_update_1.header.stamp = node_->now(); + goal_to_update_1.pose.position.x = 2.0; - rclcpp::spin_some(node_); - } + geometry_msgs::msg::PoseStamped goal_to_update_2; + goal_to_update_2.header.stamp = node_->now(); + goal_to_update_2.pose.position.x = 3.0; - config_->blackboard->get("updated_goal", updated_goal); + goal_updater_pub->publish(goal_to_update_1); + goal_updater_pub->publish(goal_to_update_2); + tree_->rootNode()->executeTick(); + geometry_msgs::msg::PoseStamped updated_goal; + EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal)); - EXPECT_NE(updated_goal, goal); - EXPECT_EQ(updated_goal, goal_to_update); + // expect to succeed + EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); + // expect to update goal with latest goal update + EXPECT_EQ(updated_goal, goal_to_update_2); } int main(int argc, char ** argv) diff --git a/nav2_behavior_tree/test/plugins/decorator/test_path_longer_on_approach.cpp b/nav2_behavior_tree/test/plugins/decorator/test_path_longer_on_approach.cpp index 8dfec285375..5d521e205c1 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_path_longer_on_approach.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_path_longer_on_approach.cpp @@ -42,7 +42,7 @@ class PathLongerOnApproachTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); @@ -89,7 +89,7 @@ TEST_F(PathLongerOnApproachTestFixture, test_tick) // create tree std::string xml_txt = R"( - + @@ -106,7 +106,7 @@ TEST_F(PathLongerOnApproachTestFixture, test_tick) // Assuming distance between waypoints to be 1.5m new_path.poses[i].pose.position.x = 1.5 * i; } - config_->blackboard->set("path", new_path); + config_->blackboard->set("path", new_path); tree_->rootNode()->executeTick(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS); @@ -115,7 +115,7 @@ TEST_F(PathLongerOnApproachTestFixture, test_tick) // create tree xml_txt = R"( - + @@ -132,7 +132,7 @@ TEST_F(PathLongerOnApproachTestFixture, test_tick) // Assuming distance between waypoints to be 3.0m old_path.poses[i - 1].pose.position.x = 3.0 * i; } - config_->blackboard->set("path", old_path); + config_->blackboard->set("path", old_path); tree_->rootNode()->executeTick(); // set new path on blackboard @@ -141,7 +141,7 @@ TEST_F(PathLongerOnApproachTestFixture, test_tick) // Assuming distance between waypoints to be 1.5m new_path.poses[i].pose.position.x = 1.5 * i; } - config_->blackboard->set("path", new_path); + config_->blackboard->set("path", new_path); tree_->rootNode()->executeTick(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::FAILURE); diff --git a/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp b/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp index c7d2489b4c6..0d7dc12b2f5 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp @@ -24,13 +24,25 @@ using namespace std::chrono; // NOLINT using namespace std::chrono_literals; // NOLINT +// Shim BT node to access protected resetStatus method +class ShimNode : public nav2_behavior_tree::SingleTrigger +{ +public: + ShimNode( + const std::string & name, + const BT::NodeConfiguration & confi) + : SingleTrigger(name, confi) + {} + ~ShimNode() {} + void changeStatus() {resetStatus();} +}; + class SingleTriggerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture { public: void SetUp() { - bt_node_ = std::make_shared( - "single_trigger", *config_); + bt_node_ = std::make_shared("single_trigger", *config_); dummy_node_ = std::make_shared(); bt_node_->setChild(dummy_node_.get()); } @@ -42,11 +54,11 @@ class SingleTriggerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixt } protected: - static std::shared_ptr bt_node_; + static std::shared_ptr bt_node_; static std::shared_ptr dummy_node_; }; -std::shared_ptr +std::shared_ptr SingleTriggerTestFixture::bt_node_ = nullptr; std::shared_ptr SingleTriggerTestFixture::dummy_node_ = nullptr; @@ -71,6 +83,7 @@ TEST_F(SingleTriggerTestFixture, test_behavior) // halt BT for a new execution run, should work when dummy node is running // and once when dummy node returns success and then fail bt_node_->halt(); + bt_node_->changeStatus(); // BTv3.8+ doesn't reset root node automatically dummy_node_->changeStatus(BT::NodeStatus::RUNNING); EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::RUNNING); dummy_node_->changeStatus(BT::NodeStatus::SUCCESS); diff --git a/nav2_behavior_tree/test/plugins/decorator/test_speed_controller.cpp b/nav2_behavior_tree/test/plugins/decorator/test_speed_controller.cpp index 44193b62af8..26113b26993 100644 --- a/nav2_behavior_tree/test/plugins/decorator/test_speed_controller.cpp +++ b/nav2_behavior_tree/test/plugins/decorator/test_speed_controller.cpp @@ -35,7 +35,7 @@ class SpeedControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFi void SetUp() { odom_smoother_ = std::make_shared(node_); - config_->blackboard->set>( + config_->blackboard->set( "odom_smoother", odom_smoother_); // NOLINT geometry_msgs::msg::PoseStamped goal; @@ -43,7 +43,7 @@ class SpeedControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTestFi config_->blackboard->set("goal", goal); std::vector fake_poses; - config_->blackboard->set>("goals", fake_poses); // NOLINT + config_->blackboard->set("goals", fake_poses); // NOLINT bt_node_ = std::make_shared("speed_controller", *config_); dummy_node_ = std::make_shared(); diff --git a/nav2_behavior_tree/test/test_bt_conversions.cpp b/nav2_behavior_tree/test/test_bt_utils.cpp similarity index 86% rename from nav2_behavior_tree/test/test_bt_conversions.cpp rename to nav2_behavior_tree/test/test_bt_utils.cpp index 1c5c01cf673..1c008d6478a 100644 --- a/nav2_behavior_tree/test/test_bt_conversions.cpp +++ b/nav2_behavior_tree/test/test_bt_utils.cpp @@ -22,8 +22,8 @@ #include "geometry_msgs/msg/quaternion.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" -#include "nav2_behavior_tree/bt_conversions.hpp" +#include "behaviortree_cpp/bt_factory.h" +#include "nav2_behavior_tree/bt_utils.hpp" template class TestNode : public BT::SyncActionNode @@ -51,7 +51,7 @@ TEST(PointPortTest, test_wrong_syntax) { std::string xml_txt = R"( - + @@ -69,7 +69,7 @@ TEST(PointPortTest, test_wrong_syntax) xml_txt = R"( - + @@ -86,7 +86,7 @@ TEST(PointPortTest, test_correct_syntax) { std::string xml_txt = R"( - + @@ -107,7 +107,7 @@ TEST(QuaternionPortTest, test_wrong_syntax) { std::string xml_txt = R"( - + @@ -126,7 +126,7 @@ TEST(QuaternionPortTest, test_wrong_syntax) xml_txt = R"( - + @@ -144,7 +144,7 @@ TEST(QuaternionPortTest, test_correct_syntax) { std::string xml_txt = R"( - + @@ -166,7 +166,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax) { std::string xml_txt = R"( - + @@ -190,7 +190,7 @@ TEST(PoseStampedPortTest, test_wrong_syntax) xml_txt = R"( - + @@ -213,7 +213,7 @@ TEST(PoseStampedPortTest, test_correct_syntax) { std::string xml_txt = R"( - + @@ -241,7 +241,7 @@ TEST(MillisecondsPortTest, test_correct_syntax) { std::string xml_txt = R"( - + @@ -257,7 +257,7 @@ TEST(MillisecondsPortTest, test_correct_syntax) xml_txt = R"( - + @@ -272,7 +272,7 @@ TEST(ErrorCodePortTest, test_correct_syntax) { std::string xml_txt = R"( - + @@ -290,3 +290,33 @@ TEST(ErrorCodePortTest, test_correct_syntax) EXPECT_TRUE(value.find(204) != value.end()); EXPECT_TRUE(value.find(212) != value.end()); } + +TEST(deconflictPortAndParamFrameTest, test_correct_syntax) +{ + std::string xml_txt = + R"( + + + + + )"; + + BT::BehaviorTreeFactory factory; + factory.registerNodeType>("ParamPort"); + auto tree = factory.createTreeFromText(xml_txt); + + rclcpp::init(0, nullptr); + std::shared_ptr node = std::make_shared("test_node"); + node->declare_parameter("test", 2); + node->declare_parameter("test_alternative", 3); + + int value = BT::deconflictPortAndParamFrame( + node, "test_alternative", tree.rootNode()); + + EXPECT_EQ(value, 3); + + value = BT::deconflictPortAndParamFrame( + node, "test", tree.rootNode()); + + EXPECT_EQ(value, 1); +} diff --git a/nav2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp b/nav2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp index 437837f19f8..7bf08ddd440 100644 --- a/nav2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp +++ b/nav2_behavior_tree/test/utils/test_behavior_tree_fixture.hpp @@ -20,7 +20,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "rclcpp/rclcpp.hpp" #include "test_transform_handler.hpp" @@ -43,10 +43,10 @@ class BehaviorTreeTestFixture : public ::testing::Test // Create the blackboard that will be shared by all of the nodes in the tree config_->blackboard = BT::Blackboard::create(); // Put items on the blackboard - config_->blackboard->set( + config_->blackboard->set( "node", node_); - config_->blackboard->set>( + config_->blackboard->set( "tf_buffer", transform_handler_->getBuffer()); config_->blackboard->set( @@ -55,7 +55,7 @@ class BehaviorTreeTestFixture : public ::testing::Test config_->blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); - config_->blackboard->set("initial_pose_received", false); + config_->blackboard->set("initial_pose_received", false); transform_handler_->activate(); transform_handler_->waitForTransform(); diff --git a/nav2_behavior_tree/test/utils/test_dummy_tree_node.hpp b/nav2_behavior_tree/test/utils/test_dummy_tree_node.hpp index d277e7f4d25..dcfa52927ac 100644 --- a/nav2_behavior_tree/test/utils/test_dummy_tree_node.hpp +++ b/nav2_behavior_tree/test/utils/test_dummy_tree_node.hpp @@ -16,8 +16,8 @@ #ifndef UTILS__TEST_DUMMY_TREE_NODE_HPP_ #define UTILS__TEST_DUMMY_TREE_NODE_HPP_ -#include -#include +#include +#include namespace nav2_behavior_tree { @@ -36,7 +36,11 @@ class DummyNode : public BT::ActionNodeBase void changeStatus(BT::NodeStatus status) { - setStatus(status); + if (status == BT::NodeStatus::IDLE) { + resetStatus(); + } else { + setStatus(status); + } } BT::NodeStatus executeTick() override diff --git a/nav2_behaviors/README.md b/nav2_behaviors/README.md index 5ecd14af5c5..7c87ae91a37 100644 --- a/nav2_behaviors/README.md +++ b/nav2_behaviors/README.md @@ -10,6 +10,9 @@ The only required class a behavior must derive from is the `nav2_core/behavior.h The value of the centralized behavior server is to **share resources** amongst several behaviors that would otherwise be independent nodes. Subscriptions to TF, costmaps, and more can be quite heavy and add non-trivial compute costs to a robot system. By combining these independent behaviors into a single server, they may share these resources while retaining complete independence in execution and interface. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-behavior-server.html) for additional parameter descriptions and a [tutorial about writing behaviors](https://navigation.ros.org/plugin_tutorials/docs/writing_new_behavior_plugin.html). +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-behavior-server.html) for additional parameter descriptions and a [tutorial about writing behaviors](https://docs.nav2.org/plugin_tutorials/docs/writing_new_behavior_plugin.html). -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. + +The `TimedBehavior` template makes use of a [nav2_util::TwistPublisher](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities). +The `AssistedTeleop` behavior makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities). \ No newline at end of file diff --git a/nav2_behaviors/behavior_plugin.xml b/nav2_behaviors/behavior_plugin.xml index cd20ae7aa93..8d206e79b8b 100644 --- a/nav2_behaviors/behavior_plugin.xml +++ b/nav2_behaviors/behavior_plugin.xml @@ -1,30 +1,30 @@ - + - + - + - + - + diff --git a/nav2_behaviors/plugins/assisted_teleop.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp similarity index 84% rename from nav2_behaviors/plugins/assisted_teleop.hpp rename to nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp index 518e8226a78..772bb894a09 100644 --- a/nav2_behaviors/plugins/assisted_teleop.hpp +++ b/nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp @@ -23,6 +23,7 @@ #include "std_msgs/msg/empty.hpp" #include "nav2_behaviors/timed_behavior.hpp" #include "nav2_msgs/action/assisted_teleop.hpp" +#include "nav2_util/twist_subscriber.hpp" namespace nav2_behaviors { @@ -37,6 +38,8 @@ class AssistedTeleop : public TimedBehavior using CostmapInfoType = nav2_core::CostmapInfoType; public: + using AssistedTeleopActionGoal = AssistedTeleopAction::Goal; + using AssistedTeleopActionResult = AssistedTeleopAction::Result; AssistedTeleop(); /** @@ -44,18 +47,18 @@ class AssistedTeleop : public TimedBehavior * @param command Goal to execute * @return Status of behavior */ - Status onRun(const std::shared_ptr command) override; + ResultStatus onRun(const std::shared_ptr command) override; /** * @brief func to run at the completion of the action */ - void onActionCompletion() override; + void onActionCompletion(std::shared_ptr/*result*/) override; /** * @brief Loop function to run behavior * @return Status of behavior */ - Status onCycleUpdate() override; + ResultStatus onCycleUpdate() override; /** * @brief Method to determine the required costmap info @@ -80,12 +83,6 @@ class AssistedTeleop : public TimedBehavior const geometry_msgs::msg::Twist & twist, double projection_time); - /** - * @brief Callback function for velocity subscriber - * @param msg received Twist message - */ - void teleopVelocityCallback(const geometry_msgs::msg::Twist::SharedPtr msg); - /** * @brief Callback function to preempt assisted teleop * @param msg empty message @@ -98,11 +95,11 @@ class AssistedTeleop : public TimedBehavior double projection_time_; double simulation_time_step_; - geometry_msgs::msg::Twist teleop_twist_; + geometry_msgs::msg::TwistStamped teleop_twist_; bool preempt_teleop_{false}; // subscribers - rclcpp::Subscription::SharedPtr vel_sub_; + std::unique_ptr vel_sub_; rclcpp::Subscription::SharedPtr preempt_teleop_sub_; rclcpp::Duration command_time_allowance_{0, 0}; diff --git a/nav2_behaviors/plugins/back_up.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/back_up.hpp similarity index 81% rename from nav2_behaviors/plugins/back_up.hpp rename to nav2_behaviors/include/nav2_behaviors/plugins/back_up.hpp index f892c5b0e2d..7c78abf7b83 100644 --- a/nav2_behaviors/plugins/back_up.hpp +++ b/nav2_behaviors/include/nav2_behaviors/plugins/back_up.hpp @@ -28,8 +28,12 @@ namespace nav2_behaviors class BackUp : public DriveOnHeading { public: - Status onRun(const std::shared_ptr command) override; + using BackUpActionGoal = BackUpAction::Goal; + using BackUpActionResult = BackUpAction::Result; + + ResultStatus onRun(const std::shared_ptr command) override; }; -} + +} // namespace nav2_behaviors #endif // NAV2_BEHAVIORS__PLUGINS__BACK_UP_HPP_ diff --git a/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp similarity index 80% rename from nav2_behaviors/plugins/drive_on_heading.hpp rename to nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp index f09fb0ddfed..0b74a044629 100644 --- a/nav2_behaviors/plugins/drive_on_heading.hpp +++ b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp @@ -24,6 +24,7 @@ #include "nav2_msgs/action/drive_on_heading.hpp" #include "nav2_msgs/action/back_up.hpp" #include "nav2_util/node_utils.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" namespace nav2_behaviors { @@ -57,51 +58,51 @@ class DriveOnHeading : public TimedBehavior * @param command Goal to execute * @return Status of behavior */ - Status onRun(const std::shared_ptr command) override + ResultStatus onRun(const std::shared_ptr command) override { if (command->target.y != 0.0 || command->target.z != 0.0) { RCLCPP_INFO( this->logger_, "DrivingOnHeading in Y and Z not supported, will only move in X."); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::INVALID_INPUT}; } // Ensure that both the speed and direction have the same sign if (!((command->target.x > 0.0) == (command->speed > 0.0)) ) { RCLCPP_ERROR(this->logger_, "Speed and command sign did not match"); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::INVALID_INPUT}; } command_x_ = command->target.x; command_speed_ = command->speed; command_time_allowance_ = command->time_allowance; - end_time_ = this->steady_clock_.now() + command_time_allowance_; + end_time_ = this->clock_->now() + command_time_allowance_; if (!nav2_util::getCurrentPose( initial_pose_, *this->tf_, this->local_frame_, this->robot_base_frame_, this->transform_tolerance_)) { RCLCPP_ERROR(this->logger_, "Initial robot pose is not available."); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::TF_ERROR}; } - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, ActionT::Result::NONE}; } /** * @brief Loop function to run behavior * @return Status of behavior */ - Status onCycleUpdate() + ResultStatus onCycleUpdate() override { - rclcpp::Duration time_remaining = end_time_ - this->steady_clock_.now(); + rclcpp::Duration time_remaining = end_time_ - this->clock_->now(); if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) { this->stopRobot(); RCLCPP_WARN( this->logger_, "Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading"); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::NONE}; } geometry_msgs::msg::PoseStamped current_pose; @@ -110,7 +111,7 @@ class DriveOnHeading : public TimedBehavior this->transform_tolerance_)) { RCLCPP_ERROR(this->logger_, "Current robot pose is not available."); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::TF_ERROR}; } double diff_x = initial_pose_.pose.position.x - current_pose.pose.position.x; @@ -122,28 +123,30 @@ class DriveOnHeading : public TimedBehavior if (distance >= std::fabs(command_x_)) { this->stopRobot(); - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, ActionT::Result::NONE}; } - auto cmd_vel = std::make_unique(); - cmd_vel->linear.y = 0.0; - cmd_vel->angular.z = 0.0; - cmd_vel->linear.x = command_speed_; + auto cmd_vel = std::make_unique(); + cmd_vel->header.stamp = this->clock_->now(); + cmd_vel->header.frame_id = this->robot_base_frame_; + cmd_vel->twist.linear.y = 0.0; + cmd_vel->twist.angular.z = 0.0; + cmd_vel->twist.linear.x = command_speed_; geometry_msgs::msg::Pose2D pose2d; pose2d.x = current_pose.pose.position.x; pose2d.y = current_pose.pose.position.y; pose2d.theta = tf2::getYaw(current_pose.pose.orientation); - if (!isCollisionFree(distance, cmd_vel.get(), pose2d)) { + if (!isCollisionFree(distance, cmd_vel->twist, pose2d)) { this->stopRobot(); RCLCPP_WARN(this->logger_, "Collision Ahead - Exiting DriveOnHeading"); - return Status::FAILED; + return ResultStatus{Status::FAILED, ActionT::Result::COLLISION_AHEAD}; } this->vel_pub_->publish(std::move(cmd_vel)); - return Status::RUNNING; + return ResultStatus{Status::RUNNING, ActionT::Result::NONE}; } /** @@ -162,7 +165,7 @@ class DriveOnHeading : public TimedBehavior */ bool isCollisionFree( const double & distance, - geometry_msgs::msg::Twist * cmd_vel, + const geometry_msgs::msg::Twist & cmd_vel, geometry_msgs::msg::Pose2D & pose2d) { // Simulate ahead by simulate_ahead_time_ in this->cycle_frequency_ increments @@ -174,7 +177,7 @@ class DriveOnHeading : public TimedBehavior bool fetch_data = true; while (cycle_count < max_cycle_count) { - sim_position_change = cmd_vel->linear.x * (cycle_count / this->cycle_frequency_); + sim_position_change = cmd_vel.linear.x * (cycle_count / this->cycle_frequency_); pose2d.x = init_pose.x + sim_position_change * cos(init_pose.theta); pose2d.y = init_pose.y + sim_position_change * sin(init_pose.theta); cycle_count++; diff --git a/nav2_behaviors/plugins/spin.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp similarity index 88% rename from nav2_behaviors/plugins/spin.hpp rename to nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp index 61656d41c9f..eeb84462220 100644 --- a/nav2_behaviors/plugins/spin.hpp +++ b/nav2_behaviors/include/nav2_behaviors/plugins/spin.hpp @@ -22,6 +22,7 @@ #include "nav2_behaviors/timed_behavior.hpp" #include "nav2_msgs/action/spin.hpp" #include "geometry_msgs/msg/quaternion.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" namespace nav2_behaviors { @@ -36,6 +37,9 @@ class Spin : public TimedBehavior using CostmapInfoType = nav2_core::CostmapInfoType; public: + using SpinActionGoal = SpinAction::Goal; + using SpinActionResult = SpinAction::Result; + /** * @brief A constructor for nav2_behaviors::Spin */ @@ -47,7 +51,7 @@ class Spin : public TimedBehavior * @param command Goal to execute * @return Status of behavior */ - Status onRun(const std::shared_ptr command) override; + ResultStatus onRun(const std::shared_ptr command) override; /** * @brief Configuration of behavior action @@ -58,7 +62,7 @@ class Spin : public TimedBehavior * @brief Loop function to run behavior * @return Status of behavior */ - Status onCycleUpdate() override; + ResultStatus onCycleUpdate() override; /** * @brief Method to determine the required costmap info @@ -76,7 +80,7 @@ class Spin : public TimedBehavior */ bool isCollisionFree( const double & distance, - geometry_msgs::msg::Twist * cmd_vel, + const geometry_msgs::msg::Twist & cmd_vel, geometry_msgs::msg::Pose2D & pose2d); SpinAction::Feedback::SharedPtr feedback_; diff --git a/nav2_behaviors/plugins/wait.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp similarity index 89% rename from nav2_behaviors/plugins/wait.hpp rename to nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp index 41f0da7f04f..4fd35c4f03a 100644 --- a/nav2_behaviors/plugins/wait.hpp +++ b/nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp @@ -35,6 +35,8 @@ class Wait : public TimedBehavior using CostmapInfoType = nav2_core::CostmapInfoType; public: + using WaitActionGoal = WaitAction::Goal; + /** * @brief A constructor for nav2_behaviors::Wait */ @@ -46,13 +48,13 @@ class Wait : public TimedBehavior * @param command Goal to execute * @return Status of behavior */ - Status onRun(const std::shared_ptr command) override; + ResultStatus onRun(const std::shared_ptr command) override; /** * @brief Loop function to run behavior * @return Status of behavior */ - Status onCycleUpdate() override; + ResultStatus onCycleUpdate() override; /** * @brief Method to determine the required costmap info @@ -61,7 +63,7 @@ class Wait : public TimedBehavior CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;} protected: - std::chrono::time_point wait_end_; + rclcpp::Time wait_end_; WaitAction::Feedback::SharedPtr feedback_; }; diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp index 8dba26ebe54..eab6330d507 100644 --- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp +++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp @@ -15,6 +15,8 @@ #ifndef NAV2_BEHAVIORS__TIMED_BEHAVIOR_HPP_ #define NAV2_BEHAVIORS__TIMED_BEHAVIOR_HPP_ + +#include #include #include #include @@ -27,14 +29,16 @@ #include "tf2_ros/transform_listener.h" #include "tf2_ros/create_timer_ros.h" #include "geometry_msgs/msg/twist.hpp" -#include "nav2_util/simple_action_server.hpp" #include "nav2_util/robot_utils.hpp" +#include "nav2_util/twist_publisher.hpp" +#include "nav2_util/simple_action_server.hpp" #include "nav2_core/behavior.hpp" #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wpedantic" #include "tf2/utils.h" #pragma GCC diagnostic pop + namespace nav2_behaviors { @@ -45,6 +49,12 @@ enum class Status : int8_t RUNNING = 3, }; +struct ResultStatus +{ + Status status; + uint16_t error_code{0}; +}; + using namespace std::chrono_literals; //NOLINT /** @@ -73,7 +83,7 @@ class TimedBehavior : public nav2_core::Behavior // Derived classes can override this method to catch the command and perform some checks // before getting into the main loop. The method will only be called // once and should return SUCCEEDED otherwise behavior will return FAILED. - virtual Status onRun(const std::shared_ptr command) = 0; + virtual ResultStatus onRun(const std::shared_ptr command) = 0; // This is the method derived classes should mainly implement @@ -81,7 +91,7 @@ class TimedBehavior : public nav2_core::Behavior // Implement the behavior such that it runs some unit of work on each call // and provides a status. The Behavior will finish once SUCCEEDED is returned // It's up to the derived class to define the final commanded velocity. - virtual Status onCycleUpdate() = 0; + virtual ResultStatus onCycleUpdate() = 0; // an opportunity for derived classes to do something on configuration // if they chose @@ -96,7 +106,7 @@ class TimedBehavior : public nav2_core::Behavior } // an opportunity for a derived class to do something on action completion - virtual void onActionCompletion() + virtual void onActionCompletion(std::shared_ptr/*result*/) { } @@ -110,8 +120,8 @@ class TimedBehavior : public nav2_core::Behavior { node_ = parent; auto node = node_.lock(); - logger_ = node->get_logger(); + clock_ = node->get_clock(); RCLCPP_INFO(logger_, "Configuring %s", name.c_str()); @@ -124,14 +134,24 @@ class TimedBehavior : public nav2_core::Behavior node->get_parameter("robot_base_frame", robot_base_frame_); node->get_parameter("transform_tolerance", transform_tolerance_); + if (!node->has_parameter("action_server_result_timeout")) { + node->declare_parameter("action_server_result_timeout", 10.0); + } + + double action_server_result_timeout; + node->get_parameter("action_server_result_timeout", action_server_result_timeout); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); + action_server_ = std::make_shared( node, behavior_name_, - std::bind(&TimedBehavior::execute, this)); + std::bind(&TimedBehavior::execute, this), nullptr, std::chrono::milliseconds( + 500), false, server_options); local_collision_checker_ = local_collision_checker; global_collision_checker_ = global_collision_checker; - vel_pub_ = node->template create_publisher("cmd_vel", 1); + vel_pub_ = std::make_unique(node, "cmd_vel", 1); onConfigure(); } @@ -166,7 +186,7 @@ class TimedBehavior : public nav2_core::Behavior rclcpp_lifecycle::LifecycleNode::WeakPtr node_; std::string behavior_name_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr vel_pub_; + std::unique_ptr vel_pub_; std::shared_ptr action_server_; std::shared_ptr local_collision_checker_; std::shared_ptr global_collision_checker_; @@ -181,7 +201,7 @@ class TimedBehavior : public nav2_core::Behavior rclcpp::Duration elasped_time_{0, 0}; // Clock - rclcpp::Clock steady_clock_{RCL_STEADY_TIME}; + rclcpp::Clock::SharedPtr clock_; // Logger rclcpp::Logger logger_{rclcpp::get_logger("nav2_behaviors")}; @@ -199,29 +219,30 @@ class TimedBehavior : public nav2_core::Behavior return; } - if (onRun(action_server_->get_current_goal()) != Status::SUCCEEDED) { + // Initialize the ActionT result + auto result = std::make_shared(); + + ResultStatus on_run_result = onRun(action_server_->get_current_goal()); + if (on_run_result.status != Status::SUCCEEDED) { RCLCPP_INFO( logger_, "Initial checks failed for %s", behavior_name_.c_str()); - action_server_->terminate_current(); + result->error_code = on_run_result.error_code; + action_server_->terminate_current(result); return; } - auto start_time = steady_clock_.now(); - - // Initialize the ActionT result - auto result = std::make_shared(); - + auto start_time = clock_->now(); rclcpp::WallRate loop_rate(cycle_frequency_); while (rclcpp::ok()) { - elasped_time_ = steady_clock_.now() - start_time; + elasped_time_ = clock_->now() - start_time; if (action_server_->is_cancel_requested()) { RCLCPP_INFO(logger_, "Canceling %s", behavior_name_.c_str()); stopRobot(); result->total_elapsed_time = elasped_time_; + onActionCompletion(result); action_server_->terminate_all(result); - onActionCompletion(); return; } @@ -232,27 +253,29 @@ class TimedBehavior : public nav2_core::Behavior " however feature is currently not implemented. Aborting and stopping.", behavior_name_.c_str()); stopRobot(); - result->total_elapsed_time = steady_clock_.now() - start_time; + result->total_elapsed_time = clock_->now() - start_time; + onActionCompletion(result); action_server_->terminate_current(result); - onActionCompletion(); return; } - switch (onCycleUpdate()) { + ResultStatus on_cycle_update_result = onCycleUpdate(); + switch (on_cycle_update_result.status) { case Status::SUCCEEDED: RCLCPP_INFO( logger_, "%s completed successfully", behavior_name_.c_str()); - result->total_elapsed_time = steady_clock_.now() - start_time; + result->total_elapsed_time = clock_->now() - start_time; + onActionCompletion(result); action_server_->succeeded_current(result); - onActionCompletion(); return; case Status::FAILED: RCLCPP_WARN(logger_, "%s failed", behavior_name_.c_str()); - result->total_elapsed_time = steady_clock_.now() - start_time; + result->total_elapsed_time = clock_->now() - start_time; + result->error_code = on_cycle_update_result.error_code; + onActionCompletion(result); action_server_->terminate_current(result); - onActionCompletion(); return; case Status::RUNNING: @@ -267,10 +290,12 @@ class TimedBehavior : public nav2_core::Behavior // Stop the robot with a commanded velocity void stopRobot() { - auto cmd_vel = std::make_unique(); - cmd_vel->linear.x = 0.0; - cmd_vel->linear.y = 0.0; - cmd_vel->angular.z = 0.0; + auto cmd_vel = std::make_unique(); + cmd_vel->header.frame_id = robot_base_frame_; + cmd_vel->header.stamp = clock_->now(); + cmd_vel->twist.linear.x = 0.0; + cmd_vel->twist.linear.y = 0.0; + cmd_vel->twist.angular.z = 0.0; vel_pub_->publish(std::move(cmd_vel)); } diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml index 5a8e8719847..9d71ce85fc0 100644 --- a/nav2_behaviors/package.xml +++ b/nav2_behaviors/package.xml @@ -2,7 +2,7 @@ nav2_behaviors - 1.1.0 + 1.2.0 TODO Carlos Orduno Steve Macenski diff --git a/nav2_behaviors/plugins/assisted_teleop.cpp b/nav2_behaviors/plugins/assisted_teleop.cpp index e80c4281082..9e85229a3c1 100644 --- a/nav2_behaviors/plugins/assisted_teleop.cpp +++ b/nav2_behaviors/plugins/assisted_teleop.cpp @@ -14,7 +14,7 @@ #include -#include "assisted_teleop.hpp" +#include "nav2_behaviors/plugins/assisted_teleop.hpp" #include "nav2_util/node_utils.hpp" namespace nav2_behaviors @@ -50,11 +50,14 @@ void AssistedTeleop::onConfigure() std::string cmd_vel_teleop; node->get_parameter("cmd_vel_teleop", cmd_vel_teleop); - vel_sub_ = node->create_subscription( + vel_sub_ = std::make_unique( + node, cmd_vel_teleop, rclcpp::SystemDefaultsQoS(), - std::bind( - &AssistedTeleop::teleopVelocityCallback, - this, std::placeholders::_1)); + [&](geometry_msgs::msg::Twist::SharedPtr msg) { + teleop_twist_.twist = *msg; + }, [&](geometry_msgs::msg::TwistStamped::SharedPtr msg) { + teleop_twist_ = *msg; + }); preempt_teleop_sub_ = node->create_subscription( "preempt_teleop", rclcpp::SystemDefaultsQoS(), @@ -63,39 +66,39 @@ void AssistedTeleop::onConfigure() this, std::placeholders::_1)); } -Status AssistedTeleop::onRun(const std::shared_ptr command) +ResultStatus AssistedTeleop::onRun(const std::shared_ptr command) { preempt_teleop_ = false; command_time_allowance_ = command->time_allowance; - end_time_ = steady_clock_.now() + command_time_allowance_; - return Status::SUCCEEDED; + end_time_ = this->clock_->now() + command_time_allowance_; + return ResultStatus{Status::SUCCEEDED, AssistedTeleopActionResult::NONE}; } -void AssistedTeleop::onActionCompletion() +void AssistedTeleop::onActionCompletion(std::shared_ptr/*result*/) { - teleop_twist_ = geometry_msgs::msg::Twist(); + teleop_twist_ = geometry_msgs::msg::TwistStamped(); preempt_teleop_ = false; } -Status AssistedTeleop::onCycleUpdate() +ResultStatus AssistedTeleop::onCycleUpdate() { feedback_->current_teleop_duration = elasped_time_; action_server_->publish_feedback(feedback_); - rclcpp::Duration time_remaining = end_time_ - steady_clock_.now(); + rclcpp::Duration time_remaining = end_time_ - this->clock_->now(); if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) { stopRobot(); RCLCPP_WARN_STREAM( logger_, "Exceeded time allowance before reaching the " << behavior_name_.c_str() << "goal - Exiting " << behavior_name_.c_str()); - return Status::FAILED; + return ResultStatus{Status::FAILED, AssistedTeleopActionResult::TIMEOUT}; } // user states that teleop was successful if (preempt_teleop_) { stopRobot(); - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, AssistedTeleopActionResult::NONE}; } geometry_msgs::msg::PoseStamped current_pose; @@ -107,47 +110,48 @@ Status AssistedTeleop::onCycleUpdate() logger_, "Current robot pose is not available for " << behavior_name_.c_str()); - return Status::FAILED; + return ResultStatus{Status::FAILED, AssistedTeleopActionResult::TF_ERROR}; } + geometry_msgs::msg::Pose2D projected_pose; projected_pose.x = current_pose.pose.position.x; projected_pose.y = current_pose.pose.position.y; projected_pose.theta = tf2::getYaw(current_pose.pose.orientation); - geometry_msgs::msg::Twist scaled_twist = teleop_twist_; + auto scaled_twist = std::make_unique(teleop_twist_); for (double time = simulation_time_step_; time < projection_time_; time += simulation_time_step_) { - projected_pose = projectPose(projected_pose, teleop_twist_, simulation_time_step_); + projected_pose = projectPose(projected_pose, teleop_twist_.twist, simulation_time_step_); if (!local_collision_checker_->isCollisionFree(projected_pose)) { if (time == simulation_time_step_) { RCLCPP_DEBUG_STREAM_THROTTLE( logger_, - steady_clock_, + *clock_, 1000, behavior_name_.c_str() << " collided on first time step, setting velocity to zero"); - scaled_twist.linear.x = 0.0f; - scaled_twist.linear.y = 0.0f; - scaled_twist.angular.z = 0.0f; + scaled_twist->twist.linear.x = 0.0f; + scaled_twist->twist.linear.y = 0.0f; + scaled_twist->twist.angular.z = 0.0f; break; } else { RCLCPP_DEBUG_STREAM_THROTTLE( logger_, - steady_clock_, + *clock_, 1000, behavior_name_.c_str() << " collision approaching in " << time << " seconds"); double scale_factor = time / projection_time_; - scaled_twist.linear.x *= scale_factor; - scaled_twist.linear.y *= scale_factor; - scaled_twist.angular.z *= scale_factor; + scaled_twist->twist.linear.x *= scale_factor; + scaled_twist->twist.linear.y *= scale_factor; + scaled_twist->twist.angular.z *= scale_factor; break; } } } vel_pub_->publish(std::move(scaled_twist)); - return Status::RUNNING; + return ResultStatus{Status::RUNNING, AssistedTeleopActionResult::NONE}; } geometry_msgs::msg::Pose2D AssistedTeleop::projectPose( @@ -170,11 +174,6 @@ geometry_msgs::msg::Pose2D AssistedTeleop::projectPose( return projected_pose; } -void AssistedTeleop::teleopVelocityCallback(const geometry_msgs::msg::Twist::SharedPtr msg) -{ - teleop_twist_ = *msg; -} - void AssistedTeleop::preemptTeleopCallback(const std_msgs::msg::Empty::SharedPtr) { preempt_teleop_ = true; diff --git a/nav2_behaviors/plugins/back_up.cpp b/nav2_behaviors/plugins/back_up.cpp index 8057f022b88..7a194874c7e 100644 --- a/nav2_behaviors/plugins/back_up.cpp +++ b/nav2_behaviors/plugins/back_up.cpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "back_up.hpp" +#include "nav2_behaviors/plugins/back_up.hpp" namespace nav2_behaviors { -Status BackUp::onRun(const std::shared_ptr command) +ResultStatus BackUp::onRun(const std::shared_ptr command) { if (command->target.y != 0.0 || command->target.z != 0.0) { RCLCPP_INFO( logger_, "Backing up in Y and Z not supported, will only move in X."); - return Status::FAILED; + return ResultStatus{Status::FAILED, BackUpActionResult::INVALID_INPUT}; } // Silently ensure that both the speed and direction are negative. @@ -31,17 +31,17 @@ Status BackUp::onRun(const std::shared_ptr command) command_speed_ = -std::fabs(command->speed); command_time_allowance_ = command->time_allowance; - end_time_ = steady_clock_.now() + command_time_allowance_; + end_time_ = this->clock_->now() + command_time_allowance_; if (!nav2_util::getCurrentPose( initial_pose_, *tf_, local_frame_, robot_base_frame_, transform_tolerance_)) { RCLCPP_ERROR(logger_, "Initial robot pose is not available."); - return Status::FAILED; + return ResultStatus{Status::FAILED, BackUpActionResult::TF_ERROR}; } - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, BackUpActionResult::NONE}; } } // namespace nav2_behaviors diff --git a/nav2_behaviors/plugins/drive_on_heading.cpp b/nav2_behaviors/plugins/drive_on_heading.cpp index 53525b3bb6e..9b44f0bacb8 100644 --- a/nav2_behaviors/plugins/drive_on_heading.cpp +++ b/nav2_behaviors/plugins/drive_on_heading.cpp @@ -14,7 +14,7 @@ // limitations under the License. #include -#include "drive_on_heading.hpp" +#include "nav2_behaviors/plugins/drive_on_heading.hpp" #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS(nav2_behaviors::DriveOnHeading<>, nav2_core::Behavior) diff --git a/nav2_behaviors/plugins/spin.cpp b/nav2_behaviors/plugins/spin.cpp index dbcb6b2c6e9..5965675f643 100644 --- a/nav2_behaviors/plugins/spin.cpp +++ b/nav2_behaviors/plugins/spin.cpp @@ -18,7 +18,7 @@ #include #include -#include "spin.hpp" +#include "nav2_behaviors/plugins/spin.hpp" #include "tf2/utils.h" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "nav2_util/node_utils.hpp" @@ -71,7 +71,7 @@ void Spin::onConfigure() node->get_parameter("rotational_acc_lim", rotational_acc_lim_); } -Status Spin::onRun(const std::shared_ptr command) +ResultStatus Spin::onRun(const std::shared_ptr command) { geometry_msgs::msg::PoseStamped current_pose; if (!nav2_util::getCurrentPose( @@ -79,7 +79,7 @@ Status Spin::onRun(const std::shared_ptr command) transform_tolerance_)) { RCLCPP_ERROR(logger_, "Current robot pose is not available."); - return Status::FAILED; + return ResultStatus{Status::FAILED, SpinActionResult::TF_ERROR}; } prev_yaw_ = tf2::getYaw(current_pose.pose.orientation); @@ -91,20 +91,20 @@ Status Spin::onRun(const std::shared_ptr command) cmd_yaw_); command_time_allowance_ = command->time_allowance; - end_time_ = steady_clock_.now() + command_time_allowance_; + end_time_ = this->clock_->now() + command_time_allowance_; - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, SpinActionResult::NONE}; } -Status Spin::onCycleUpdate() +ResultStatus Spin::onCycleUpdate() { - rclcpp::Duration time_remaining = end_time_ - steady_clock_.now(); + rclcpp::Duration time_remaining = end_time_ - this->clock_->now(); if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) { stopRobot(); RCLCPP_WARN( logger_, "Exceeded time allowance before reaching the Spin goal - Exiting Spin"); - return Status::FAILED; + return ResultStatus{Status::FAILED, SpinActionResult::TIMEOUT}; } geometry_msgs::msg::PoseStamped current_pose; @@ -113,7 +113,7 @@ Status Spin::onCycleUpdate() transform_tolerance_)) { RCLCPP_ERROR(logger_, "Current robot pose is not available."); - return Status::FAILED; + return ResultStatus{Status::FAILED, SpinActionResult::TF_ERROR}; } const double current_yaw = tf2::getYaw(current_pose.pose.orientation); @@ -132,34 +132,36 @@ Status Spin::onCycleUpdate() double remaining_yaw = abs(cmd_yaw_) - abs(relative_yaw_); if (remaining_yaw < 1e-6) { stopRobot(); - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, SpinActionResult::NONE}; } double vel = sqrt(2 * rotational_acc_lim_ * remaining_yaw); vel = std::min(std::max(vel, min_rotational_vel_), max_rotational_vel_); - auto cmd_vel = std::make_unique(); - cmd_vel->angular.z = copysign(vel, cmd_yaw_); + auto cmd_vel = std::make_unique(); + cmd_vel->header.frame_id = robot_base_frame_; + cmd_vel->header.stamp = clock_->now(); + cmd_vel->twist.angular.z = copysign(vel, cmd_yaw_); geometry_msgs::msg::Pose2D pose2d; pose2d.x = current_pose.pose.position.x; pose2d.y = current_pose.pose.position.y; pose2d.theta = tf2::getYaw(current_pose.pose.orientation); - if (!isCollisionFree(relative_yaw_, cmd_vel.get(), pose2d)) { + if (!isCollisionFree(relative_yaw_, cmd_vel->twist, pose2d)) { stopRobot(); RCLCPP_WARN(logger_, "Collision Ahead - Exiting Spin"); - return Status::FAILED; + return ResultStatus{Status::FAILED, SpinActionResult::COLLISION_AHEAD}; } vel_pub_->publish(std::move(cmd_vel)); - return Status::RUNNING; + return ResultStatus{Status::RUNNING, SpinActionResult::NONE}; } bool Spin::isCollisionFree( const double & relative_yaw, - geometry_msgs::msg::Twist * cmd_vel, + const geometry_msgs::msg::Twist & cmd_vel, geometry_msgs::msg::Pose2D & pose2d) { // Simulate ahead by simulate_ahead_time_ in cycle_frequency_ increments @@ -170,7 +172,7 @@ bool Spin::isCollisionFree( bool fetch_data = true; while (cycle_count < max_cycle_count) { - sim_position_change = cmd_vel->angular.z * (cycle_count / cycle_frequency_); + sim_position_change = cmd_vel.angular.z * (cycle_count / cycle_frequency_); pose2d.theta = init_pose.theta + sim_position_change; cycle_count++; diff --git a/nav2_behaviors/plugins/wait.cpp b/nav2_behaviors/plugins/wait.cpp index 236f7122018..91e95d6c97a 100644 --- a/nav2_behaviors/plugins/wait.cpp +++ b/nav2_behaviors/plugins/wait.cpp @@ -15,7 +15,7 @@ #include #include -#include "wait.hpp" +#include "nav2_behaviors/plugins/wait.hpp" namespace nav2_behaviors { @@ -28,26 +28,24 @@ Wait::Wait() Wait::~Wait() = default; -Status Wait::onRun(const std::shared_ptr command) +ResultStatus Wait::onRun(const std::shared_ptr command) { - wait_end_ = std::chrono::steady_clock::now() + - rclcpp::Duration(command->time).to_chrono(); - return Status::SUCCEEDED; + wait_end_ = node_.lock()->now() + rclcpp::Duration(command->time); + return ResultStatus{Status::SUCCEEDED}; } -Status Wait::onCycleUpdate() +ResultStatus Wait::onCycleUpdate() { - auto current_point = std::chrono::steady_clock::now(); - auto time_left = - std::chrono::duration_cast(wait_end_ - current_point).count(); + auto current_point = node_.lock()->now(); + auto time_left = wait_end_ - current_point; - feedback_->time_left = rclcpp::Duration(rclcpp::Duration::from_nanoseconds(time_left)); + feedback_->time_left = time_left; action_server_->publish_feedback(feedback_); - if (time_left > 0) { - return Status::RUNNING; + if (time_left.nanoseconds() > 0) { + return ResultStatus{Status::RUNNING}; } else { - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED}; } } diff --git a/nav2_behaviors/src/behavior_server.cpp b/nav2_behaviors/src/behavior_server.cpp index b5ec19ba626..1017bf595a3 100644 --- a/nav2_behaviors/src/behavior_server.cpp +++ b/nav2_behaviors/src/behavior_server.cpp @@ -26,10 +26,10 @@ BehaviorServer::BehaviorServer(const rclcpp::NodeOptions & options) : LifecycleNode("behavior_server", "", options), plugin_loader_("nav2_core", "nav2_core::Behavior"), default_ids_{"spin", "backup", "drive_on_heading", "wait"}, - default_types_{"nav2_behaviors/Spin", - "nav2_behaviors/BackUp", - "nav2_behaviors/DriveOnHeading", - "nav2_behaviors/Wait"} + default_types_{"nav2_behaviors::Spin", + "nav2_behaviors::BackUp", + "nav2_behaviors::DriveOnHeading", + "nav2_behaviors::Wait"} { declare_parameter( "local_costmap_topic", @@ -105,13 +105,13 @@ BehaviorServer::loadBehaviorPlugins() auto node = shared_from_this(); for (size_t i = 0; i != behavior_ids_.size(); i++) { - behavior_types_[i] = nav2_util::get_plugin_type_param(node, behavior_ids_[i]); try { + behavior_types_[i] = nav2_util::get_plugin_type_param(node, behavior_ids_[i]); RCLCPP_INFO( get_logger(), "Creating behavior plugin %s of type %s", behavior_ids_[i].c_str(), behavior_types_[i].c_str()); behaviors_.push_back(plugin_loader_.createUniqueInstance(behavior_types_[i])); - } catch (const pluginlib::PluginlibException & ex) { + } catch (const std::exception & ex) { RCLCPP_FATAL( get_logger(), "Failed to create behavior %s of type %s." " Exception: %s", behavior_ids_[i].c_str(), behavior_types_[i].c_str(), @@ -147,8 +147,8 @@ void BehaviorServer::setupResourcesForBehaviorPlugins() get_parameter("global_costmap_topic", global_costmap_topic); get_parameter("local_footprint_topic", local_footprint_topic); get_parameter("global_footprint_topic", global_footprint_topic); - get_parameter("transform_tolerance", transform_tolerance); get_parameter("robot_base_frame", robot_base_frame); + transform_tolerance = get_parameter("transform_tolerance").as_double(); bool need_local_costmap = false; bool need_global_costmap = false; diff --git a/nav2_behaviors/test/test_behaviors.cpp b/nav2_behaviors/test/test_behaviors.cpp index dbc8064d864..2d65ba80b23 100644 --- a/nav2_behaviors/test/test_behaviors.cpp +++ b/nav2_behaviors/test/test_behaviors.cpp @@ -27,6 +27,7 @@ using nav2_behaviors::TimedBehavior; using nav2_behaviors::Status; +using nav2_behaviors::ResultStatus; using BehaviorAction = nav2_msgs::action::DummyBehavior; using ClientGoalHandle = rclcpp_action::ClientGoalHandle; @@ -45,7 +46,7 @@ class DummyBehavior : public TimedBehavior ~DummyBehavior() = default; - Status onRun(const std::shared_ptr goal) override + ResultStatus onRun(const std::shared_ptr goal) override { // A normal behavior would catch the command and initialize initialized_ = false; @@ -56,20 +57,20 @@ class DummyBehavior : public TimedBehavior // The output is defined by the tester class on the command string. if (command_ == "Testing success" || command_ == "Testing failure on run") { initialized_ = true; - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, 0}; } - return Status::FAILED; + return ResultStatus{Status::FAILED, 0}; } - Status onCycleUpdate() override + ResultStatus onCycleUpdate() override { // A normal behavior would set the robot in motion in the first call // and check for robot states on subsequent calls to check if the movement // was completed. if (command_ != "Testing success" || !initialized_) { - return Status::FAILED; + return ResultStatus{Status::FAILED, 0}; } // For testing, pretend the robot takes some fixed @@ -79,10 +80,10 @@ class DummyBehavior : public TimedBehavior if (current_time - start_time_ >= motion_duration) { // Movement was completed - return Status::SUCCEEDED; + return ResultStatus{Status::SUCCEEDED, 0}; } - return Status::RUNNING; + return ResultStatus{Status::RUNNING, 0}; } /** @@ -102,7 +103,7 @@ class DummyBehavior : public TimedBehavior class BehaviorTest : public ::testing::Test { protected: - BehaviorTest() {SetUp();} + BehaviorTest() = default; ~BehaviorTest() = default; void SetUp() override diff --git a/nav2_bringup/README.md b/nav2_bringup/README.md index 574a817ecb3..da45591352b 100644 --- a/nav2_bringup/README.md +++ b/nav2_bringup/README.md @@ -1,8 +1,8 @@ # nav2_bringup -The `nav2_bringup` package is an example bringup system for Nav2 applications. +The `nav2_bringup` package is an example bringup system for Nav2 applications. -This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. +This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. Usual robot stacks will have a `_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of. @@ -10,8 +10,35 @@ Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/ * Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175. -To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. +To use, please see the Nav2 [Getting Started Page](https://docs.nav2.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://docs.nav2.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. Note: * gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly. * spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument /tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot. + +## Launch + +### Multi-robot Simulation + +This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments. + +#### Cloned + +This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default. +The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`. + +Please refer to below examples. + +```shell +ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}" +``` + +#### Unique + +There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up. + +If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script. + +```shell +ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py +``` diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py index 8fddcc32531..f39a0b8e887 100644 --- a/nav2_bringup/launch/bringup_launch.py +++ b/nav2_bringup/launch/bringup_launch.py @@ -17,14 +17,19 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import (DeclareLaunchArgument, GroupAction, - IncludeLaunchDescription, SetEnvironmentVariable) +from launch.actions import ( + DeclareLaunchArgument, + GroupAction, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression from launch_ros.actions import Node -from launch_ros.actions import PushRosNamespace -from nav2_common.launch import RewrittenYaml +from launch_ros.actions import PushROSNamespace +from launch_ros.descriptions import ParameterFile +from nav2_common.launch import ReplaceString, RewrittenYaml def generate_launch_description(): @@ -50,112 +55,143 @@ def generate_launch_description(): # https://github.com/ros/robot_state_publisher/pull/30 # TODO(orduno) Substitute with `PushNodeRemapping` # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] - configured_params = RewrittenYaml( + # Only it applys when `use_namespace` is True. + # '' keyword shall be replaced by 'namespace' launch argument + # in config file 'nav2_multirobot_params.yaml' as a default & example. + # User defined config file should contain '' keyword for the replacements. + params_file = ReplaceString( source_file=params_file, - root_key=namespace, - param_rewrites={}, - convert_types=True) + replacements={'': ('/', namespace)}, + condition=IfCondition(use_namespace), + ) + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) stdout_linebuf_envvar = SetEnvironmentVariable( - 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_use_namespace_cmd = DeclareLaunchArgument( 'use_namespace', default_value='false', - description='Whether to apply a namespace to the navigation stack') + description='Whether to apply a namespace to the navigation stack', + ) declare_slam_cmd = DeclareLaunchArgument( - 'slam', - default_value='False', - description='Whether run a SLAM') + 'slam', default_value='False', description='Whether run a SLAM' + ) declare_map_yaml_cmd = DeclareLaunchArgument( - 'map', - default_value='', - description='Full path to map yaml file to load') + 'map', default_value='', description='Full path to map yaml file to load' + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='false', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='True', - description='Whether to use composed bringup') + 'use_composition', + default_value='True', + description='Whether to use composed bringup', + ) declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) declare_log_level_cmd = DeclareLaunchArgument( - 'log_level', default_value='info', - description='log level') + 'log_level', default_value='info', description='log level' + ) # Specify the actions - bringup_cmd_group = GroupAction([ - PushRosNamespace( - condition=IfCondition(use_namespace), - namespace=namespace), - - Node( - condition=IfCondition(use_composition), - name='nav2_container', - package='rclcpp_components', - executable='component_container_isolated', - parameters=[configured_params, {'autostart': autostart}], - arguments=['--ros-args', '--log-level', log_level], - remappings=remappings, - output='screen'), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')), - condition=IfCondition(slam), - launch_arguments={'namespace': namespace, - 'use_sim_time': use_sim_time, - 'autostart': autostart, - 'use_respawn': use_respawn, - 'params_file': params_file}.items()), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(launch_dir, - 'localization_launch.py')), - condition=IfCondition(PythonExpression(['not ', slam])), - launch_arguments={'namespace': namespace, - 'map': map_yaml_file, - 'use_sim_time': use_sim_time, - 'autostart': autostart, - 'params_file': params_file, - 'use_composition': use_composition, - 'use_respawn': use_respawn, - 'container_name': 'nav2_container'}.items()), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')), - launch_arguments={'namespace': namespace, - 'use_sim_time': use_sim_time, - 'autostart': autostart, - 'params_file': params_file, - 'use_composition': use_composition, - 'use_respawn': use_respawn, - 'container_name': 'nav2_container'}.items()), - ]) + bringup_cmd_group = GroupAction( + [ + PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace), + Node( + condition=IfCondition(use_composition), + name='nav2_container', + package='rclcpp_components', + executable='component_container_isolated', + parameters=[configured_params, {'autostart': autostart}], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + output='screen', + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'slam_launch.py') + ), + condition=IfCondition(slam), + launch_arguments={ + 'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'use_respawn': use_respawn, + 'params_file': params_file, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'localization_launch.py') + ), + condition=IfCondition(PythonExpression(['not ', slam])), + launch_arguments={ + 'namespace': namespace, + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container', + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'navigation_launch.py') + ), + launch_arguments={ + 'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container', + }.items(), + ), + ] + ) # Create the launch description and populate ld = LaunchDescription() diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py new file mode 100644 index 00000000000..dbff594bc71 --- /dev/null +++ b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py @@ -0,0 +1,222 @@ +# Copyright (c) 2023 LG Electronics. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + GroupAction, + IncludeLaunchDescription, + LogInfo, +) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, TextSubstitution +from nav2_common.launch import ParseMultiRobotPose + + +def generate_launch_description(): + """ + Bring up the multi-robots with given launch arguments. + + Launch arguments consist of robot name(which is namespace) and pose for initialization. + Keep general yaml format for pose information. + ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}' + ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}; + robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}' + """ + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + launch_dir = os.path.join(bringup_dir, 'launch') + + # Simulation settings + world = LaunchConfiguration('world') + simulator = LaunchConfiguration('simulator') + + # On this example all robots are launched with the same settings + map_yaml_file = LaunchConfiguration('map') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + rviz_config_file = LaunchConfiguration('rviz_config') + use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') + use_rviz = LaunchConfiguration('use_rviz') + log_settings = LaunchConfiguration('log_settings', default='true') + + # Declare the launch arguments + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'), + description='Full path to world file to load', + ) + + declare_simulator_cmd = DeclareLaunchArgument( + 'simulator', + default_value='gazebo', + description='The simulator to use (gazebo or gzserver)', + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'), + description='Full path to map file to load', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join( + bringup_dir, 'params', 'nav2_multirobot_params_all.yaml' + ), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='false', + description='Automatically startup the stacks', + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'), + description='Full path to the RVIZ config file to use.', + ) + + declare_use_robot_state_pub_cmd = DeclareLaunchArgument( + 'use_robot_state_pub', + default_value='True', + description='Whether to start the robot state publisher', + ) + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) + + # Start Gazebo with plugin providing the robot spawning service + start_gazebo_cmd = ExecuteProcess( + cmd=[ + simulator, + '--verbose', + '-s', + 'libgazebo_ros_init.so', + '-s', + 'libgazebo_ros_factory.so', + world, + ], + output='screen', + ) + + robots_list = ParseMultiRobotPose('robots').value() + + # Define commands for launching the navigation instances + bringup_cmd_group = [] + for robot_name in robots_list: + init_pose = robots_list[robot_name] + group = GroupAction( + [ + LogInfo( + msg=[ + 'Launching namespace=', + robot_name, + ' init_pose=', + str(init_pose), + ] + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'rviz_launch.py') + ), + condition=IfCondition(use_rviz), + launch_arguments={ + 'namespace': TextSubstitution(text=robot_name), + 'use_namespace': 'True', + 'rviz_config': rviz_config_file, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py') + ), + launch_arguments={ + 'namespace': robot_name, + 'use_namespace': 'True', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': params_file, + 'autostart': autostart, + 'use_rviz': 'False', + 'use_simulator': 'False', + 'headless': 'False', + 'use_robot_state_pub': use_robot_state_pub, + 'x_pose': TextSubstitution(text=str(init_pose['x'])), + 'y_pose': TextSubstitution(text=str(init_pose['y'])), + 'z_pose': TextSubstitution(text=str(init_pose['z'])), + 'roll': TextSubstitution(text=str(init_pose['roll'])), + 'pitch': TextSubstitution(text=str(init_pose['pitch'])), + 'yaw': TextSubstitution(text=str(init_pose['yaw'])), + 'robot_name': TextSubstitution(text=robot_name), + }.items(), + ), + ] + ) + + bringup_cmd_group.append(group) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_simulator_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_use_rviz_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_robot_state_pub_cmd) + + # Add the actions to start gazebo, robots and simulations + ld.add_action(start_gazebo_cmd) + + ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))])) + + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['map yaml: ', map_yaml_file]) + ) + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['params yaml: ', params_file]) + ) + ld.add_action( + LogInfo( + condition=IfCondition(log_settings), + msg=['rviz config file: ', rviz_config_file], + ) + ) + ld.add_action( + LogInfo( + condition=IfCondition(log_settings), + msg=['using robot state pub: ', use_robot_state_pub], + ) + ) + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['autostart: ', autostart]) + ) + + for cmd in bringup_cmd_group: + ld.add_action(cmd) + + return ld diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py index 91fd42b1eba..42afb5c2cb5 100644 --- a/nav2_bringup/launch/localization_launch.py +++ b/nav2_bringup/launch/localization_launch.py @@ -21,11 +21,11 @@ from launch.actions import SetEnvironmentVariable from launch.conditions import IfCondition from launch.substitutions import EqualsSubstitution -from launch.substitutions import NotEqualsSubstitution from launch.substitutions import LaunchConfiguration, PythonExpression +from launch.substitutions import NotEqualsSubstitution from launch_ros.actions import LoadComposableNodes, SetParameter from launch_ros.actions import Node -from launch_ros.descriptions import ComposableNode +from launch_ros.descriptions import ComposableNode, ParameterFile from nav2_common.launch import RewrittenYaml @@ -52,64 +52,78 @@ def generate_launch_description(): # https://github.com/ros/robot_state_publisher/pull/30 # TODO(orduno) Substitute with `PushNodeRemapping` # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] - configured_params = RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites={}, - convert_types=True) + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) stdout_linebuf_envvar = SetEnvironmentVariable( - 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_map_yaml_cmd = DeclareLaunchArgument( - 'map', - default_value='', - description='Full path to map yaml file to load') + 'map', default_value='', description='Full path to map yaml file to load' + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='false', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='False', - description='Use composed bringup if True') + 'use_composition', + default_value='False', + description='Use composed bringup if True', + ) declare_container_name_cmd = DeclareLaunchArgument( - 'container_name', default_value='nav2_container', - description='the name of conatiner that nodes will load in if use composition') + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) declare_log_level_cmd = DeclareLaunchArgument( - 'log_level', default_value='info', - description='log level') + 'log_level', default_value='info', description='log level' + ) load_nodes = GroupAction( condition=IfCondition(PythonExpression(['not ', use_composition])), actions=[ SetParameter('use_sim_time', use_sim_time), Node( - condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')), + condition=IfCondition( + EqualsSubstitution(LaunchConfiguration('map'), '') + ), package='nav2_map_server', executable='map_server', name='map_server', @@ -118,19 +132,22 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( - condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')), + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('map'), '') + ), package='nav2_map_server', executable='map_server', name='map_server', output='screen', respawn=use_respawn, respawn_delay=2.0, - parameters=[configured_params, - {'yaml_filename': map_yaml_file}], + parameters=[configured_params, {'yaml_filename': map_yaml_file}], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_amcl', executable='amcl', @@ -140,16 +157,17 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_localization', output='screen', arguments=['--ros-args', '--log-level', log_level], - parameters=[{'autostart': autostart}, - {'node_names': lifecycle_nodes}]) - ] + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ], ) # LoadComposableNode for map server twice depending if we should use the # value of map from a CLI or launch default or user defined value in the @@ -162,27 +180,35 @@ def generate_launch_description(): SetParameter('use_sim_time', use_sim_time), LoadComposableNodes( target_container=container_name_full, - condition=IfCondition(EqualsSubstitution(LaunchConfiguration('map'), '')), + condition=IfCondition( + EqualsSubstitution(LaunchConfiguration('map'), '') + ), composable_node_descriptions=[ ComposableNode( package='nav2_map_server', plugin='nav2_map_server::MapServer', name='map_server', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ], ), LoadComposableNodes( target_container=container_name_full, - condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('map'), '')), + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('map'), '') + ), composable_node_descriptions=[ ComposableNode( package='nav2_map_server', plugin='nav2_map_server::MapServer', name='map_server', - parameters=[configured_params, - {'yaml_filename': map_yaml_file}], - remappings=remappings), + parameters=[ + configured_params, + {'yaml_filename': map_yaml_file}, + ], + remappings=remappings, + ), ], ), LoadComposableNodes( @@ -193,16 +219,19 @@ def generate_launch_description(): plugin='nav2_amcl::AmclNode', name='amcl', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ComposableNode( package='nav2_lifecycle_manager', plugin='nav2_lifecycle_manager::LifecycleManager', name='lifecycle_manager_localization', - parameters=[{'autostart': autostart, - 'node_names': lifecycle_nodes}]), + parameters=[ + {'autostart': autostart, 'node_names': lifecycle_nodes} + ], + ), ], - ) - ] + ), + ], ) # Create the launch description and populate diff --git a/nav2_bringup/launch/multi_tb3_simulation_launch.py b/nav2_bringup/launch/multi_tb3_simulation_launch.py deleted file mode 100644 index 069ae5bb3d3..00000000000 --- a/nav2_bringup/launch/multi_tb3_simulation_launch.py +++ /dev/null @@ -1,189 +0,0 @@ -# Copyright (c) 2018 Intel Corporation -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -""" -Example for spawning multiple robots in Gazebo. - -This is an example on how to create a launch file for spawning multiple robots into Gazebo -and launch multiple instances of the navigation stack, each controlling one robot. -The robots co-exist on a shared environment and are controlled by independent nav stacks. -""" - -import os - -from ament_index_python.packages import get_package_share_directory - -from launch import LaunchDescription -from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction, - IncludeLaunchDescription, LogInfo) -from launch.conditions import IfCondition -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, TextSubstitution - - -def generate_launch_description(): - # Get the launch directory - bringup_dir = get_package_share_directory('nav2_bringup') - launch_dir = os.path.join(bringup_dir, 'launch') - - # Names and poses of the robots - robots = [ - {'name': 'robot1', 'x_pose': 0.0, 'y_pose': 0.5, 'z_pose': 0.01, - 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}, - {'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01, - 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}] - - # Simulation settings - world = LaunchConfiguration('world') - simulator = LaunchConfiguration('simulator') - - # On this example all robots are launched with the same settings - map_yaml_file = LaunchConfiguration('map') - - autostart = LaunchConfiguration('autostart') - rviz_config_file = LaunchConfiguration('rviz_config') - use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') - use_rviz = LaunchConfiguration('use_rviz') - log_settings = LaunchConfiguration('log_settings', default='true') - - # Declare the launch arguments - declare_world_cmd = DeclareLaunchArgument( - 'world', - default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'), - description='Full path to world file to load') - - declare_simulator_cmd = DeclareLaunchArgument( - 'simulator', - default_value='gazebo', - description='The simulator to use (gazebo or gzserver)') - - declare_map_yaml_cmd = DeclareLaunchArgument( - 'map', - default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'), - description='Full path to map file to load') - - declare_robot1_params_file_cmd = DeclareLaunchArgument( - 'robot1_params_file', - default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'), - description='Full path to the ROS2 parameters file to use for robot1 launched nodes') - - declare_robot2_params_file_cmd = DeclareLaunchArgument( - 'robot2_params_file', - default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'), - description='Full path to the ROS2 parameters file to use for robot2 launched nodes') - - declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='false', - description='Automatically startup the stacks') - - declare_rviz_config_file_cmd = DeclareLaunchArgument( - 'rviz_config', - default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'), - description='Full path to the RVIZ config file to use.') - - declare_use_robot_state_pub_cmd = DeclareLaunchArgument( - 'use_robot_state_pub', - default_value='True', - description='Whether to start the robot state publisher') - - declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') - - # Start Gazebo with plugin providing the robot spawning service - start_gazebo_cmd = ExecuteProcess( - cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so', - '-s', 'libgazebo_ros_factory.so', world], - output='screen') - - # Define commands for launching the navigation instances - nav_instances_cmds = [] - for robot in robots: - params_file = LaunchConfiguration(f"{robot['name']}_params_file") - - group = GroupAction([ - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'rviz_launch.py')), - condition=IfCondition(use_rviz), - launch_arguments={'namespace': TextSubstitution(text=robot['name']), - 'use_namespace': 'True', - 'rviz_config': rviz_config_file}.items()), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(bringup_dir, - 'launch', - 'tb3_simulation_launch.py')), - launch_arguments={'namespace': robot['name'], - 'use_namespace': 'True', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': params_file, - 'autostart': autostart, - 'use_rviz': 'False', - 'use_simulator': 'False', - 'headless': 'False', - 'use_robot_state_pub': use_robot_state_pub, - 'x_pose': TextSubstitution(text=str(robot['x_pose'])), - 'y_pose': TextSubstitution(text=str(robot['y_pose'])), - 'z_pose': TextSubstitution(text=str(robot['z_pose'])), - 'roll': TextSubstitution(text=str(robot['roll'])), - 'pitch': TextSubstitution(text=str(robot['pitch'])), - 'yaw': TextSubstitution(text=str(robot['yaw'])), - 'robot_name':TextSubstitution(text=robot['name']), }.items()), - - LogInfo( - condition=IfCondition(log_settings), - msg=['Launching ', robot['name']]), - LogInfo( - condition=IfCondition(log_settings), - msg=[robot['name'], ' map yaml: ', map_yaml_file]), - LogInfo( - condition=IfCondition(log_settings), - msg=[robot['name'], ' params yaml: ', params_file]), - LogInfo( - condition=IfCondition(log_settings), - msg=[robot['name'], ' rviz config file: ', rviz_config_file]), - LogInfo( - condition=IfCondition(log_settings), - msg=[robot['name'], ' using robot state pub: ', use_robot_state_pub]), - LogInfo( - condition=IfCondition(log_settings), - msg=[robot['name'], ' autostart: ', autostart]) - ]) - - nav_instances_cmds.append(group) - - # Create the launch description and populate - ld = LaunchDescription() - - # Declare the launch options - ld.add_action(declare_simulator_cmd) - ld.add_action(declare_world_cmd) - ld.add_action(declare_map_yaml_cmd) - ld.add_action(declare_robot1_params_file_cmd) - ld.add_action(declare_robot2_params_file_cmd) - ld.add_action(declare_use_rviz_cmd) - ld.add_action(declare_autostart_cmd) - ld.add_action(declare_rviz_config_file_cmd) - ld.add_action(declare_use_robot_state_pub_cmd) - - # Add the actions to start gazebo, robots and simulations - ld.add_action(start_gazebo_cmd) - - for simulation_instance_cmd in nav_instances_cmds: - ld.add_action(simulation_instance_cmd) - - return ld diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py index f4a67e4d6ed..84d63e026c6 100644 --- a/nav2_bringup/launch/navigation_launch.py +++ b/nav2_bringup/launch/navigation_launch.py @@ -22,7 +22,7 @@ from launch.substitutions import LaunchConfiguration, PythonExpression from launch_ros.actions import LoadComposableNodes, SetParameter from launch_ros.actions import Node -from launch_ros.descriptions import ComposableNode +from launch_ros.descriptions import ComposableNode, ParameterFile from nav2_common.launch import RewrittenYaml @@ -40,13 +40,16 @@ def generate_launch_description(): use_respawn = LaunchConfiguration('use_respawn') log_level = LaunchConfiguration('log_level') - lifecycle_nodes = ['controller_server', - 'smoother_server', - 'planner_server', - 'behavior_server', - 'bt_navigator', - 'waypoint_follower', - 'velocity_smoother'] + lifecycle_nodes = [ + 'controller_server', + 'smoother_server', + 'planner_server', + 'behavior_server', + 'velocity_smoother', + 'collision_monitor', + 'bt_navigator', + 'waypoint_follower', + ] # Map fully qualified names to relative ones so the node's namespace can be prepended. # In case of the transforms (tf), currently, there doesn't seem to be a better alternative @@ -54,56 +57,68 @@ def generate_launch_description(): # https://github.com/ros/robot_state_publisher/pull/30 # TODO(orduno) Substitute with `PushNodeRemapping` # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] # Create our own temporary YAML files that include substitutions - param_substitutions = { - 'autostart': autostart} + param_substitutions = {'autostart': autostart} - configured_params = RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites=param_substitutions, - convert_types=True) + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True, + ), + allow_substs=True, + ) stdout_linebuf_envvar = SetEnvironmentVariable( - 'RCUTILS_LOGGING_BUFFERED_STREAM', '1') + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='false', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='False', - description='Use composed bringup if True') + 'use_composition', + default_value='False', + description='Use composed bringup if True', + ) declare_container_name_cmd = DeclareLaunchArgument( - 'container_name', default_value='nav2_container', - description='the name of conatiner that nodes will load in if use composition') + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) declare_log_level_cmd = DeclareLaunchArgument( - 'log_level', default_value='info', - description='log level') + 'log_level', default_value='info', description='log level' + ) load_nodes = GroupAction( condition=IfCondition(PythonExpression(['not ', use_composition])), @@ -117,7 +132,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), Node( package='nav2_smoother', executable='smoother_server', @@ -127,7 +143,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_planner', executable='planner_server', @@ -137,7 +154,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_behaviors', executable='behavior_server', @@ -147,7 +165,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), Node( package='nav2_bt_navigator', executable='bt_navigator', @@ -157,7 +176,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_waypoint_follower', executable='waypoint_follower', @@ -167,7 +187,8 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_velocity_smoother', executable='velocity_smoother', @@ -177,17 +198,29 @@ def generate_launch_description(): respawn_delay=2.0, parameters=[configured_params], arguments=['--ros-args', '--log-level', log_level], - remappings=remappings + - [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav')], + ), + Node( + package='nav2_collision_monitor', + executable='collision_monitor', + name='collision_monitor', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_navigation', output='screen', arguments=['--ros-args', '--log-level', log_level], - parameters=[{'autostart': autostart}, - {'node_names': lifecycle_nodes}]), - ] + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ], ) load_composable_nodes = GroupAction( @@ -202,53 +235,69 @@ def generate_launch_description(): plugin='nav2_controller::ControllerServer', name='controller_server', parameters=[configured_params], - remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), ComposableNode( package='nav2_smoother', plugin='nav2_smoother::SmootherServer', name='smoother_server', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ComposableNode( package='nav2_planner', plugin='nav2_planner::PlannerServer', name='planner_server', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ComposableNode( package='nav2_behaviors', plugin='behavior_server::BehaviorServer', name='behavior_server', parameters=[configured_params], - remappings=remappings), + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), ComposableNode( package='nav2_bt_navigator', plugin='nav2_bt_navigator::BtNavigator', name='bt_navigator', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ComposableNode( package='nav2_waypoint_follower', plugin='nav2_waypoint_follower::WaypointFollower', name='waypoint_follower', parameters=[configured_params], - remappings=remappings), + remappings=remappings, + ), ComposableNode( package='nav2_velocity_smoother', plugin='nav2_velocity_smoother::VelocitySmoother', name='velocity_smoother', parameters=[configured_params], - remappings=remappings + - [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]), + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav')], + ), + ComposableNode( + package='nav2_collision_monitor', + plugin='nav2_collision_monitor::CollisionMonitor', + name='collision_monitor', + parameters=[configured_params], + remappings=remappings, + ), ComposableNode( package='nav2_lifecycle_manager', plugin='nav2_lifecycle_manager::LifecycleManager', name='lifecycle_manager_navigation', - parameters=[{'autostart': autostart, - 'node_names': lifecycle_nodes}]), + parameters=[ + {'autostart': autostart, 'node_names': lifecycle_nodes} + ], + ), ], - ) - ] + ), + ], ) # Create the launch description and populate diff --git a/nav2_bringup/launch/rviz_launch.py b/nav2_bringup/launch/rviz_launch.py index 9454441558e..8728581df12 100644 --- a/nav2_bringup/launch/rviz_launch.py +++ b/nav2_bringup/launch/rviz_launch.py @@ -34,23 +34,34 @@ def generate_launch_description(): namespace = LaunchConfiguration('namespace') use_namespace = LaunchConfiguration('use_namespace') rviz_config_file = LaunchConfiguration('rviz_config') + use_sim_time = LaunchConfiguration('use_sim_time') # Declare the launch arguments declare_namespace_cmd = DeclareLaunchArgument( 'namespace', default_value='navigation', - description=('Top-level namespace. The value will be used to replace the ' - ' keyword on the rviz config file.')) + description=( + 'Top-level namespace. The value will be used to replace the ' + ' keyword on the rviz config file.' + ), + ) declare_use_namespace_cmd = DeclareLaunchArgument( 'use_namespace', default_value='false', - description='Whether to apply a namespace to the navigation stack') + description='Whether to apply a namespace to the navigation stack', + ) declare_rviz_config_file_cmd = DeclareLaunchArgument( 'rviz_config', default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'), - description='Full path to the RVIZ config file to use') + description='Full path to the RVIZ config file to use', + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true') # Launch rviz start_rviz_cmd = Node( @@ -58,11 +69,14 @@ def generate_launch_description(): package='rviz2', executable='rviz2', arguments=['-d', rviz_config_file], - output='screen') + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + ) namespaced_rviz_config_file = ReplaceString( source_file=rviz_config_file, - replacements={'': ('/', namespace)}) + replacements={'': ('/', namespace)}, + ) start_namespaced_rviz_cmd = Node( condition=IfCondition(use_namespace), @@ -70,24 +84,33 @@ def generate_launch_description(): executable='rviz2', namespace=namespace, arguments=['-d', namespaced_rviz_config_file], + parameters=[{'use_sim_time': use_sim_time}], output='screen', - remappings=[('/tf', 'tf'), - ('/tf_static', 'tf_static'), - ('/goal_pose', 'goal_pose'), - ('/clicked_point', 'clicked_point'), - ('/initialpose', 'initialpose')]) + remappings=[ + ('/map', 'map'), + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('/goal_pose', 'goal_pose'), + ('/clicked_point', 'clicked_point'), + ('/initialpose', 'initialpose'), + ], + ) exit_event_handler = RegisterEventHandler( condition=UnlessCondition(use_namespace), event_handler=OnProcessExit( target_action=start_rviz_cmd, - on_exit=EmitEvent(event=Shutdown(reason='rviz exited')))) + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')), + ), + ) exit_event_handler_namespaced = RegisterEventHandler( condition=IfCondition(use_namespace), event_handler=OnProcessExit( target_action=start_namespaced_rviz_cmd, - on_exit=EmitEvent(event=Shutdown(reason='rviz exited')))) + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')), + ), + ) # Create the launch description and populate ld = LaunchDescription() @@ -96,6 +119,7 @@ def generate_launch_description(): ld.add_action(declare_namespace_cmd) ld.add_action(declare_use_namespace_cmd) ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_sim_time_cmd) # Add any conditioned actions ld.add_action(start_rviz_cmd) diff --git a/nav2_bringup/launch/slam_launch.py b/nav2_bringup/launch/slam_launch.py index 5bbbd43247e..f9294b711d2 100644 --- a/nav2_bringup/launch/slam_launch.py +++ b/nav2_bringup/launch/slam_launch.py @@ -21,7 +21,8 @@ from launch.conditions import IfCondition, UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node, SetParameter +from launch_ros.actions import Node, SetParameter, SetRemap +from launch_ros.descriptions import ParameterFile from nav2_common.launch import HasNodeParams, RewrittenYaml @@ -43,42 +44,50 @@ def generate_launch_description(): slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py') # Create our own temporary YAML files that include substitutions - configured_params = RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites={}, - convert_types=True) + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) # Declare the launch arguments declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='True', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='True', - description='Automatically startup the nav2 stack') + 'autostart', + default_value='True', + description='Automatically startup the nav2 stack', + ) declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) declare_log_level_cmd = DeclareLaunchArgument( - 'log_level', default_value='info', - description='log level') + 'log_level', default_value='info', description='log level' + ) # Nodes launching commands - start_map_server = GroupAction( actions=[ SetParameter('use_sim_time', use_sim_time), @@ -89,33 +98,49 @@ def generate_launch_description(): respawn=use_respawn, respawn_delay=2.0, arguments=['--ros-args', '--log-level', log_level], - parameters=[configured_params]), + parameters=[configured_params], + ), Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_slam', output='screen', arguments=['--ros-args', '--log-level', log_level], - parameters=[{'autostart': autostart}, - {'node_names': lifecycle_nodes}]) - ]) + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ] + ) # If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file' # LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load # the default file - has_slam_toolbox_params = HasNodeParams(source_file=params_file, - node_name='slam_toolbox') + has_slam_toolbox_params = HasNodeParams( + source_file=params_file, node_name='slam_toolbox' + ) - start_slam_toolbox_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource(slam_launch_file), - launch_arguments={'use_sim_time': use_sim_time}.items(), - condition=UnlessCondition(has_slam_toolbox_params)) + start_slam_toolbox_cmd = GroupAction( - start_slam_toolbox_cmd_with_params = IncludeLaunchDescription( - PythonLaunchDescriptionSource(slam_launch_file), - launch_arguments={'use_sim_time': use_sim_time, - 'slam_params_file': params_file}.items(), - condition=IfCondition(has_slam_toolbox_params)) + actions=[ + # Remapping required to have a slam session subscribe & publish in optional namespaces + SetRemap(src='/scan', dst='scan'), + SetRemap(src='/tf', dst='tf'), + SetRemap(src='/tf_static', dst='tf_static'), + SetRemap(src='/map', dst='map'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(slam_launch_file), + launch_arguments={'use_sim_time': use_sim_time}.items(), + condition=UnlessCondition(has_slam_toolbox_params), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(slam_launch_file), + launch_arguments={'use_sim_time': use_sim_time, + 'slam_params_file': params_file}.items(), + condition=IfCondition(has_slam_toolbox_params), + ) + ] + ) ld = LaunchDescription() @@ -132,6 +157,5 @@ def generate_launch_description(): # Running SLAM Toolbox (Only one of them will be run) ld.add_action(start_slam_toolbox_cmd) - ld.add_action(start_slam_toolbox_cmd_with_params) return ld diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py index b4dfd3bd167..2655125a91e 100644 --- a/nav2_bringup/launch/tb3_simulation_launch.py +++ b/nav2_bringup/launch/tb3_simulation_launch.py @@ -19,7 +19,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -30,6 +34,8 @@ def generate_launch_description(): # Get the launch directory bringup_dir = get_package_share_directory('nav2_bringup') launch_dir = os.path.join(bringup_dir, 'launch') + # This checks that tb3 exists needed for the URDF. If not using TB3, its safe to remove. + _ = get_package_share_directory('turtlebot3_gazebo') # Create the launch configuration variables slam = LaunchConfiguration('slam') @@ -49,12 +55,14 @@ def generate_launch_description(): use_rviz = LaunchConfiguration('use_rviz') headless = LaunchConfiguration('headless') world = LaunchConfiguration('world') - pose = {'x': LaunchConfiguration('x_pose', default='-2.00'), - 'y': LaunchConfiguration('y_pose', default='-0.50'), - 'z': LaunchConfiguration('z_pose', default='0.01'), - 'R': LaunchConfiguration('roll', default='0.00'), - 'P': LaunchConfiguration('pitch', default='0.00'), - 'Y': LaunchConfiguration('yaw', default='0.00')} + pose = { + 'x': LaunchConfiguration('x_pose', default='-2.00'), + 'y': LaunchConfiguration('y_pose', default='-0.50'), + 'z': LaunchConfiguration('z_pose', default='0.01'), + 'R': LaunchConfiguration('roll', default='0.00'), + 'P': LaunchConfiguration('pitch', default='0.00'), + 'Y': LaunchConfiguration('yaw', default='0.00'), + } robot_name = LaunchConfiguration('robot_name') robot_sdf = LaunchConfiguration('robot_sdf') @@ -64,78 +72,84 @@ def generate_launch_description(): # https://github.com/ros/robot_state_publisher/pull/30 # TODO(orduno) Substitute with `PushNodeRemapping` # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] # Declare the launch arguments declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_use_namespace_cmd = DeclareLaunchArgument( 'use_namespace', default_value='false', - description='Whether to apply a namespace to the navigation stack') + description='Whether to apply a namespace to the navigation stack', + ) declare_slam_cmd = DeclareLaunchArgument( - 'slam', - default_value='False', - description='Whether run a SLAM') + 'slam', default_value='False', description='Whether run a SLAM' + ) declare_map_yaml_cmd = DeclareLaunchArgument( 'map', - default_value=os.path.join( - bringup_dir, 'maps', 'turtlebot3_world.yaml'), - description='Full path to map file to load') + default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'), + description='Full path to map file to load', + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='true', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) declare_autostart_cmd = DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack') + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) declare_use_composition_cmd = DeclareLaunchArgument( - 'use_composition', default_value='True', - description='Whether to use composed bringup') + 'use_composition', + default_value='True', + description='Whether to use composed bringup', + ) declare_use_respawn_cmd = DeclareLaunchArgument( - 'use_respawn', default_value='False', - description='Whether to respawn if a node crashes. Applied when composition is disabled.') + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) declare_rviz_config_file_cmd = DeclareLaunchArgument( 'rviz_config_file', - default_value=os.path.join( - bringup_dir, 'rviz', 'nav2_default_view.rviz'), - description='Full path to the RVIZ config file to use') + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'), + description='Full path to the RVIZ config file to use', + ) declare_use_simulator_cmd = DeclareLaunchArgument( 'use_simulator', default_value='True', - description='Whether to start the simulator') + description='Whether to start the simulator', + ) declare_use_robot_state_pub_cmd = DeclareLaunchArgument( 'use_robot_state_pub', default_value='True', - description='Whether to start the robot state publisher') + description='Whether to start the robot state publisher', + ) declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='True', - description='Whether to execute gzclient)') + 'headless', default_value='True', description='Whether to execute gzclient)' + ) declare_world_cmd = DeclareLaunchArgument( 'world', @@ -144,30 +158,40 @@ def generate_launch_description(): # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'), # worlds/turtlebot3_worlds/waffle.model') default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'), - description='Full path to world model file to load') + description='Full path to world model file to load', + ) declare_robot_name_cmd = DeclareLaunchArgument( - 'robot_name', - default_value='turtlebot3_waffle', - description='name of the robot') + 'robot_name', default_value='turtlebot3_waffle', description='name of the robot' + ) declare_robot_sdf_cmd = DeclareLaunchArgument( 'robot_sdf', default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'), - description='Full path to robot sdf file to spawn the robot in gazebo') + description='Full path to robot sdf file to spawn the robot in gazebo', + ) # Specify the actions start_gazebo_server_cmd = ExecuteProcess( condition=IfCondition(use_simulator), - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '-s', 'libgazebo_ros_factory.so', world], - cwd=[launch_dir], output='screen') + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '-s', + 'libgazebo_ros_factory.so', + world, + ], + cwd=[launch_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( - condition=IfCondition(PythonExpression( - [use_simulator, ' and not ', headless])), + condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])), cmd=['gzclient'], - cwd=[launch_dir], output='screen') + cwd=[launch_dir], + output='screen', + ) urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') with open(urdf, 'r') as infp: @@ -180,41 +204,63 @@ def generate_launch_description(): name='robot_state_publisher', namespace=namespace, output='screen', - parameters=[{'use_sim_time': use_sim_time, - 'robot_description': robot_description}], - remappings=remappings) + parameters=[ + {'use_sim_time': use_sim_time, 'robot_description': robot_description} + ], + remappings=remappings, + ) start_gazebo_spawner_cmd = Node( package='gazebo_ros', executable='spawn_entity.py', output='screen', arguments=[ - '-entity', robot_name, - '-file', robot_sdf, - '-robot_namespace', namespace, - '-x', pose['x'], '-y', pose['y'], '-z', pose['z'], - '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]) + '-entity', + robot_name, + '-file', + robot_sdf, + '-robot_namespace', + namespace, + '-x', + pose['x'], + '-y', + pose['y'], + '-z', + pose['z'], + '-R', + pose['R'], + '-P', + pose['P'], + '-Y', + pose['Y'], + ], + ) rviz_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'rviz_launch.py')), + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')), condition=IfCondition(use_rviz), - launch_arguments={'namespace': namespace, - 'use_namespace': use_namespace, - 'rviz_config': rviz_config_file}.items()) + launch_arguments={ + 'namespace': namespace, + 'use_namespace': use_namespace, + 'use_sim_time': use_sim_time, + 'rviz_config': rviz_config_file, + }.items(), + ) bringup_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'bringup_launch.py')), - launch_arguments={'namespace': namespace, - 'use_namespace': use_namespace, - 'slam': slam, - 'map': map_yaml_file, - 'use_sim_time': use_sim_time, - 'params_file': params_file, - 'autostart': autostart, - 'use_composition': use_composition, - 'use_respawn': use_respawn}.items()) + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), + launch_arguments={ + 'namespace': namespace, + 'use_namespace': use_namespace, + 'slam': slam, + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': params_file, + 'autostart': autostart, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + }.items(), + ) # Create the launch description and populate ld = LaunchDescription() diff --git a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py new file mode 100644 index 00000000000..2319def79ab --- /dev/null +++ b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py @@ -0,0 +1,246 @@ +# Copyright (c) 2018 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +""" +Example for spawning multiple robots in Gazebo. + +This is an example on how to create a launch file for spawning multiple robots into Gazebo +and launch multiple instances of the navigation stack, each controlling one robot. +The robots co-exist on a shared environment and are controlled by independent nav stacks. +""" + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + GroupAction, + IncludeLaunchDescription, + LogInfo, +) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, TextSubstitution + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + launch_dir = os.path.join(bringup_dir, 'launch') + + # Names and poses of the robots + robots = [ + { + 'name': 'robot1', + 'x_pose': 0.0, + 'y_pose': 0.5, + 'z_pose': 0.01, + 'roll': 0.0, + 'pitch': 0.0, + 'yaw': 0.0, + }, + { + 'name': 'robot2', + 'x_pose': 0.0, + 'y_pose': -0.5, + 'z_pose': 0.01, + 'roll': 0.0, + 'pitch': 0.0, + 'yaw': 0.0, + }, + ] + + # Simulation settings + world = LaunchConfiguration('world') + simulator = LaunchConfiguration('simulator') + + # On this example all robots are launched with the same settings + map_yaml_file = LaunchConfiguration('map') + + autostart = LaunchConfiguration('autostart') + rviz_config_file = LaunchConfiguration('rviz_config') + use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') + use_rviz = LaunchConfiguration('use_rviz') + log_settings = LaunchConfiguration('log_settings', default='true') + + # Declare the launch arguments + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'), + description='Full path to world file to load', + ) + + declare_simulator_cmd = DeclareLaunchArgument( + 'simulator', + default_value='gazebo', + description='The simulator to use (gazebo or gzserver)', + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'), + description='Full path to map file to load', + ) + + declare_robot1_params_file_cmd = DeclareLaunchArgument( + 'robot1_params_file', + default_value=os.path.join( + bringup_dir, 'params', 'nav2_multirobot_params_1.yaml' + ), + description='Full path to the ROS2 parameters file to use for robot1 launched nodes', + ) + + declare_robot2_params_file_cmd = DeclareLaunchArgument( + 'robot2_params_file', + default_value=os.path.join( + bringup_dir, 'params', 'nav2_multirobot_params_2.yaml' + ), + description='Full path to the ROS2 parameters file to use for robot2 launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='false', + description='Automatically startup the stacks', + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'), + description='Full path to the RVIZ config file to use.', + ) + + declare_use_robot_state_pub_cmd = DeclareLaunchArgument( + 'use_robot_state_pub', + default_value='True', + description='Whether to start the robot state publisher', + ) + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) + + # Start Gazebo with plugin providing the robot spawning service + start_gazebo_cmd = ExecuteProcess( + cmd=[ + simulator, + '--verbose', + '-s', + 'libgazebo_ros_init.so', + '-s', + 'libgazebo_ros_factory.so', + world, + ], + output='screen', + ) + + # Define commands for launching the navigation instances + nav_instances_cmds = [] + for robot in robots: + params_file = LaunchConfiguration(f"{robot['name']}_params_file") + + group = GroupAction( + [ + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'rviz_launch.py') + ), + condition=IfCondition(use_rviz), + launch_arguments={ + 'namespace': TextSubstitution(text=robot['name']), + 'use_namespace': 'True', + 'rviz_config': rviz_config_file, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py') + ), + launch_arguments={ + 'namespace': robot['name'], + 'use_namespace': 'True', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': params_file, + 'autostart': autostart, + 'use_rviz': 'False', + 'use_simulator': 'False', + 'headless': 'False', + 'use_robot_state_pub': use_robot_state_pub, + 'x_pose': TextSubstitution(text=str(robot['x_pose'])), + 'y_pose': TextSubstitution(text=str(robot['y_pose'])), + 'z_pose': TextSubstitution(text=str(robot['z_pose'])), + 'roll': TextSubstitution(text=str(robot['roll'])), + 'pitch': TextSubstitution(text=str(robot['pitch'])), + 'yaw': TextSubstitution(text=str(robot['yaw'])), + 'robot_name': TextSubstitution(text=robot['name']), + }.items(), + ), + LogInfo( + condition=IfCondition(log_settings), + msg=['Launching ', robot['name']], + ), + LogInfo( + condition=IfCondition(log_settings), + msg=[robot['name'], ' map yaml: ', map_yaml_file], + ), + LogInfo( + condition=IfCondition(log_settings), + msg=[robot['name'], ' params yaml: ', params_file], + ), + LogInfo( + condition=IfCondition(log_settings), + msg=[robot['name'], ' rviz config file: ', rviz_config_file], + ), + LogInfo( + condition=IfCondition(log_settings), + msg=[ + robot['name'], + ' using robot state pub: ', + use_robot_state_pub, + ], + ), + LogInfo( + condition=IfCondition(log_settings), + msg=[robot['name'], ' autostart: ', autostart], + ), + ] + ) + + nav_instances_cmds.append(group) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_simulator_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_robot1_params_file_cmd) + ld.add_action(declare_robot2_params_file_cmd) + ld.add_action(declare_use_rviz_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_robot_state_pub_cmd) + + # Add the actions to start gazebo, robots and simulations + ld.add_action(start_gazebo_cmd) + + for simulation_instance_cmd in nav_instances_cmds: + ld.add_action(simulation_instance_cmd) + + return ld diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml index 685ae9a44c7..7080f580edb 100644 --- a/nav2_bringup/package.xml +++ b/nav2_bringup/package.xml @@ -2,7 +2,7 @@ nav2_bringup - 1.1.0 + 1.2.0 Bringup scripts and configurations for the Nav2 stack Michael Jeronimo Steve Macenski @@ -19,6 +19,7 @@ navigation2 nav2_common slam_toolbox + turtlebot3_gazebo ament_lint_common ament_lint_auto diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index d022eff670e..85be4769c44 100644 --- a/nav2_bringup/params/nav2_multirobot_params_1.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml @@ -45,66 +45,22 @@ bt_navigator: odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_would_a_smoother_recovery_help_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code @@ -115,7 +71,7 @@ controller_server: min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["goal_checker"] controller_plugins: ["FollowPath"] @@ -245,7 +201,7 @@ planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -257,13 +213,13 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 @@ -276,8 +232,40 @@ waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "/robot1/scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml index 7484dd87980..7ab3d0e3351 100644 --- a/nav2_bringup/params/nav2_multirobot_params_2.yaml +++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml @@ -45,66 +45,22 @@ bt_navigator: odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_would_a_smoother_recovery_help_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code @@ -115,7 +71,7 @@ controller_server: min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["goal_checker"] controller_plugins: ["FollowPath"] @@ -244,7 +200,7 @@ planner_server: ros__parameters: planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -256,13 +212,13 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 @@ -275,8 +231,40 @@ waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "/robot2/scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml new file mode 100644 index 00000000000..a61faf1d217 --- /dev/null +++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -0,0 +1,332 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +controller_server: + ros__parameters: + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + # '' keyword shall be replaced with 'namespace' where user defined. + # It doesn't need to start with '/' + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + # '' keyword shall be replaced with 'namespace' where user defined. + # It doesn't need to start with '/' + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "/scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml index 019bbb3946c..3ac25d13bb1 100644 --- a/nav2_bringup/params/nav2_params.yaml +++ b/nav2_bringup/params/nav2_params.yaml @@ -45,66 +45,22 @@ bt_navigator: odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_would_a_smoother_recovery_help_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + error_code_names: - compute_path_error_code - follow_path_error_code @@ -116,9 +72,10 @@ controller_server: min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] + use_realtime_priority: false # Progress checker parameters progress_checker: @@ -136,48 +93,90 @@ controller_server: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 - # DWB parameters FollowPath: - plugin: "dwb_core::DWBLocalPlanner" - debug_trajectory_details: True - min_vel_x: 0.0 - min_vel_y: 0.0 - max_vel_x: 0.26 - max_vel_y: 0.0 - max_vel_theta: 1.0 - min_speed_xy: 0.0 - max_speed_xy: 0.26 - min_speed_theta: 0.0 - # Add high threshold velocity for turtlebot 3 issue. - # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 - acc_lim_x: 2.5 - acc_lim_y: 0.0 - acc_lim_theta: 3.2 - decel_lim_x: -2.5 - decel_lim_y: 0.0 - decel_lim_theta: -3.2 - vx_samples: 20 - vy_samples: 5 - vtheta_samples: 20 - sim_time: 1.7 - linear_granularity: 0.05 - angular_granularity: 0.025 - transform_tolerance: 0.2 - xy_goal_tolerance: 0.25 - trans_stopped_velocity: 0.25 - short_circuit_trajectory_evaluation: True - stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - BaseObstacle.scale: 0.02 - PathAlign.scale: 32.0 - PathAlign.forward_point_distance: 0.1 - GoalAlign.scale: 24.0 - GoalAlign.forward_point_distance: 0.1 - PathDist.scale: 32.0 - GoalDist.scale: 24.0 - RotateToGoal.scale: 32.0 - RotateToGoal.slowing_factor: 5.0 - RotateToGoal.lookahead_time: -1.0 + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 1.7 + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: [ + "ConstraintCritic", "CostCritic", "GoalCritic", + "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", + "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 local_costmap: local_costmap: @@ -195,7 +194,7 @@ local_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.70 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True @@ -252,7 +251,7 @@ global_costmap: inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 - inflation_radius: 0.55 + inflation_radius: 0.7 always_send_full_costmap: True # The yaml_filename does not need to be specified since it going to be set by defaults in launch. @@ -274,7 +273,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -297,17 +296,17 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" assisted_teleop: - plugin: "nav2_behaviors/AssistedTeleop" + plugin: "nav2_behaviors::AssistedTeleop" local_frame: odom - global_flame: map + global_frame: map robot_base_frame: base_link transform_tolerance: 0.1 simulate_ahead_time: 2.0 @@ -319,6 +318,7 @@ waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -330,11 +330,42 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" - max_velocity: [0.26, 0.0, 1.0] - min_velocity: [-0.26, 0.0, -1.0] + max_velocity: [0.5, 0.0, 2.0] + min_velocity: [-0.5, 0.0, -2.0] max_accel: [2.5, 0.0, 3.2] max_decel: [-2.5, 0.0, -3.2] odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz index d2a4b5e136d..28e4f10334f 100644 --- a/nav2_bringup/rviz/nav2_default_view.rviz +++ b/nav2_bringup/rviz/nav2_default_view.rviz @@ -20,9 +20,11 @@ Panels: Expanded: - /Current View1 Name: Views - Splitter Ratio: 0.5 + Splitter Ratio: 0.3333333432674408 - Class: nav2_rviz_plugins/Navigation 2 Name: Navigation 2 + - Class: nav2_rviz_plugins/Selector + Name: Selector Visualization Manager: Class: "" Displays: @@ -560,7 +562,7 @@ Visualization Manager: Value: true Views: Current: - Angle: -1.6150002479553223 + Angle: -1.5708 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -570,11 +572,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 127.88431549072266 + Scale: 160 Target Frame: Value: TopDownOrtho (rviz_default_plugins) - X: -0.044467076659202576 - Y: -0.38726311922073364 + X: 0 + Y: 0 Saved: ~ Window Geometry: Displays: diff --git a/nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_bringup/rviz/nav2_namespaced_view.rviz index 57b2d7bf741..e95196a7fba 100644 --- a/nav2_bringup/rviz/nav2_namespaced_view.rviz +++ b/nav2_bringup/rviz/nav2_namespaced_view.rviz @@ -342,7 +342,7 @@ Visualization Manager: Value: true Views: Current: - Angle: -1.5700000524520874 + Angle: -1.5708 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -352,11 +352,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 134.638427734375 + Scale: 160 Target Frame: Value: TopDownOrtho (rviz_default_plugins) - X: -0.032615214586257935 - Y: -0.0801941454410553 + X: 0 + Y: 0 Saved: ~ Window Geometry: Displays: diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model index 4c45d4e2f94..aed412a8d4f 100644 --- a/nav2_bringup/worlds/world_only.model +++ b/nav2_bringup/worlds/world_only.model @@ -16,7 +16,7 @@ - 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + 0 0 10 0 1.570796 0 orbit perspective diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt index cfe6a0d4869..7de1592106a 100644 --- a/nav2_bt_navigator/CMakeLists.txt +++ b/nav2_bt_navigator/CMakeLists.txt @@ -12,7 +12,7 @@ find_package(geometry_msgs REQUIRED) find_package(nav2_behavior_tree REQUIRED) find_package(nav_msgs REQUIRED) find_package(nav2_msgs REQUIRED) -find_package(behaviortree_cpp_v3 REQUIRED) +find_package(behaviortree_cpp REQUIRED) find_package(std_srvs REQUIRED) find_package(nav2_util REQUIRED) find_package(nav2_core REQUIRED) @@ -43,7 +43,7 @@ set(dependencies nav2_behavior_tree nav_msgs nav2_msgs - behaviortree_cpp_v3 + behaviortree_cpp std_srvs nav2_util nav2_core diff --git a/nav2_bt_navigator/README.md b/nav2_bt_navigator/README.md index 8dd51a6c6ec..48787a9473a 100644 --- a/nav2_bt_navigator/README.md +++ b/nav2_bt_navigator/README.md @@ -2,7 +2,7 @@ The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose and NavigateThroughPoses task interfaces. It is a [Behavior Tree](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/docs/BT_basics.md)-based implementation of navigation that is intended to allow for flexibility in the navigation task and provide a way to easily specify complex robot behaviors. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package. ## Overview diff --git a/nav2_bt_navigator/behavior_trees/follow_point.xml b/nav2_bt_navigator/behavior_trees/follow_point.xml index 930a2691fb6..9f55ecd66ec 100644 --- a/nav2_bt_navigator/behavior_trees/follow_point.xml +++ b/nav2_bt_navigator/behavior_trees/follow_point.xml @@ -2,19 +2,21 @@ This Behavior Tree follows a dynamic pose to a certain distance --> - + + + - + - + diff --git a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml index 0a00a60a4f5..6973057e93a 100644 --- a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml +++ b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml @@ -3,10 +3,12 @@ recovery actions specific to planning / control as well as general system issues. This will be continuous if a kinematically valid planner is selected. --> - + + + @@ -19,13 +21,13 @@ - + - + @@ -37,7 +39,7 @@ - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml index 4fe99088398..28eda8ed893 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml @@ -3,36 +3,50 @@ This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously and it also has recovery actions specific to planning / control as well as general system issues. --> - + + + - + - + + + + - - + + + + + - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml index 07d3a363989..772d36fded8 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml @@ -4,13 +4,15 @@ recovery actions specific to planning / control as well as general system issues. This will be continuous if a kinematically valid planner is selected. --> - + + + - + @@ -18,7 +20,7 @@ - + @@ -37,9 +39,9 @@ - - - + + + diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml index e2bbeb12c73..a705aa6b3a2 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml @@ -5,27 +5,29 @@ make the robot wait for a specific time, to see if the obstacle clears out before navigating along a significantly longer path to reach the goal location. --> - + + + - + - + - - + + - + @@ -38,7 +40,7 @@ - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml index bd4e1c9aca8..872dbf80187 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml @@ -4,10 +4,12 @@ recovery actions specific to planning / control as well as general system issues. This will be continuous if a kinematically valid planner is selected. --> - + + + @@ -17,13 +19,13 @@ - + - + @@ -35,7 +37,7 @@ - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml index 9345d8f66d6..16f7ede4b3e 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml @@ -2,13 +2,15 @@ This Behavior Tree replans the global path after every 1m. --> - + + + - + - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml index 4ba2f67cc97..a214c9b64fd 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml @@ -2,13 +2,15 @@ This Behavior Tree replans the global path only when the goal is updated. --> - + + + - + - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml index 753de5d7802..effe9a2bf82 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml @@ -1,9 +1,11 @@ - + + + @@ -12,10 +14,10 @@ - + - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml index 8134bbdcd13..e0d5d6a5a41 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml @@ -2,13 +2,15 @@ This Behavior Tree replans the global path periodically proprortional to speed. --> - + + + - + - + diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml index db0e733db1a..11332fb24e9 100644 --- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml +++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml @@ -2,13 +2,15 @@ This Behavior Tree replans the global path periodically at 1 Hz. --> - + + + - + - + diff --git a/nav2_bt_navigator/behavior_trees/odometry_calibration.xml b/nav2_bt_navigator/behavior_trees/odometry_calibration.xml index 49000e14fa6..fdc459f40ff 100644 --- a/nav2_bt_navigator/behavior_trees/odometry_calibration.xml +++ b/nav2_bt_navigator/behavior_trees/odometry_calibration.xml @@ -2,7 +2,7 @@ his Behavior Tree drives in a square for odometry calibration experiments --> - + diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp index bc9c8049cee..2b552e1b028 100644 --- a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp +++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp @@ -44,7 +44,7 @@ class BtNavigator : public nav2_util::LifecycleNode * @brief A constructor for nav2_bt_navigator::BtNavigator class * @param options Additional options to control creation of the node. */ - explicit BtNavigator(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + explicit BtNavigator(rclcpp::NodeOptions options = rclcpp::NodeOptions()); /** * @brief A destructor for nav2_bt_navigator::BtNavigator class */ diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp index 2605fc86497..aee07de14c9 100644 --- a/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp +++ b/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp @@ -32,7 +32,7 @@ namespace nav2_bt_navigator { /** - * @class NavigateToPoseNavigator + * @class NavigateThroughPosesNavigator * @brief A navigator for navigating to a a bunch of intermediary poses */ class NavigateThroughPosesNavigator @@ -104,8 +104,9 @@ class NavigateThroughPosesNavigator /** * @brief Goal pose initialization on the blackboard + * @return bool if goal was initialized successfully to be processed */ - void initializeGoalPoses(ActionT::Goal::ConstSharedPtr goal); + bool initializeGoalPoses(ActionT::Goal::ConstSharedPtr goal); rclcpp::Time start_time_; std::string goals_blackboard_id_; diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp index d256ebf0145..447d02cc449 100644 --- a/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp +++ b/nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp @@ -72,7 +72,7 @@ class NavigateToPoseNavigator * @brief Get action name for this navigator * @return string Name of action server */ - std::string getName() {return std::string("navigate_to_pose");} + std::string getName() override {return std::string("navigate_to_pose");} /** * @brief Get navigator's default BT @@ -116,8 +116,9 @@ class NavigateToPoseNavigator /** * @brief Goal pose initialization on the blackboard * @param goal Action template's goal message to process + * @return bool if goal was initialized successfully to be processed */ - void initializeGoalPose(ActionT::Goal::ConstSharedPtr goal); + bool initializeGoalPose(ActionT::Goal::ConstSharedPtr goal); rclcpp::Time start_time_; diff --git a/nav2_bt_navigator/navigator_plugins.xml b/nav2_bt_navigator/navigator_plugins.xml index e00a0c29692..65fa3b61413 100644 --- a/nav2_bt_navigator/navigator_plugins.xml +++ b/nav2_bt_navigator/navigator_plugins.xml @@ -1,7 +1,6 @@ Navigate to Pose Navigator @@ -9,7 +8,6 @@ Navigate through Poses Navigator diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml index 952e09f0272..d4eaa63c3c5 100644 --- a/nav2_bt_navigator/package.xml +++ b/nav2_bt_navigator/package.xml @@ -2,7 +2,7 @@ nav2_bt_navigator - 1.1.0 + 1.2.0 TODO Michael Jeronimo Apache-2.0 @@ -17,7 +17,7 @@ nav2_behavior_tree nav_msgs nav2_msgs - behaviortree_cpp_v3 + behaviortree_cpp std_msgs geometry_msgs std_srvs @@ -25,7 +25,7 @@ pluginlib nav2_core - behaviortree_cpp_v3 + behaviortree_cpp rclcpp rclcpp_action rclcpp_lifecycle diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp index 4d9fcfec7c2..8025a5e278e 100644 --- a/nav2_bt_navigator/src/bt_navigator.cpp +++ b/nav2_bt_navigator/src/bt_navigator.cpp @@ -18,78 +18,37 @@ #include #include #include +#include #include "nav2_util/geometry_utils.hpp" +#include "nav2_util/node_utils.hpp" #include "nav2_util/robot_utils.hpp" -#include "nav2_behavior_tree/bt_conversions.hpp" +#include "nav2_behavior_tree/bt_utils.hpp" + +#include "nav2_behavior_tree/plugins_list.hpp" + +using nav2_util::declare_parameter_if_not_declared; namespace nav2_bt_navigator { -BtNavigator::BtNavigator(const rclcpp::NodeOptions & options) -: nav2_util::LifecycleNode("bt_navigator", "", options), +BtNavigator::BtNavigator(rclcpp::NodeOptions options) +: nav2_util::LifecycleNode("bt_navigator", "", + options.automatically_declare_parameters_from_overrides(true)), class_loader_("nav2_core", "nav2_core::NavigatorBase") { RCLCPP_INFO(get_logger(), "Creating"); - const std::vector plugin_libs = { - "nav2_compute_path_to_pose_action_bt_node", - "nav2_compute_path_through_poses_action_bt_node", - "nav2_smooth_path_action_bt_node", - "nav2_follow_path_action_bt_node", - "nav2_spin_action_bt_node", - "nav2_wait_action_bt_node", - "nav2_assisted_teleop_action_bt_node", - "nav2_back_up_action_bt_node", - "nav2_drive_on_heading_bt_node", - "nav2_clear_costmap_service_bt_node", - "nav2_is_stuck_condition_bt_node", - "nav2_goal_reached_condition_bt_node", - "nav2_initial_pose_received_condition_bt_node", - "nav2_goal_updated_condition_bt_node", - "nav2_globally_updated_goal_condition_bt_node", - "nav2_is_path_valid_condition_bt_node", - "nav2_are_error_codes_active_condition_bt_node", - "nav2_would_a_controller_recovery_help_condition_bt_node", - "nav2_would_a_planner_recovery_help_condition_bt_node", - "nav2_would_a_smoother_recovery_help_condition_bt_node", - "nav2_reinitialize_global_localization_service_bt_node", - "nav2_rate_controller_bt_node", - "nav2_distance_controller_bt_node", - "nav2_speed_controller_bt_node", - "nav2_truncate_path_action_bt_node", - "nav2_truncate_path_local_action_bt_node", - "nav2_goal_updater_node_bt_node", - "nav2_recovery_node_bt_node", - "nav2_pipeline_sequence_bt_node", - "nav2_round_robin_node_bt_node", - "nav2_transform_available_condition_bt_node", - "nav2_time_expired_condition_bt_node", - "nav2_path_expiring_timer_condition", - "nav2_distance_traveled_condition_bt_node", - "nav2_single_trigger_bt_node", - "nav2_goal_updated_controller_bt_node", - "nav2_is_battery_low_condition_bt_node", - "nav2_navigate_through_poses_action_bt_node", - "nav2_navigate_to_pose_action_bt_node", - "nav2_remove_passed_goals_action_bt_node", - "nav2_planner_selector_bt_node", - "nav2_controller_selector_bt_node", - "nav2_goal_checker_selector_bt_node", - "nav2_controller_cancel_bt_node", - "nav2_path_longer_on_approach_bt_node", - "nav2_wait_cancel_bt_node", - "nav2_spin_cancel_bt_node", - "nav2_assisted_teleop_cancel_bt_node", - "nav2_back_up_cancel_bt_node", - "nav2_drive_on_heading_cancel_bt_node" - }; - - declare_parameter("plugin_lib_names", plugin_libs); - declare_parameter("transform_tolerance", rclcpp::ParameterValue(0.1)); - declare_parameter("global_frame", std::string("map")); - declare_parameter("robot_base_frame", std::string("base_link")); - declare_parameter("odom_topic", std::string("odom")); + declare_parameter_if_not_declared( + this, "plugin_lib_names", rclcpp::ParameterValue(std::vector{})); + declare_parameter_if_not_declared( + this, "transform_tolerance", rclcpp::ParameterValue(0.1)); + declare_parameter_if_not_declared( + this, "global_frame", rclcpp::ParameterValue(std::string("map"))); + declare_parameter_if_not_declared( + this, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link"))); + declare_parameter_if_not_declared( + this, "odom_topic", rclcpp::ParameterValue(std::string("odom"))); } BtNavigator::~BtNavigator() @@ -114,7 +73,14 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) odom_topic_ = get_parameter("odom_topic").as_string(); // Libraries to pull plugins (BT Nodes) from - auto plugin_lib_names = get_parameter("plugin_lib_names").as_string_array(); + std::vector plugin_lib_names; + boost::split(plugin_lib_names, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); + + auto user_defined_plugins = get_parameter("plugin_lib_names").as_string_array(); + // append user_defined_plugins to plugin_lib_names + plugin_lib_names.insert( + plugin_lib_names.end(), user_defined_plugins.begin(), + user_defined_plugins.end()); nav2_core::FeedbackUtils feedback_utils; feedback_utils.tf = tf_; @@ -132,23 +98,27 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) "navigate_through_poses" }; const std::vector default_navigator_types = { - "nav2_bt_navigator/NavigateToPoseNavigator", - "nav2_bt_navigator/NavigateThroughPosesNavigator" + "nav2_bt_navigator::NavigateToPoseNavigator", + "nav2_bt_navigator::NavigateThroughPosesNavigator" }; std::vector navigator_ids; - declare_parameter("navigators", default_navigator_ids); + declare_parameter_if_not_declared( + node, "navigators", + rclcpp::ParameterValue(default_navigator_ids)); get_parameter("navigators", navigator_ids); if (navigator_ids == default_navigator_ids) { for (size_t i = 0; i < default_navigator_ids.size(); ++i) { - declare_parameter(default_navigator_ids[i] + ".plugin", default_navigator_types[i]); + declare_parameter_if_not_declared( + node, default_navigator_ids[i] + ".plugin", + rclcpp::ParameterValue(default_navigator_types[i])); } } // Load navigator plugins for (size_t i = 0; i != navigator_ids.size(); i++) { - std::string navigator_type = nav2_util::get_plugin_type_param(node, navigator_ids[i]); try { + std::string navigator_type = nav2_util::get_plugin_type_param(node, navigator_ids[i]); RCLCPP_INFO( get_logger(), "Creating navigator id %s of type %s", navigator_ids[i].c_str(), navigator_type.c_str()); @@ -159,11 +129,10 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) { return nav2_util::CallbackReturn::FAILURE; } - } catch (const pluginlib::PluginlibException & ex) { + } catch (const std::exception & ex) { RCLCPP_FATAL( - get_logger(), "Failed to create navigator id %s of type %s." - " Exception: %s", navigator_ids[i].c_str(), navigator_type.c_str(), - ex.what()); + get_logger(), "Failed to create navigator id %s." + " Exception: %s", navigator_ids[i].c_str(), ex.what()); return nav2_util::CallbackReturn::FAILURE; } } diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp index 92f53f9919a..98d86499800 100644 --- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp +++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp @@ -81,9 +81,7 @@ NavigateThroughPosesNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal) return false; } - initializeGoalPoses(goal); - - return true; + return initializeGoalPoses(goal); } void @@ -105,7 +103,7 @@ NavigateThroughPosesNavigator::onLoop() auto blackboard = bt_action_server_->getBlackboard(); Goals goal_poses; - blackboard->get(goals_blackboard_id_, goal_poses); + [[maybe_unused]] auto res = blackboard->get(goals_blackboard_id_, goal_poses); if (goal_poses.size() == 0) { bt_action_server_->publishFeedback(feedback_msg); @@ -113,15 +111,22 @@ NavigateThroughPosesNavigator::onLoop() } geometry_msgs::msg::PoseStamped current_pose; - nav2_util::getCurrentPose( - current_pose, *feedback_utils_.tf, - feedback_utils_.global_frame, feedback_utils_.robot_frame, - feedback_utils_.transform_tolerance); + if (!nav2_util::getCurrentPose( + current_pose, *feedback_utils_.tf, + feedback_utils_.global_frame, feedback_utils_.robot_frame, + feedback_utils_.transform_tolerance)) + { + RCLCPP_ERROR(logger_, "Robot pose is not available."); + return; + } try { // Get current path points nav_msgs::msg::Path current_path; - blackboard->get(path_blackboard_id_, current_path); + if (!blackboard->get(path_blackboard_id_, current_path) || current_path.poses.size() == 0u) { + // If no path set yet or not meaningful, can't compute ETA or dist remaining yet. + throw std::exception(); + } // Find the closest pose to current pose on global path auto find_closest_pose_idx = @@ -164,7 +169,7 @@ NavigateThroughPosesNavigator::onLoop() } int recovery_count = 0; - blackboard->get("number_recoveries", recovery_count); + res = blackboard->get("number_recoveries", recovery_count); feedback_msg->number_of_recoveries = recovery_count; feedback_msg->current_pose = current_pose; feedback_msg->navigation_time = clock_->now() - start_time_; @@ -185,7 +190,13 @@ NavigateThroughPosesNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal) // if pending goal requests the same BT as the current goal, accept the pending goal // if pending goal has an empty behavior_tree field, it requests the default BT file // accept the pending goal if the current goal is running the default BT file - initializeGoalPoses(bt_action_server_->acceptPendingGoal()); + if (!initializeGoalPoses(bt_action_server_->acceptPendingGoal())) { + RCLCPP_WARN( + logger_, + "Preemption request was rejected since the goal poses could not be " + "transformed. For now, continuing to track the last goal until completion."); + bt_action_server_->terminatePendingGoal(); + } } else { RCLCPP_WARN( logger_, @@ -198,22 +209,38 @@ NavigateThroughPosesNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal) } } -void +bool NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr goal) { - if (goal->poses.size() > 0) { + Goals goal_poses = goal->poses; + for (auto & goal_pose : goal_poses) { + if (!nav2_util::transformPoseInTargetFrame( + goal_pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame, + feedback_utils_.transform_tolerance)) + { + RCLCPP_ERROR( + logger_, + "Failed to transform a goal pose provided with frame_id '%s' to the global frame '%s'.", + goal_pose.header.frame_id.c_str(), feedback_utils_.global_frame.c_str()); + return false; + } + } + + if (goal_poses.size() > 0) { RCLCPP_INFO( logger_, "Begin navigating from current location through %zu poses to (%.2f, %.2f)", - goal->poses.size(), goal->poses.back().pose.position.x, goal->poses.back().pose.position.y); + goal_poses.size(), goal_poses.back().pose.position.x, goal_poses.back().pose.position.y); } // Reset state for new action feedback start_time_ = clock_->now(); auto blackboard = bt_action_server_->getBlackboard(); - blackboard->set("number_recoveries", 0); // NOLINT + blackboard->set("number_recoveries", 0); // NOLINT // Update the goal pose on the blackboard - blackboard->set(goals_blackboard_id_, goal->poses); + blackboard->set(goals_blackboard_id_, std::move(goal_poses)); + + return true; } } // namespace nav2_bt_navigator diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp index afae6ca0857..be6a2948358 100644 --- a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp +++ b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp @@ -94,9 +94,7 @@ NavigateToPoseNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal) return false; } - initializeGoalPose(goal); - - return true; + return initializeGoalPose(goal); } void @@ -114,17 +112,24 @@ NavigateToPoseNavigator::onLoop() auto feedback_msg = std::make_shared(); geometry_msgs::msg::PoseStamped current_pose; - nav2_util::getCurrentPose( - current_pose, *feedback_utils_.tf, - feedback_utils_.global_frame, feedback_utils_.robot_frame, - feedback_utils_.transform_tolerance); + if (!nav2_util::getCurrentPose( + current_pose, *feedback_utils_.tf, + feedback_utils_.global_frame, feedback_utils_.robot_frame, + feedback_utils_.transform_tolerance)) + { + RCLCPP_ERROR(logger_, "Robot pose is not available."); + return; + } auto blackboard = bt_action_server_->getBlackboard(); try { // Get current path points nav_msgs::msg::Path current_path; - blackboard->get(path_blackboard_id_, current_path); + if (!blackboard->get(path_blackboard_id_, current_path) || current_path.poses.size() == 0u) { + // If no path set yet or not meaningful, can't compute ETA or dist remaining yet. + throw std::exception(); + } // Find the closest pose to current pose on global path auto find_closest_pose_idx = @@ -167,7 +172,7 @@ NavigateToPoseNavigator::onLoop() } int recovery_count = 0; - blackboard->get("number_recoveries", recovery_count); + [[maybe_unused]] auto res = blackboard->get("number_recoveries", recovery_count); feedback_msg->number_of_recoveries = recovery_count; feedback_msg->current_pose = current_pose; feedback_msg->navigation_time = clock_->now() - start_time_; @@ -187,7 +192,13 @@ NavigateToPoseNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal) // if pending goal requests the same BT as the current goal, accept the pending goal // if pending goal has an empty behavior_tree field, it requests the default BT file // accept the pending goal if the current goal is running the default BT file - initializeGoalPose(bt_action_server_->acceptPendingGoal()); + if (!initializeGoalPose(bt_action_server_->acceptPendingGoal())) { + RCLCPP_WARN( + logger_, + "Preemption request was rejected since the goal pose could not be " + "transformed. For now, continuing to track the last goal until completion."); + bt_action_server_->terminatePendingGoal(); + } } else { RCLCPP_WARN( logger_, @@ -200,20 +211,45 @@ NavigateToPoseNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal) } } -void +bool NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal) { + geometry_msgs::msg::PoseStamped current_pose; + if (!nav2_util::getCurrentPose( + current_pose, *feedback_utils_.tf, + feedback_utils_.global_frame, feedback_utils_.robot_frame, + feedback_utils_.transform_tolerance)) + { + RCLCPP_ERROR(logger_, "Initial robot pose is not available."); + return false; + } + + geometry_msgs::msg::PoseStamped goal_pose; + if (!nav2_util::transformPoseInTargetFrame( + goal->pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame, + feedback_utils_.transform_tolerance)) + { + RCLCPP_ERROR( + logger_, + "Failed to transform a goal pose provided with frame_id '%s' to the global frame '%s'.", + goal->pose.header.frame_id.c_str(), feedback_utils_.global_frame.c_str()); + return false; + } + RCLCPP_INFO( - logger_, "Begin navigating from current location to (%.2f, %.2f)", - goal->pose.pose.position.x, goal->pose.pose.position.y); + logger_, "Begin navigating from current location (%.2f, %.2f) to (%.2f, %.2f)", + current_pose.pose.position.x, current_pose.pose.position.y, + goal_pose.pose.position.x, goal_pose.pose.position.y); // Reset state for new action feedback start_time_ = clock_->now(); auto blackboard = bt_action_server_->getBlackboard(); - blackboard->set("number_recoveries", 0); // NOLINT + blackboard->set("number_recoveries", 0); // NOLINT // Update the goal pose on the blackboard - blackboard->set(goal_blackboard_id_, goal->pose); + blackboard->set(goal_blackboard_id_, goal_pose); + + return true; } void diff --git a/nav2_collision_monitor/CMakeLists.txt b/nav2_collision_monitor/CMakeLists.txt index 2cc7b19c739..5dfaf1576ac 100644 --- a/nav2_collision_monitor/CMakeLists.txt +++ b/nav2_collision_monitor/CMakeLists.txt @@ -8,6 +8,7 @@ find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(std_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) @@ -15,6 +16,7 @@ find_package(nav2_common REQUIRED) find_package(nav2_util REQUIRED) find_package(nav2_costmap_2d REQUIRED) find_package(nav2_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) ### Header ### @@ -31,55 +33,88 @@ set(dependencies rclcpp_components sensor_msgs geometry_msgs + std_msgs tf2 tf2_ros tf2_geometry_msgs nav2_util nav2_costmap_2d nav2_msgs + visualization_msgs ) -set(executable_name collision_monitor) -set(library_name ${executable_name}_core) +set(monitor_executable_name collision_monitor) +set(detector_executable_name collision_detector) +set(monitor_library_name ${monitor_executable_name}_core) +set(detector_library_name ${detector_executable_name}_core) -add_library(${library_name} SHARED +add_library(${monitor_library_name} SHARED src/collision_monitor_node.cpp src/polygon.cpp + src/velocity_polygon.cpp src/circle.cpp src/source.cpp src/scan.cpp src/pointcloud.cpp + src/polygon_source.cpp + src/range.cpp + src/kinematics.cpp +) +add_library(${detector_library_name} SHARED + src/collision_detector_node.cpp + src/polygon.cpp + src/velocity_polygon.cpp + src/circle.cpp + src/source.cpp + src/scan.cpp + src/pointcloud.cpp + src/polygon_source.cpp src/range.cpp src/kinematics.cpp ) -add_executable(${executable_name} - src/main.cpp +add_executable(${monitor_executable_name} + src/collision_monitor_main.cpp +) +add_executable(${detector_executable_name} + src/collision_detector_main.cpp ) -ament_target_dependencies(${library_name} +ament_target_dependencies(${monitor_library_name} + ${dependencies} +) +ament_target_dependencies(${detector_library_name} ${dependencies} ) -target_link_libraries(${executable_name} - ${library_name} +target_link_libraries(${monitor_executable_name} + ${monitor_library_name} +) +target_link_libraries(${detector_executable_name} + ${detector_library_name} +) + +ament_target_dependencies(${monitor_executable_name} + ${dependencies} ) -ament_target_dependencies(${executable_name} +ament_target_dependencies(${detector_executable_name} ${dependencies} ) -rclcpp_components_register_nodes(${library_name} "nav2_collision_monitor::CollisionMonitor") +rclcpp_components_register_nodes(${monitor_library_name} "nav2_collision_monitor::CollisionMonitor") + +rclcpp_components_register_nodes(${detector_library_name} "nav2_collision_monitor::CollisionDetector") ### Install ### -install(TARGETS ${library_name} +install(TARGETS ${monitor_library_name} ${detector_library_name} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) -install(TARGETS ${executable_name} +install(TARGETS ${monitor_executable_name} ${detector_executable_name} RUNTIME DESTINATION lib/${PROJECT_NAME} ) @@ -106,7 +141,7 @@ endif() ### Ament stuff ### ament_export_include_directories(include) -ament_export_libraries(${library_name}) +ament_export_libraries(${monitor_library_name} ${detector_library_name}) ament_export_dependencies(${dependencies}) ament_package() diff --git a/nav2_collision_monitor/README.md b/nav2_collision_monitor/README.md index 788a77ebd4b..eca25192b6e 100644 --- a/nav2_collision_monitor/README.md +++ b/nav2_collision_monitor/README.md @@ -1,5 +1,7 @@ # Nav2 Collision Monitor +## Collision Monitor + The Collision Monitor is a node providing an additional level of robot safety. It performs several collision avoidance related tasks using incoming data from the sensors, bypassing the costmap and trajectory planners, to monitor for and prevent potential collisions at the emergency-stop level. @@ -12,7 +14,11 @@ The costmaps / trajectory planners will handle most situations, but this is to h ![polygons.png](doc/polygons.png) -## Features +Demonstration of Collision Monitor abilities presented at 6th ROS Developers Day 2023, could be found below: + +[![cm-ros-devday.png](doc/cm_ros_devday.png)](https://www.youtube.com/watch?v=bWliK0PC5Ms) + +### Features The Collision Monitor uses polygons relative the robot's base frame origin to define "zones". Data that fall into these zones trigger an operation depending on the model being used. @@ -30,6 +36,8 @@ The zones around the robot can take the following shapes: * Arbitrary user-defined polygon relative to the robot base frame, which can be static in a configuration file or dynamically changing via a topic interface. * Robot footprint polygon, which is used in the approach behavior model only. Will use the static user-defined polygon or the footprint topic to allow it to be dynamically adjusted over time. * Circle: is made for the best performance and could be used in the cases where the zone or robot footprint could be approximated by round shape. +* VelocityPolygon: allow switching of polygons based on the command velocity. When the velocity is covered by multiple sub polygons, the first sub polygon in the `velocity_polygons` list will be used. This is useful for robots to set different safety zones based on their velocity (e.g. a robot that has a larger safety zone when moving at 1.0 m/s than when moving at 0.5 m/s). + The data may be obtained from different data sources: @@ -37,26 +45,30 @@ The data may be obtained from different data sources: * PointClouds (`sensor_msgs::msg::PointCloud2` messages) * IR/Sonars (`sensor_msgs::msg::Range` messages) -## Design +### Design The Collision Monitor is designed to operate below Nav2 as an independent safety node. This acts as a filter on the `cmd_vel` topic coming out of the Controller Server. If no such zone is triggered, then the Controller's `cmd_vel` is used. Else, it is scaled or set to stop as appropriate. -The following diagram is showing the high-level design of Collision Monitor module. All shapes (Polygons and Circles) are derived from base `Polygon` class, so without loss of generality we can call them as polygons. Subscribed footprint is also having the same properties as other polygons, but it is being obtained a footprint topic for the Approach Model. +The following diagram is showing the high-level design of Collision Monitor module. All shapes (`Polygon`, `Circle` and `VelocityPolygon`) are derived from base `Polygon` class, so without loss of generality we can call them as polygons. Subscribed footprint is also having the same properties as other polygons, but it is being obtained a footprint topic for the Approach Model. ![HLD.png](doc/HLD.png) -## Configuration +`VelocityPolygon` can be configured with multiple sub polygons and can switch between them based on the velocity. +![dexory_velocity_polygon.gif](doc/dexory_velocity_polygon.gif) -Detailed configuration parameters, their description and how to setup a Collision Monitor could be found at its [Configuration Guide](https://navigation.ros.org/configuration/packages/configuring-collision-monitor.html) and [Using Collision Monitor tutorial](https://navigation.ros.org/tutorials/docs/using_collision_monitor.html) pages. +### Configuration -## Metrics +Detailed configuration parameters, their description and how to setup a Collision Monitor could be found at its [Configuration Guide](https://docs.nav2.org/configuration/packages/configuring-collision-monitor.html) and [Using Collision Monitor tutorial](https://docs.nav2.org/tutorials/docs/using_collision_monitor.html) pages. + + +### Metrics Designed to be used in wide variety of robots (incl. moving fast) and have a high level of reliability, Collision Monitor node should operate at fast rates. Typical one frame processing time is ~4-5ms for laser scanner (with 360 points) and ~4-20ms for PointClouds (having 24K points). The table below represents the details of operating times for different behavior models and shapes: -| | Stop/Slowdown model, Polygon area | Stop/Slowdown model, Circle area | Approach model, Polygon footprint | Approach model, Circle footprint | +| | Stop/Slowdown/Limit model, Polygon area | Stop/Slowdown/Limit model, Circle area | Approach model, Polygon footprint | Approach model, Circle footprint | |-|-----------------------------------|----------------------------------|-----------------------------------|----------------------------------| | LaserScan (360 points) processing time, ms | 4.45 | 4.45 | 4.93 | 4.86 | | PointCloud (24K points) processing time, ms | 4.94 | 4.06 | 20.67 | 10.87 | @@ -65,3 +77,23 @@ The following notes could be made: * Due to sheer speed, circle shapes are preferred for the approach behavior models if you can approximately model your robot as circular. * More points mean lower performance. Pointclouds could be culled or filtered before the Collision Monitor to improve performance. + + +## Collision Detector + +In some cases, the user may want to be informed about the detected obstacles without affecting the robot's velocity and instead take a different action within an external node. For example, the user may want to blink LEDs or sound an alarm when the robot is close to an obstacle. Another use case could be to detect data points in particular regions (e.g extremely close to the sensor) and warn of malfunctioning sensors. For this purpose, the Collision Detector node was introduced. + +It works similarly to the Collision Monitor, but does not affect the robot's velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the `collision_detector_state` topic. + +### Features + +Similarly to the Collision Monitor, the Collision Detector uses polygons relative the robot's base frame origin to define "zones". +However, unlike the Collision Monitor that uses different behavior models, the Collision Detector does not use any of them and therefore the `action_type` should always be set to `none`. If set to anything else, it will implicitly be set to `none` and yield a warning. + +The zones around the robot and the data sources are the same as for the Collision Monitor, with the exception of the footprint polygon, which is not supported by the Collision Detector. + +### Configuration + +Detailed configuration parameters, their description and how to setup a Collision Detector could be found at its [Configuration Guide](https://docs.nav2.org/configuration/packages/collision_monitor/configuring-collision-detector-node.html). + +The `CollisionMonitor` node makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities). diff --git a/nav2_collision_monitor/doc/cm_ros_devday.png b/nav2_collision_monitor/doc/cm_ros_devday.png new file mode 100644 index 00000000000..63cc8fdea43 Binary files /dev/null and b/nav2_collision_monitor/doc/cm_ros_devday.png differ diff --git a/nav2_collision_monitor/doc/dexory_velocity_polygon.gif b/nav2_collision_monitor/doc/dexory_velocity_polygon.gif new file mode 100644 index 00000000000..4fe2e1ad5ce Binary files /dev/null and b/nav2_collision_monitor/doc/dexory_velocity_polygon.gif differ diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp index 9cab7485be2..a468be7c880 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp @@ -19,6 +19,8 @@ #include #include +#include "std_msgs/msg/float32.hpp" + #include "nav2_collision_monitor/polygon.hpp" namespace nav2_collision_monitor @@ -26,7 +28,7 @@ namespace nav2_collision_monitor /** * @brief Circle shape implementaiton. - * For STOP/SLOWDOWN model it represents zone around the robot + * For STOP/SLOWDOWN/LIMIT model it represents zone around the robot * while for APPROACH model it represents robot footprint. */ class Circle : public Polygon @@ -67,15 +69,16 @@ class Circle : public Polygon int getPointsInside(const std::vector & points) const override; /** - * @brief Specifies that the shape is always set for a circle object + * @brief Returns true if circle radius is set. + * Otherwise, prints a warning and returns false. */ - bool isShapeSet() override {return true;} + bool isShapeSet() override; protected: /** * @brief Supporting routine obtaining polygon-specific ROS-parameters - * @brief polygon_sub_topic Input name of polygon subscription topic - * @param polygon_pub_topic Output name of polygon publishing topic + * @param polygon_sub_topic Input name of polygon subscription topic + * @param polygon_pub_topic Output name of polygon or radius publishing topic * @param footprint_topic Output name of footprint topic. For Circle returns empty string, * there is no footprint subscription in this class. * @return True if all parameters were obtained or false in failure case @@ -85,12 +88,34 @@ class Circle : public Polygon std::string & polygon_pub_topic, std::string & footprint_topic) override; + /** + * @brief Creates polygon or radius topic subscription + * @param polygon_sub_topic Output name of polygon or radius subscription topic. + * Empty, if no polygon subscription. + */ + void createSubscription(std::string & polygon_sub_topic) override; + + /** + * @brief Updates polygon from radius value + * @param radius New circle radius to update polygon + */ + void updatePolygon(double radius); + + /** + * @brief Dynamic circle radius callback + * @param msg Shared pointer to the radius value message + */ + void radiusCallback(std_msgs::msg::Float32::ConstSharedPtr msg); + + // ----- Variables ----- /// @brief Radius of the circle double radius_; /// @brief (radius * radius) value. Stored for optimization. - double radius_squared_; + double radius_squared_ = -1.0; + /// @brief Radius subscription + rclcpp::Subscription::SharedPtr radius_sub_; }; // class Circle } // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp new file mode 100644 index 00000000000..7c9785588e2 --- /dev/null +++ b/nav2_collision_monitor/include/nav2_collision_monitor/collision_detector_node.hpp @@ -0,0 +1,165 @@ +// Copyright (c) 2022 Samsung R&D Institute Russia +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_ +#define NAV2_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_ + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" + +#include "tf2/time.h" +#include "tf2_ros/buffer.h" +#include "tf2_ros/transform_listener.h" + +#include "nav2_util/lifecycle_node.hpp" +#include "nav2_msgs/msg/collision_detector_state.hpp" +#include "visualization_msgs/msg/marker_array.hpp" + +#include "nav2_collision_monitor/types.hpp" +#include "nav2_collision_monitor/polygon.hpp" +#include "nav2_collision_monitor/circle.hpp" +#include "nav2_collision_monitor/velocity_polygon.hpp" +#include "nav2_collision_monitor/source.hpp" +#include "nav2_collision_monitor/scan.hpp" +#include "nav2_collision_monitor/pointcloud.hpp" +#include "nav2_collision_monitor/range.hpp" +#include "nav2_collision_monitor/polygon_source.hpp" + +namespace nav2_collision_monitor +{ + +/** + * @brief Collision Monitor ROS2 node + */ +class CollisionDetector : public nav2_util::LifecycleNode +{ +public: + /** + * @brief Constructor for the nav2_collision_monitor::CollisionDetector + * @param options Additional options to control creation of the node. + */ + explicit CollisionDetector(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + /** + * @brief Destructor for the nav2_collision_monitor::CollisionDetector + */ + ~CollisionDetector(); + +protected: + /** + * @brief: Initializes and obtains ROS-parameters, creates main subscribers and publishers, + * creates polygons and data sources objects + * @param state Lifecycle Node's state + * @return Success or Failure + */ + nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override; + /** + * @brief: Activates LifecyclePublishers, polygons and main processor, creates bond connection + * @param state Lifecycle Node's state + * @return Success or Failure + */ + nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override; + /** + * @brief: Deactivates LifecyclePublishers, polygons and main processor, destroys bond connection + * @param state Lifecycle Node's state + * @return Success or Failure + */ + nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override; + /** + * @brief: Resets all subscribers/publishers, polygons/data sources arrays + * @param state Lifecycle Node's state + * @return Success or Failure + */ + nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override; + /** + * @brief Called in shutdown state + * @param state Lifecycle Node's state + * @return Success or Failure + */ + nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override; + +protected: + /** + * @brief Supporting routine obtaining all ROS-parameters + * @return True if all parameters were obtained or false in failure case + */ + bool getParameters(); + /** + * @brief Supporting routine creating and configuring all polygons + * @param base_frame_id Robot base frame ID + * @param transform_tolerance Transform tolerance + * @return True if all polygons were configured successfully or false in failure case + */ + bool configurePolygons( + const std::string & base_frame_id, + const tf2::Duration & transform_tolerance); + /** + * @brief Supporting routine creating and configuring all data sources + * @param base_frame_id Robot base frame ID + * @param odom_frame_id Odometry frame ID. Used as global frame to get + * source->base time interpolated transform. + * @param transform_tolerance Transform tolerance + * @param source_timeout Maximum time interval in which data is considered valid + * @param base_shift_correction Whether to correct source data towards to base frame movement, + * considering the difference between current time and latest source time + * @return True if all sources were configured successfully or false in failure case + */ + bool configureSources( + const std::string & base_frame_id, + const std::string & odom_frame_id, + const tf2::Duration & transform_tolerance, + const rclcpp::Duration & source_timeout, + const bool base_shift_correction); + + /** + * @brief Main processing routine + */ + void process(); + + /** + * @brief Polygons publishing routine. Made for visualization. + */ + void publishPolygons() const; + + // ----- Variables ----- + + /// @brief TF buffer + std::shared_ptr tf_buffer_; + /// @brief TF listener + std::shared_ptr tf_listener_; + + /// @brief Polygons array + std::vector> polygons_; + /// @brief Data sources array + std::vector> sources_; + + /// @brief collision monitor state publisher + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + state_pub_; + /// @brief Collision points marker publisher + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + collision_points_marker_pub_; + /// @brief timer that runs actions + rclcpp::TimerBase::SharedPtr timer_; + + /// @brief main loop frequency + double frequency_; +}; // class CollisionDetector + +} // namespace nav2_collision_monitor + +#endif // NAV2_COLLISION_MONITOR__COLLISION_DETECTOR_NODE_HPP_ diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp index adeab2daeec..ce4d96504bb 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/collision_monitor_node.hpp @@ -21,21 +21,27 @@ #include "rclcpp/rclcpp.hpp" #include "geometry_msgs/msg/twist.hpp" +#include "visualization_msgs/msg/marker_array.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" #include "tf2/time.h" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" #include "nav2_util/lifecycle_node.hpp" +#include "nav2_util/twist_publisher.hpp" +#include "nav2_util/twist_subscriber.hpp" #include "nav2_msgs/msg/collision_monitor_state.hpp" #include "nav2_collision_monitor/types.hpp" #include "nav2_collision_monitor/polygon.hpp" #include "nav2_collision_monitor/circle.hpp" +#include "nav2_collision_monitor/velocity_polygon.hpp" #include "nav2_collision_monitor/source.hpp" #include "nav2_collision_monitor/scan.hpp" #include "nav2_collision_monitor/pointcloud.hpp" #include "nav2_collision_monitor/range.hpp" +#include "nav2_collision_monitor/polygon_source.hpp" namespace nav2_collision_monitor { @@ -47,12 +53,12 @@ class CollisionMonitor : public nav2_util::LifecycleNode { public: /** - * @brief Constructor for the nav2_collision_safery::CollisionMonitor + * @brief Constructor for the nav2_collision_monitor::CollisionMonitor * @param options Additional options to control creation of the node. */ explicit CollisionMonitor(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); /** - * @brief Destructor for the nav2_collision_safery::CollisionMonitor + * @brief Destructor for the nav2_collision_monitor::CollisionMonitor */ ~CollisionMonitor(); @@ -94,19 +100,22 @@ class CollisionMonitor : public nav2_util::LifecycleNode * @brief Callback for input cmd_vel * @param msg Input cmd_vel message */ - void cmdVelInCallback(geometry_msgs::msg::Twist::ConstSharedPtr msg); + void cmdVelInCallbackStamped(geometry_msgs::msg::TwistStamped::SharedPtr msg); + void cmdVelInCallbackUnstamped(geometry_msgs::msg::Twist::SharedPtr msg); /** * @brief Publishes output cmd_vel. If robot was stopped more than stop_pub_timeout_ seconds, * quit to publish 0-velocity. * @param robot_action Robot action to publish + * @param header TwistStamped header to use */ - void publishVelocity(const Action & robot_action); + void publishVelocity(const Action & robot_action, const std_msgs::msg::Header & header); /** * @brief Supporting routine obtaining all ROS-parameters * @param cmd_vel_in_topic Output name of cmd_vel_in topic * @param cmd_vel_out_topic Output name of cmd_vel_out topic * is required. + * @param state_topic topic name for publishing collision monitor state * @return True if all parameters were obtained or false in failure case */ bool getParameters( @@ -126,7 +135,7 @@ class CollisionMonitor : public nav2_util::LifecycleNode * @brief Supporting routine creating and configuring all data sources * @param base_frame_id Robot base frame ID * @param odom_frame_id Odometry frame ID. Used as global frame to get - * source->base time inerpolated transform. + * source->base time interpolated transform. * @param transform_tolerance Transform tolerance * @param source_timeout Maximum time interval in which data is considered valid * @param base_shift_correction Whether to correct source data towards to base frame movement, @@ -143,18 +152,19 @@ class CollisionMonitor : public nav2_util::LifecycleNode /** * @brief Main processing routine * @param cmd_vel_in Input desired robot velocity + * @param header Twist header */ - void process(const Velocity & cmd_vel_in); + void process(const Velocity & cmd_vel_in, const std_msgs::msg::Header & header); /** - * @brief Processes the polygon of STOP and SLOWDOWN action type + * @brief Processes the polygon of STOP, SLOWDOWN and LIMIT action type * @param polygon Polygon to process * @param collision_points Array of 2D obstacle points * @param velocity Desired robot velocity * @param robot_action Output processed robot action * @return True if returned action is caused by current polygon, otherwise false */ - bool processStopSlowdown( + bool processStopSlowdownLimit( const std::shared_ptr polygon, const std::vector & collision_points, const Velocity & velocity, @@ -201,15 +211,19 @@ class CollisionMonitor : public nav2_util::LifecycleNode std::vector> sources_; // Input/output speed controls - /// @beirf Input cmd_vel subscriber - rclcpp::Subscription::SharedPtr cmd_vel_in_sub_; + /// @brief Input cmd_vel subscriber + std::unique_ptr cmd_vel_in_sub_; /// @brief Output cmd_vel publisher - rclcpp_lifecycle::LifecyclePublisher::SharedPtr cmd_vel_out_pub_; + std::unique_ptr cmd_vel_out_pub_; /// @brief CollisionMonitor state publisher rclcpp_lifecycle::LifecyclePublisher::SharedPtr state_pub_; + /// @brief Collision points marker publisher + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + collision_points_marker_pub_; + /// @brief Whether main routine is active bool process_active_; diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp index d5af32c2772..ea370f9acca 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/pointcloud.hpp @@ -69,10 +69,11 @@ class PointCloud : public Source * @param curr_time Current node time for data interpolation * @param data Array where the data from source to be added. * Added data is transformed to base_frame_id_ coordinate system at curr_time. + * @return false if an invalid source should block the robot */ - void getData( + bool getData( const rclcpp::Time & curr_time, - std::vector & data) const; + std::vector & data); protected: /** diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp index 3580a452454..fdc9e07b7a3 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp @@ -35,7 +35,7 @@ namespace nav2_collision_monitor /** * @brief Basic polygon shape class. - * For STOP/SLOWDOWN model it represents zone around the robot + * For STOP/SLOWDOWN/LIMIT model it represents zone around the robot * while for APPROACH model it represents robot footprint. */ class Polygon @@ -85,6 +85,11 @@ class Polygon * @return Action type for current polygon */ ActionType getActionType() const; + /** + * @brief Obtains polygon enabled state + * @return Whether polygon is enabled + */ + bool getEnabled() const; /** * @brief Obtains polygon minimum points to enter inside polygon causing the action * @return Minimum number of data readings within a zone to trigger the action @@ -96,6 +101,18 @@ class Polygon * @return Speed slowdown ratio */ double getSlowdownRatio() const; + /** + * @brief Obtains speed linear limit for current polygon. + * Applicable for LIMIT model. + * @return Speed linear limit + */ + double getLinearLimit() const; + /** + * @brief Obtains speed angular z limit for current polygon. + * Applicable for LIMIT model. + * @return Speed angular limit + */ + double getAngularLimit() const; /** * @brief Obtains required time before collision for current polygon. * Applicable for APPROACH model. @@ -111,14 +128,14 @@ class Polygon /** * @brief Returns true if polygon points were set. - * Othewise, prints a warning and returns false. + * Otherwise, prints a warning and returns false. */ virtual bool isShapeSet(); /** * @brief Updates polygon from footprint subscriber (if any) */ - void updatePolygon(); + virtual void updatePolygon(const Velocity & /*cmd_vel_in*/); /** * @brief Gets number of points inside given polygon @@ -148,14 +165,24 @@ class Polygon protected: /** * @brief Supporting routine obtaining ROS-parameters common for all shapes - * @param polygon_pub_topic Output name of polygon publishing topic + * @param polygon_pub_topic Output name of polygon or radius subscription topic. + * Empty, if no polygon subscription. + * @param polygon_sub_topic Output name of polygon publishing topic + * @param footprint_topic Output name of footprint topic. + * Empty, if no footprint subscription. + * @param use_dynamic_sub If false, the parameter polygon_sub_topic or footprint_topic + * will not be declared * @return True if all parameters were obtained or false in failure case */ - bool getCommonParameters(std::string & polygon_pub_topic); + bool getCommonParameters( + std::string & polygon_sub_topic, + std::string & polygon_pub_topic, + std::string & footprint_topic, + bool use_dynamic_sub = false); /** * @brief Supporting routine obtaining polygon-specific ROS-parameters - * @brief polygon_sub_topic Output name of polygon subscription topic. + * @param polygon_sub_topic Output name of polygon or radius subscription topic. * Empty, if no polygon subscription. * @param polygon_pub_topic Output name of polygon publishing topic * @param footprint_topic Output name of footprint topic. @@ -167,6 +194,13 @@ class Polygon std::string & polygon_pub_topic, std::string & footprint_topic); + /** + * @brief Creates polygon or radius topic subscription + * @param polygon_sub_topic Output name of polygon or radius subscription topic. + * Empty, if no polygon subscription. + */ + virtual void createSubscription(std::string & polygon_sub_topic); + /** * @brief Updates polygon from geometry_msgs::msg::PolygonStamped message * @param msg Message to update polygon from @@ -179,6 +213,13 @@ class Polygon */ void polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg); + /** + * @brief Callback executed when a parameter change is detected + * @param event ParameterEvent message + */ + rcl_interfaces::msg::SetParametersResult dynamicParametersCallback( + std::vector parameters); + /** * @brief Checks if point is inside polygon * @param point Given point to check @@ -186,12 +227,22 @@ class Polygon */ bool isPointInside(const Point & point) const; + /** + * @brief Extracts Polygon points from a string with of the form [[x1,y1],[x2,y2],[x3,y3]...] + * @param poly_string Input String containing the verteceis of the polygon + * @param polygon Output Point vector with all the vertecies of the polygon + * @return True if all parameters were obtained or false in failure case + */ + bool getPolygonFromString(std::string & poly_string, std::vector & polygon); + // ----- Variables ----- /// @brief Collision Monitor node nav2_util::LifecycleNode::WeakPtr node_; /// @brief Collision monitor node logger stored for further usage rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")}; + /// @brief Dynamic parameters handler + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; // Basic parameters /// @brief Name of polygon @@ -202,10 +253,18 @@ class Polygon int min_points_; /// @brief Robot slowdown (share of its actual speed) double slowdown_ratio_; + /// @brief Robot linear limit + double linear_limit_; + /// @brief Robot angular limit + double angular_limit_; /// @brief Time before collision in seconds double time_before_collision_; /// @brief Time step for robot movement simulation double simulation_time_step_; + /// @brief Whether polygon is enabled + bool enabled_; + /// @brief Wether the subscription to polygon topic has transient local QoS durability + bool polygon_subscribe_transient_local_; /// @brief Polygon subscription rclcpp::Subscription::SharedPtr polygon_sub_; /// @brief Footprint subscriber @@ -222,12 +281,12 @@ class Polygon // Visualization /// @brief Whether to publish the polygon bool visualize_; - /// @brief Polygon stored for later publishing + /// @brief Polygon, used for: 1. visualization; 2. storing latest dynamic polygon message geometry_msgs::msg::PolygonStamped polygon_; /// @brief Polygon publisher for visualization purposes rclcpp_lifecycle::LifecyclePublisher::SharedPtr polygon_pub_; - /// @brief Polygon points (vertices) + /// @brief Polygon points (vertices) in a base_frame_id_ std::vector poly_; }; // class Polygon diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon_source.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon_source.hpp new file mode 100644 index 00000000000..8855bb7241e --- /dev/null +++ b/nav2_collision_monitor/include/nav2_collision_monitor/polygon_source.hpp @@ -0,0 +1,115 @@ +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_COLLISION_MONITOR__POLYGON_SOURCE_HPP_ +#define NAV2_COLLISION_MONITOR__POLYGON_SOURCE_HPP_ + +#include +#include +#include + +#include "geometry_msgs/msg/polygon_instance_stamped.hpp" +#include "geometry_msgs/msg/polygon_stamped.hpp" + +#include "nav2_collision_monitor/source.hpp" + +namespace nav2_collision_monitor +{ + +/** + * @brief Implementation for polygon source + */ +class PolygonSource : public Source +{ +public: + /** + * @brief PolygonSource constructor + * @param node Collision Monitor node pointer + * @param source_name Name of data source + * @param tf_buffer Shared pointer to a TF buffer + * @param base_frame_id Robot base frame ID. The output data will be transformed into this frame. + * @param global_frame_id Global frame ID for correct transform calculation + * @param transform_tolerance Transform tolerance + * @param source_timeout Maximum time interval in which data is considered valid + * @param base_shift_correction Whether to correct source data towards to base frame movement, + * considering the difference between current time and latest source time + */ + PolygonSource( + const nav2_util::LifecycleNode::WeakPtr & node, + const std::string & source_name, + const std::shared_ptr tf_buffer, + const std::string & base_frame_id, + const std::string & global_frame_id, + const tf2::Duration & transform_tolerance, + const rclcpp::Duration & source_timeout, + const bool base_shift_correction); + /** + * @brief PolygonSource destructor + */ + ~PolygonSource(); + + /** + * @brief Data source configuration routine. Obtains ROS-parameters + * and creates subscriber. + */ + void configure(); + + /** + * @brief Adds latest data from polygon source to the data array. + * @param curr_time Current node time for data interpolation + * @param data Array where the data from source to be added. + * Added data is transformed to base_frame_id_ coordinate system at curr_time. + * @return false if an invalid source should block the robot + */ + bool getData( + const rclcpp::Time & curr_time, + std::vector & data); + + /** + * @brief Converts a PolygonInstanceStamped to a std::vector + * @param polygon Input Polygon to be converted + * @param data Output vector of Point + */ + void convertPolygonStampedToPoints( + const geometry_msgs::msg::PolygonStamped & polygon, + std::vector & data) const; + +protected: + /** + * @brief Getting sensor-specific ROS-parameters + * @param source_topic Output name of source subscription topic + */ + void getParameters(std::string & source_topic); + + /** + * @brief PolygonSource data callback + * @param msg Shared pointer to PolygonSource message + */ + void dataCallback(geometry_msgs::msg::PolygonInstanceStamped::ConstSharedPtr msg); + + // ----- Variables ----- + + /// @brief PolygonSource data subscriber + rclcpp::Subscription::SharedPtr data_sub_; + + /// @brief Latest data obtained + std::vector data_; + + /// @brief distance between sampled points on polygon edges + double sampling_distance_; +}; // class PolygonSource + +} // namespace nav2_collision_monitor + +#endif // NAV2_COLLISION_MONITOR__POLYGON_SOURCE_HPP_ diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp index 777b8e404ce..2bccaac108c 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp @@ -69,10 +69,11 @@ class Range : public Source * @param curr_time Current node time for data interpolation * @param data Array where the data from source to be added. * Added data is transformed to base_frame_id_ coordinate system at curr_time. + * @return false if an invalid source should block the robot */ - void getData( + bool getData( const rclcpp::Time & curr_time, - std::vector & data) const; + std::vector & data); protected: /** diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp index c3f7a11f3fa..5c57cdb0148 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/scan.hpp @@ -69,10 +69,11 @@ class Scan : public Source * @param curr_time Current node time for data interpolation * @param data Array where the data from source to be added. * Added data is transformed to base_frame_id_ coordinate system at curr_time. + * @return false if an invalid source should block the robot */ - void getData( + bool getData( const rclcpp::Time & curr_time, - std::vector & data) const; + std::vector & data); protected: /** diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp index 8bc750cc717..4432ec243b1 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/source.hpp @@ -24,9 +24,9 @@ #include "tf2/time.h" #include "tf2_ros/buffer.h" -#include "nav2_util/lifecycle_node.hpp" - #include "nav2_collision_monitor/types.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "std_msgs/msg/header.hpp" namespace nav2_collision_monitor { @@ -69,12 +69,37 @@ class Source * @param curr_time Current node time for data interpolation * @param data Array where the data from source to be added. * Added data is transformed to base_frame_id_ coordinate system at curr_time. + * @return false if an invalid source should block the robot */ - virtual void getData( + virtual bool getData( const rclcpp::Time & curr_time, - std::vector & data) const = 0; + std::vector & data) = 0; + + /** + * @brief Obtains source enabled state + * @return Whether source is enabled + */ + bool getEnabled() const; + + /** + * @brief Obtains the name of the data source + * @return Name of the data source + */ + std::string getSourceName() const; + + /** + * @brief Obtains the source_timeout parameter of the data source + * @return source_timeout parameter value of the data source + */ + rclcpp::Duration getSourceTimeout() const; protected: + /** + * @brief Source configuration routine. + * @return True in case of everything is configured correctly, or false otherwise + */ + bool configure(); + /** * @brief Supporting routine obtaining ROS-parameters common for all data sources * @param source_topic Output name of source subscription topic @@ -91,12 +116,36 @@ class Source const rclcpp::Time & source_time, const rclcpp::Time & curr_time) const; + /** + * @brief Callback executed when a parameter change is detected + * @param event ParameterEvent message + */ + rcl_interfaces::msg::SetParametersResult dynamicParametersCallback( + std::vector parameters); + + /** + * @brief Obtain the transform to get data from source frame and time where it was received to the + * base frame and current time (if base_shift_correction_ is true) or the transform without time + * shift considered which is less accurate but much more faster option not dependent on state + * estimation frames. + * @param curr_time Current node time + * @param data_header Current header which contains the frame_id and the stamp + * @param tf_transform Output source->base_frame_id_ transform + * @return True if got correct transform, otherwise false + */ + bool getTransform( + const rclcpp::Time & curr_time, + const std_msgs::msg::Header & data_header, + tf2::Transform & tf_transform) const; + // ----- Variables ----- /// @brief Collision Monitor node nav2_util::LifecycleNode::WeakPtr node_; /// @brief Collision monitor node logger stored for further usage rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")}; + /// @brief Dynamic parameters handler + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; // Basic parameters /// @brief Name of data source @@ -116,6 +165,8 @@ class Source /// @brief Whether to correct source data towards to base frame movement, /// considering the difference between current time and latest source time bool base_shift_correction_; + /// @brief Whether source is enabled + bool enabled_; }; // class Source } // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/types.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/types.hpp index 585faeafcb1..ac93b916be7 100644 --- a/nav2_collision_monitor/include/nav2_collision_monitor/types.hpp +++ b/nav2_collision_monitor/include/nav2_collision_monitor/types.hpp @@ -67,7 +67,8 @@ enum ActionType DO_NOTHING = 0, // No action STOP = 1, // Stop the robot SLOWDOWN = 2, // Slowdown in percentage from current operating speed - APPROACH = 3 // Keep constant time interval before collision + APPROACH = 3, // Keep constant time interval before collision + LIMIT = 4 // Limit absolute velocity from current operating speed }; /// @brief Action for robot diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/velocity_polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/velocity_polygon.hpp new file mode 100644 index 00000000000..e4c65bebad5 --- /dev/null +++ b/nav2_collision_monitor/include/nav2_collision_monitor/velocity_polygon.hpp @@ -0,0 +1,115 @@ +// Copyright (c) 2023 Dexory +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_COLLISION_MONITOR__VELOCITY_POLYGON_HPP_ +#define NAV2_COLLISION_MONITOR__VELOCITY_POLYGON_HPP_ + +#include +#include +#include + +#include "geometry_msgs/msg/polygon_stamped.hpp" +#include "nav2_collision_monitor/polygon.hpp" +#include "nav2_collision_monitor/types.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "rclcpp/rclcpp.hpp" +#include "tf2_ros/buffer.h" + +namespace nav2_collision_monitor +{ + +/** + * @brief Velocity polygon class. + * This class contains all the points of the polygon and + * the expected condition of the velocity based polygon. + */ +class VelocityPolygon : public Polygon +{ +public: + /** + * @brief VelocityPolygon constructor + * @param node Collision Monitor node pointer + * @param polygon_name Name of main polygon + */ + VelocityPolygon( + const nav2_util::LifecycleNode::WeakPtr & node, const std::string & polygon_name, + const std::shared_ptr tf_buffer, const std::string & base_frame_id, + const tf2::Duration & transform_tolerance); + /** + * @brief VelocityPolygon destructor + */ + virtual ~VelocityPolygon(); + + /** + * @brief Overriden getParameters function for VelocityPolygon parameters + * @param polygon_sub_topic Not used in VelocityPolygon + * @param polygon_pub_topic Output name of polygon publishing topic + * @param footprint_topic Not used in VelocityPolygon + * @return True if all parameters were obtained or false in failure case + */ + bool getParameters( + std::string & /*polygon_sub_topic*/, std::string & polygon_pub_topic, + std::string & /*footprint_topic*/) override; + + /** + * @brief Overriden updatePolygon function for VelocityPolygon + * @param cmd_vel_in Robot twist command input + */ + void updatePolygon(const Velocity & cmd_vel_in) override; + +protected: + /** + * @brief Custom struc to store the parameters of the sub-polygon + * @param poly_ The points of the sub-polygon + * @param velocity_polygon_name_ The name of the sub-polygon + * @param linear_min_ The minimum linear velocity + * @param linear_max_ The maximum linear velocity + * @param theta_min_ The minimum angular velocity + * @param theta_max_ The maximum angular velocity + * @param direction_end_angle_ The end angle of the direction(For holonomic robot only) + * @param direction_start_angle_ The start angle of the direction(For holonomic robot only) + */ + struct SubPolygonParameter + { + std::vector poly_; + std::string velocity_polygon_name_; + double linear_min_; + double linear_max_; + double theta_min_; + double theta_max_; + double direction_end_angle_; + double direction_start_angle_; + }; + + /** + * @brief Check if the velocities and direction is in expected range. + * @param cmd_vel_in Robot twist command input + * @param sub_polygon_param Sub polygon parameters + * @return True if speed and direction is within the condition + */ + bool isInRange(const Velocity & cmd_vel_in, const SubPolygonParameter & sub_polygon_param); + + // Clock + rclcpp::Clock::SharedPtr clock_; + + // Variables + /// @brief Flag to indicate if the robot is holonomic + bool holonomic_; + /// @brief Vector to store the parameters of the sub-polygon + std::vector sub_polygons_; +}; // class VelocityPolygon + +} // namespace nav2_collision_monitor + +#endif // NAV2_COLLISION_MONITOR__VELOCITY_POLYGON_HPP_ diff --git a/nav2_collision_monitor/launch/collision_detector_node.launch.py b/nav2_collision_monitor/launch/collision_detector_node.launch.py new file mode 100644 index 00000000000..c16bec55a4d --- /dev/null +++ b/nav2_collision_monitor/launch/collision_detector_node.launch.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2023 Pixel Robotics GmbH +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch.substitutions import NotEqualsSubstitution +from launch_ros.actions import LoadComposableNodes, SetParameter +from launch_ros.actions import Node +from launch_ros.actions import PushROSNamespace +from launch_ros.descriptions import ComposableNode +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Environment + package_dir = get_package_share_directory('nav2_collision_monitor') + + # Constant parameters + lifecycle_nodes = ['collision_detector'] + autostart = True + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + # Launch arguments + # 1. Create the launch configuration variables + namespace = LaunchConfiguration('namespace') + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + + # 2. Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join( + package_dir, 'params', 'collision_monitor_params.yaml' + ), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='True', + description='Use composed bringup if True', + ) + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) + + configured_params = RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ) + + # Declare node launching commands + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + SetParameter('use_sim_time', use_sim_time), + PushROSNamespace( + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('namespace'), '') + ), + namespace=namespace, + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_collision_detector', + output='screen', + emulate_tty=True, # https://github.com/ros2/launch/issues/188 + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + remappings=remappings, + ), + Node( + package='nav2_collision_monitor', + executable='collision_detector', + output='screen', + emulate_tty=True, # https://github.com/ros2/launch/issues/188 + parameters=[configured_params], + remappings=remappings, + ), + ], + ) + + load_composable_nodes = GroupAction( + condition=IfCondition(use_composition), + actions=[ + SetParameter('use_sim_time', use_sim_time), + PushROSNamespace( + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('namespace'), '') + ), + namespace=namespace, + ), + LoadComposableNodes( + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_collision_detector', + parameters=[ + {'autostart': autostart}, + {'node_names': lifecycle_nodes}, + ], + remappings=remappings, + ), + ComposableNode( + package='nav2_collision_monitor', + plugin='nav2_collision_monitor::CollisionDetector', + name='collision_detector', + parameters=[configured_params], + remappings=remappings, + ), + ], + ), + ], + ) + + ld = LaunchDescription() + + # Launch arguments + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + + # Node launching commands + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld diff --git a/nav2_collision_monitor/launch/collision_monitor_node.launch.py b/nav2_collision_monitor/launch/collision_monitor_node.launch.py index d03d723498e..b00b43b2aa1 100644 --- a/nav2_collision_monitor/launch/collision_monitor_node.launch.py +++ b/nav2_collision_monitor/launch/collision_monitor_node.launch.py @@ -19,9 +19,14 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch.substitutions import NotEqualsSubstitution +from launch_ros.actions import LoadComposableNodes, SetParameter from launch_ros.actions import Node +from launch_ros.actions import PushROSNamespace +from launch_ros.descriptions import ComposableNode, ParameterFile from nav2_common.launch import RewrittenYaml @@ -32,56 +37,123 @@ def generate_launch_description(): # Constant parameters lifecycle_nodes = ['collision_monitor'] autostart = True + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] # Launch arguments # 1. Create the launch configuration variables namespace = LaunchConfiguration('namespace') use_sim_time = LaunchConfiguration('use_sim_time') params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) # 2. Declare the launch arguments declare_namespace_cmd = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Top-level namespace') + 'namespace', default_value='', description='Top-level namespace' + ) declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', default_value='True', - description='Use simulation (Gazebo) clock if true') + description='Use simulation (Gazebo) clock if true', + ) declare_params_file_cmd = DeclareLaunchArgument( 'params_file', - default_value=os.path.join(package_dir, 'params', 'collision_monitor_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') - - # Create our own temporary YAML files that include substitutions - param_substitutions = { - 'use_sim_time': use_sim_time} - - configured_params = RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites=param_substitutions, - convert_types=True) - - # Nodes launching commands - start_lifecycle_manager_cmd = Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager', - output='screen', - emulate_tty=True, # https://github.com/ros2/launch/issues/188 - parameters=[{'use_sim_time': use_sim_time}, - {'autostart': autostart}, - {'node_names': lifecycle_nodes}]) - - start_collision_monitor_cmd = Node( - package='nav2_collision_monitor', - executable='collision_monitor', - output='screen', - emulate_tty=True, # https://github.com/ros2/launch/issues/188 - parameters=[configured_params]) + default_value=os.path.join( + package_dir, 'params', 'collision_monitor_params.yaml' + ), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='True', + description='Use composed bringup if True', + ) + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) + + # Declare node launching commands + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + SetParameter('use_sim_time', use_sim_time), + PushROSNamespace( + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('namespace'), '') + ), + namespace=namespace, + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_collision_monitor', + output='screen', + emulate_tty=True, # https://github.com/ros2/launch/issues/188 + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + remappings=remappings, + ), + Node( + package='nav2_collision_monitor', + executable='collision_monitor', + output='screen', + emulate_tty=True, # https://github.com/ros2/launch/issues/188 + parameters=[configured_params], + remappings=remappings, + ), + ], + ) + + load_composable_nodes = GroupAction( + condition=IfCondition(use_composition), + actions=[ + SetParameter('use_sim_time', use_sim_time), + PushROSNamespace( + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('namespace'), '') + ), + namespace=namespace, + ), + LoadComposableNodes( + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_collision_monitor', + parameters=[ + {'autostart': autostart}, + {'node_names': lifecycle_nodes}, + ], + remappings=remappings, + ), + ComposableNode( + package='nav2_collision_monitor', + plugin='nav2_collision_monitor::CollisionMonitor', + name='collision_monitor', + parameters=[configured_params], + remappings=remappings, + ), + ], + ), + ], + ) ld = LaunchDescription() @@ -89,9 +161,11 @@ def generate_launch_description(): ld.add_action(declare_namespace_cmd) ld.add_action(declare_use_sim_time_cmd) ld.add_action(declare_params_file_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) # Node launching commands - ld.add_action(start_lifecycle_manager_cmd) - ld.add_action(start_collision_monitor_cmd) + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) return ld diff --git a/nav2_collision_monitor/package.xml b/nav2_collision_monitor/package.xml index 88ebbc6033b..fd663526e86 100644 --- a/nav2_collision_monitor/package.xml +++ b/nav2_collision_monitor/package.xml @@ -2,7 +2,7 @@ nav2_collision_monitor - 1.0.0 + 1.2.0 Collision Monitor Alexey Merzlyakov Steve Macenski @@ -17,10 +17,12 @@ tf2_geometry_msgs sensor_msgs geometry_msgs + std_msgs nav2_common nav2_util nav2_costmap_2d nav2_msgs + visualization_msgs ament_cmake_gtest ament_lint_common diff --git a/nav2_collision_monitor/params/collision_detector_params.yaml b/nav2_collision_monitor/params/collision_detector_params.yaml new file mode 100644 index 00000000000..eb3ee0a8739 --- /dev/null +++ b/nav2_collision_monitor/params/collision_detector_params.yaml @@ -0,0 +1,28 @@ +collision_detector: + ros__parameters: + frequency: 10.0 + base_frame_id: "base_footprint" + odom_frame_id: "odom" + transform_tolerance: 0.5 + source_timeout: 5.0 + base_shift_correction: True + polygons: ["PolygonFront"] + PolygonFront: + type: "polygon" + points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]" + action_type: "none" + min_points: 4 + visualize: True + polygon_pub_topic: "polygon_front" + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + enabled: True + pointcloud: + type: "pointcloud" + topic: "/intel_realsense_r200_depth/points" + min_height: 0.1 + max_height: 0.5 + enabled: True diff --git a/nav2_collision_monitor/params/collision_monitor_params.yaml b/nav2_collision_monitor/params/collision_monitor_params.yaml index 23a8b5548c8..d6b3cd25fda 100644 --- a/nav2_collision_monitor/params/collision_monitor_params.yaml +++ b/nav2_collision_monitor/params/collision_monitor_params.yaml @@ -2,34 +2,47 @@ collision_monitor: ros__parameters: base_frame_id: "base_footprint" odom_frame_id: "odom" - cmd_vel_in_topic: "cmd_vel_raw" + cmd_vel_in_topic: "cmd_vel_smoothed" cmd_vel_out_topic: "cmd_vel" state_topic: "collision_monitor_state" transform_tolerance: 0.5 source_timeout: 5.0 base_shift_correction: True stop_pub_timeout: 2.0 - # Polygons represent zone around the robot for "stop" and "slowdown" action types, + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, # and robot footprint for "approach" action type. - # Footprint could be "polygon" type with dynamically set footprint from footprint_topic - # or "circle" type with static footprint set by radius. "footprint_topic" parameter + # (1) Footprint could be "polygon" type with dynamically set footprint from footprint_topic + # (2) "circle" type with static footprint set by radius. "footprint_topic" parameter # to be ignored in circular case. + # (3) "velocity_polygon" type with dynamically set polygon from velocity_polygons polygons: ["PolygonStop"] PolygonStop: type: "polygon" - points: [0.3, 0.3, 0.3, -0.3, 0.0, -0.3, 0.0, 0.3] + points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]" action_type: "stop" min_points: 4 visualize: True polygon_pub_topic: "polygon_stop" + enabled: True PolygonSlow: type: "polygon" - points: [0.4, 0.4, 0.4, -0.4, -0.4, -0.4, -0.4, 0.4] + points: "[[0.4, 0.4], [0.4, -0.4], [-0.4, -0.4], [-0.4, 0.4]]" action_type: "slowdown" min_points: 4 slowdown_ratio: 0.3 visualize: True polygon_pub_topic: "polygon_slowdown" + enabled: True + PolygonLimit: + type: "polygon" + points: "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]" + action_type: "limit" + min_points: 4 + linear_limit: 0.4 + angular_limit: 0.5 + visualize: True + polygon_pub_topic: "polygon_limit" + enabled: True FootprintApproach: type: "polygon" action_type: "approach" @@ -38,12 +51,51 @@ collision_monitor: simulation_time_step: 0.1 min_points: 6 visualize: False + enabled: True + VelocityPolygonStop: + type: "velocity_polygon" + action_type: "stop" + min_points: 6 + visualize: True + enabled: True + polygon_pub_topic: "velocity_polygon_stop" + velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"] + holonomic: false + rotation: + points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]" + linear_min: 0.0 + linear_max: 0.05 + theta_min: -1.0 + theta_max: 1.0 + translation_forward: + points: "[[0.35, 0.3], [0.35, -0.3], [-0.2, -0.3], [-0.2, 0.3]]" + linear_min: 0.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 + translation_backward: + points: "[[0.2, 0.3], [0.2, -0.3], [-0.35, -0.3], [-0.35, 0.3]]" + linear_min: -1.0 + linear_max: 0.0 + theta_min: -1.0 + theta_max: 1.0 + # This is the last polygon to be checked, it should cover the entire range of robot's velocities + # It is used as the stopped polygon when the robot is not moving and as a fallback if the velocity + # is not covered by any of the other sub-polygons + stopped: + points: "[[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]]" + linear_min: -1.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 observation_sources: ["scan"] scan: type: "scan" - topic: "/scan" + topic: "scan" + enabled: True pointcloud: type: "pointcloud" topic: "/intel_realsense_r200_depth/points" min_height: 0.1 max_height: 0.5 + enabled: True diff --git a/nav2_collision_monitor/src/circle.cpp b/nav2_collision_monitor/src/circle.cpp index fa0fc33a4f8..353db72dc07 100644 --- a/nav2_collision_monitor/src/circle.cpp +++ b/nav2_collision_monitor/src/circle.cpp @@ -70,6 +70,15 @@ int Circle::getPointsInside(const std::vector & points) const return num; } +bool Circle::isShapeSet() +{ + if (radius_squared_ == -1.0) { + RCLCPP_WARN(logger_, "[%s]: Circle radius is not set yet", polygon_name_.c_str()); + return false; + } + return true; +} + bool Circle::getParameters( std::string & polygon_sub_topic, std::string & polygon_pub_topic, @@ -80,29 +89,91 @@ bool Circle::getParameters( throw std::runtime_error{"Failed to lock node"}; } - if (!getCommonParameters(polygon_pub_topic)) { - return false; - } - - // There is no polygon or footprint subscription for the Circle. Thus, set strings as empty. + // Clear the polygon subscription topic. It will be set later, if necessary. polygon_sub_topic.clear(); - footprint_topic.clear(); + bool use_dynamic_sub = true; // if getting parameter radius fails, use dynamic subscription try { // Leave it not initialized: the will cause an error if it will not set nav2_util::declare_parameter_if_not_declared( node, polygon_name_ + ".radius", rclcpp::PARAMETER_DOUBLE); radius_ = node->get_parameter(polygon_name_ + ".radius").as_double(); radius_squared_ = radius_ * radius_; - } catch (const std::exception & ex) { - RCLCPP_ERROR( + use_dynamic_sub = false; + } catch (const rclcpp::exceptions::ParameterUninitializedException &) { + RCLCPP_INFO( logger_, - "[%s]: Error while getting circle parameters: %s", - polygon_name_.c_str(), ex.what()); - return false; + "[%s]: Polygon circle radius is not defined. Using dynamic subscription instead.", + polygon_name_.c_str()); } - return true; + bool ret = true; + if (!getCommonParameters( + polygon_sub_topic, polygon_pub_topic, footprint_topic, use_dynamic_sub)) + { + if (use_dynamic_sub && polygon_sub_topic.empty()) { + RCLCPP_ERROR( + logger_, + "[%s]: Error while getting circle parameters: static radius and sub topic both not defined", + polygon_name_.c_str()); + } + ret = false; + } + + // There is no footprint subscription for the Circle. Thus, set string as empty. + footprint_topic.clear(); + + return ret; +} + +void Circle::createSubscription(std::string & polygon_sub_topic) +{ + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + + if (!polygon_sub_topic.empty()) { + RCLCPP_INFO( + logger_, + "[%s]: Subscribing on %s topic for polygon", + polygon_name_.c_str(), polygon_sub_topic.c_str()); + rclcpp::QoS polygon_qos = rclcpp::SystemDefaultsQoS(); // set to default + if (polygon_subscribe_transient_local_) { + polygon_qos.transient_local(); + } + radius_sub_ = node->create_subscription( + polygon_sub_topic, polygon_qos, + std::bind(&Circle::radiusCallback, this, std::placeholders::_1)); + } +} + +void Circle::updatePolygon(double radius) +{ + // Update circle radius + radius_ = radius; + radius_squared_ = radius_ * radius_; + + // Create a polygon from radius and store it + std::vector poly; + getPolygon(poly); + polygon_.polygon.points.clear(); // clear polygon points + for (const Point & p : poly) { + geometry_msgs::msg::Point32 p_s; + p_s.x = p.x; + p_s.y = p.y; + // p_s.z will remain 0.0 + polygon_.polygon.points.push_back(p_s); // add new points + } +} + +void Circle::radiusCallback(std_msgs::msg::Float32::ConstSharedPtr msg) +{ + RCLCPP_INFO( + logger_, + "[%s]: Polygon circle radius update has been arrived", + polygon_name_.c_str()); + updatePolygon(msg->data); } } // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/src/collision_detector_main.cpp b/nav2_collision_monitor/src/collision_detector_main.cpp new file mode 100644 index 00000000000..c4ef21b7d64 --- /dev/null +++ b/nav2_collision_monitor/src/collision_detector_main.cpp @@ -0,0 +1,29 @@ +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include "rclcpp/rclcpp.hpp" + +#include "nav2_collision_monitor/collision_detector_node.hpp" + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node->get_node_base_interface()); + rclcpp::shutdown(); + + return 0; +} diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp new file mode 100644 index 00000000000..4d8da1e241d --- /dev/null +++ b/nav2_collision_monitor/src/collision_detector_node.cpp @@ -0,0 +1,400 @@ +// Copyright (c) 2022 Samsung R&D Institute Russia +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "nav2_collision_monitor/collision_detector_node.hpp" + +#include +#include +#include + +#include "tf2_ros/create_timer_ros.h" + +#include "nav2_util/node_utils.hpp" + +using namespace std::chrono_literals; + +namespace nav2_collision_monitor +{ + +CollisionDetector::CollisionDetector(const rclcpp::NodeOptions & options) +: nav2_util::LifecycleNode("collision_detector", "", options) +{ +} + +CollisionDetector::~CollisionDetector() +{ + polygons_.clear(); + sources_.clear(); +} + +nav2_util::CallbackReturn +CollisionDetector::on_configure(const rclcpp_lifecycle::State & /*state*/) +{ + RCLCPP_INFO(get_logger(), "Configuring"); + + // Transform buffer and listener initialization + tf_buffer_ = std::make_shared(this->get_clock()); + auto timer_interface = std::make_shared( + this->get_node_base_interface(), + this->get_node_timers_interface()); + tf_buffer_->setCreateTimerInterface(timer_interface); + tf_listener_ = std::make_shared(*tf_buffer_); + + state_pub_ = this->create_publisher( + "collision_detector_state", rclcpp::SystemDefaultsQoS()); + + collision_points_marker_pub_ = this->create_publisher( + "~/collision_points_marker", 1); + + // Obtaining ROS parameters + if (!getParameters()) { + return nav2_util::CallbackReturn::FAILURE; + } + + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +CollisionDetector::on_activate(const rclcpp_lifecycle::State & /*state*/) +{ + RCLCPP_INFO(get_logger(), "Activating"); + + // Activating lifecycle publisher + state_pub_->on_activate(); + collision_points_marker_pub_->on_activate(); + + // Activating polygons + for (std::shared_ptr polygon : polygons_) { + polygon->activate(); + } + + // Creating timer + timer_ = this->create_timer( + std::chrono::duration{1.0 / frequency_}, + std::bind(&CollisionDetector::process, this)); + + // Creating bond connection + createBond(); + + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +CollisionDetector::on_deactivate(const rclcpp_lifecycle::State & /*state*/) +{ + RCLCPP_INFO(get_logger(), "Deactivating"); + + // Resetting timer + timer_.reset(); + + // Deactivating lifecycle publishers + state_pub_->on_deactivate(); + collision_points_marker_pub_->on_deactivate(); + + // Deactivating polygons + for (std::shared_ptr polygon : polygons_) { + polygon->deactivate(); + } + + // Destroying bond connection + destroyBond(); + + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +CollisionDetector::on_cleanup(const rclcpp_lifecycle::State & /*state*/) +{ + RCLCPP_INFO(get_logger(), "Cleaning up"); + + state_pub_.reset(); + collision_points_marker_pub_.reset(); + + polygons_.clear(); + sources_.clear(); + + tf_listener_.reset(); + tf_buffer_.reset(); + + return nav2_util::CallbackReturn::SUCCESS; +} + +nav2_util::CallbackReturn +CollisionDetector::on_shutdown(const rclcpp_lifecycle::State & /*state*/) +{ + RCLCPP_INFO(get_logger(), "Shutting down"); + return nav2_util::CallbackReturn::SUCCESS; +} + +bool CollisionDetector::getParameters() +{ + std::string base_frame_id, odom_frame_id; + tf2::Duration transform_tolerance; + rclcpp::Duration source_timeout(2.0, 0.0); + + auto node = shared_from_this(); + + nav2_util::declare_parameter_if_not_declared( + node, "frequency", rclcpp::ParameterValue(10.0)); + frequency_ = get_parameter("frequency").as_double(); + nav2_util::declare_parameter_if_not_declared( + node, "base_frame_id", rclcpp::ParameterValue("base_footprint")); + base_frame_id = get_parameter("base_frame_id").as_string(); + nav2_util::declare_parameter_if_not_declared( + node, "odom_frame_id", rclcpp::ParameterValue("odom")); + odom_frame_id = get_parameter("odom_frame_id").as_string(); + nav2_util::declare_parameter_if_not_declared( + node, "transform_tolerance", rclcpp::ParameterValue(0.1)); + transform_tolerance = + tf2::durationFromSec(get_parameter("transform_tolerance").as_double()); + nav2_util::declare_parameter_if_not_declared( + node, "source_timeout", rclcpp::ParameterValue(2.0)); + source_timeout = + rclcpp::Duration::from_seconds(get_parameter("source_timeout").as_double()); + nav2_util::declare_parameter_if_not_declared( + node, "base_shift_correction", rclcpp::ParameterValue(true)); + const bool base_shift_correction = + get_parameter("base_shift_correction").as_bool(); + + if (!configurePolygons(base_frame_id, transform_tolerance)) { + return false; + } + + if (!configureSources( + base_frame_id, odom_frame_id, transform_tolerance, source_timeout, + base_shift_correction)) + { + return false; + } + + return true; +} + +bool CollisionDetector::configurePolygons( + const std::string & base_frame_id, + const tf2::Duration & transform_tolerance) +{ + try { + auto node = shared_from_this(); + + // Leave it to be not initialized: to intentionally cause an error if it will not set + nav2_util::declare_parameter_if_not_declared( + node, "polygons", rclcpp::PARAMETER_STRING_ARRAY); + std::vector polygon_names = get_parameter("polygons").as_string_array(); + for (std::string polygon_name : polygon_names) { + // Leave it not initialized: the will cause an error if it will not set + nav2_util::declare_parameter_if_not_declared( + node, polygon_name + ".type", rclcpp::PARAMETER_STRING); + const std::string polygon_type = get_parameter(polygon_name + ".type").as_string(); + + if (polygon_type == "polygon") { + polygons_.push_back( + std::make_shared( + node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); + } else if (polygon_type == "circle") { + polygons_.push_back( + std::make_shared( + node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); + } else if (polygon_type == "velocity_polygon") { + polygons_.push_back( + std::make_shared( + node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); + } else { // Error if something else + RCLCPP_ERROR( + get_logger(), + "[%s]: Unknown polygon type: %s", + polygon_name.c_str(), polygon_type.c_str()); + return false; + } + + // Configure last added polygon + if (!polygons_.back()->configure()) { + return false; + } + + // warn if the added polygon's action_type_ is not different than "none" + auto action_type = polygons_.back()->getActionType(); + if (action_type != DO_NOTHING) { + RCLCPP_ERROR( + get_logger(), + "[%s]: The action_type of the polygon is different than \"none\" which is " + "not supported in the collision detector.", + polygon_name.c_str()); + return false; + } + } + } catch (const std::exception & ex) { + RCLCPP_ERROR(get_logger(), "Error while getting parameters: %s", ex.what()); + return false; + } + + return true; +} + +bool CollisionDetector::configureSources( + const std::string & base_frame_id, + const std::string & odom_frame_id, + const tf2::Duration & transform_tolerance, + const rclcpp::Duration & source_timeout, + const bool base_shift_correction) +{ + try { + auto node = shared_from_this(); + + // Leave it to be not initialized to intentionally cause an error if it will not set + nav2_util::declare_parameter_if_not_declared( + node, "observation_sources", rclcpp::PARAMETER_STRING_ARRAY); + std::vector source_names = get_parameter("observation_sources").as_string_array(); + for (std::string source_name : source_names) { + nav2_util::declare_parameter_if_not_declared( + node, source_name + ".type", + rclcpp::ParameterValue("scan")); // Laser scanner by default + const std::string source_type = get_parameter(source_name + ".type").as_string(); + + if (source_type == "scan") { + std::shared_ptr s = std::make_shared( + node, source_name, tf_buffer_, base_frame_id, odom_frame_id, + transform_tolerance, source_timeout, base_shift_correction); + + s->configure(); + + sources_.push_back(s); + } else if (source_type == "pointcloud") { + std::shared_ptr p = std::make_shared( + node, source_name, tf_buffer_, base_frame_id, odom_frame_id, + transform_tolerance, source_timeout, base_shift_correction); + + p->configure(); + + sources_.push_back(p); + } else if (source_type == "range") { + std::shared_ptr r = std::make_shared( + node, source_name, tf_buffer_, base_frame_id, odom_frame_id, + transform_tolerance, source_timeout, base_shift_correction); + + r->configure(); + + sources_.push_back(r); + } else if (source_type == "polygon") { + std::shared_ptr ps = std::make_shared( + node, source_name, tf_buffer_, base_frame_id, odom_frame_id, + transform_tolerance, source_timeout, base_shift_correction); + ps->configure(); + + sources_.push_back(ps); + } else { // Error if something else + RCLCPP_ERROR( + get_logger(), + "[%s]: Unknown source type: %s", + source_name.c_str(), source_type.c_str()); + return false; + } + } + } catch (const std::exception & ex) { + RCLCPP_ERROR(get_logger(), "Error while getting parameters: %s", ex.what()); + return false; + } + + return true; +} + +void CollisionDetector::process() +{ + // Current timestamp for all inner routines prolongation + rclcpp::Time curr_time = this->now(); + + // Points array collected from different data sources in a robot base frame + std::vector collision_points; + + std::unique_ptr state_msg = + std::make_unique(); + + // Fill collision_points array from different data sources + for (std::shared_ptr source : sources_) { + if (source->getEnabled()) { + if (!source->getData(curr_time, collision_points) && + source->getSourceTimeout().seconds() != 0.0) + { + RCLCPP_WARN( + get_logger(), + "Invalid source %s detected." + " Either due to data not published yet, or to lack of new data received within the" + " sensor timeout, or if impossible to transform data to base frame", + source->getSourceName().c_str()); + } + } + } + + if (collision_points_marker_pub_->get_subscription_count() > 0) { + // visualize collision points with markers + auto marker_array = std::make_unique(); + visualization_msgs::msg::Marker marker; + marker.header.frame_id = get_parameter("base_frame_id").as_string(); + marker.header.stamp = rclcpp::Time(0, 0); + marker.ns = "collision_points"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::POINTS; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.scale.x = 0.02; + marker.scale.y = 0.02; + marker.color.r = 1.0; + marker.color.a = 1.0; + marker.lifetime = rclcpp::Duration(0, 0); + marker.frame_locked = true; + + for (const auto & point : collision_points) { + geometry_msgs::msg::Point p; + p.x = point.x; + p.y = point.y; + p.z = 0.0; + marker.points.push_back(p); + } + marker_array->markers.push_back(marker); + collision_points_marker_pub_->publish(std::move(marker_array)); + } + + for (std::shared_ptr polygon : polygons_) { + if (!polygon->getEnabled()) { + continue; + } + state_msg->polygons.push_back(polygon->getName()); + state_msg->detections.push_back( + polygon->getPointsInside( + collision_points) >= polygon->getMinPoints()); + } + + state_pub_->publish(std::move(state_msg)); + + // Publish polygons for better visualization + publishPolygons(); +} + +void CollisionDetector::publishPolygons() const +{ + for (std::shared_ptr polygon : polygons_) { + if (polygon->getEnabled()) { + polygon->publish(); + } + } +} + +} // namespace nav2_collision_monitor + +#include "rclcpp_components/register_node_macro.hpp" + +// Register the component with class_loader. +// This acts as a sort of entry point, allowing the component to be discoverable when its library +// is being loaded into a running process. +RCLCPP_COMPONENTS_REGISTER_NODE(nav2_collision_monitor::CollisionDetector) diff --git a/nav2_collision_monitor/src/main.cpp b/nav2_collision_monitor/src/collision_monitor_main.cpp similarity index 100% rename from nav2_collision_monitor/src/main.cpp rename to nav2_collision_monitor/src/collision_monitor_main.cpp diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp index fb330ab43dc..766ed713cd8 100644 --- a/nav2_collision_monitor/src/collision_monitor_node.cpp +++ b/nav2_collision_monitor/src/collision_monitor_node.cpp @@ -21,6 +21,7 @@ #include "tf2_ros/create_timer_ros.h" #include "nav2_util/node_utils.hpp" +#include "nav2_util/robot_utils.hpp" #include "nav2_collision_monitor/kinematics.hpp" @@ -62,16 +63,37 @@ CollisionMonitor::on_configure(const rclcpp_lifecycle::State & /*state*/) return nav2_util::CallbackReturn::FAILURE; } - cmd_vel_in_sub_ = this->create_subscription( - cmd_vel_in_topic, 1, - std::bind(&CollisionMonitor::cmdVelInCallback, this, std::placeholders::_1)); - cmd_vel_out_pub_ = this->create_publisher( - cmd_vel_out_topic, 1); + cmd_vel_in_sub_ = std::make_unique( + shared_from_this(), + cmd_vel_in_topic, + 1, + std::bind(&CollisionMonitor::cmdVelInCallbackUnstamped, this, std::placeholders::_1), + std::bind(&CollisionMonitor::cmdVelInCallbackStamped, this, std::placeholders::_1)); + + auto node = shared_from_this(); + cmd_vel_out_pub_ = std::make_unique(node, cmd_vel_out_topic, 1); + if (!state_topic.empty()) { state_pub_ = this->create_publisher( state_topic, 1); } + collision_points_marker_pub_ = this->create_publisher( + "~/collision_points_marker", 1); + + nav2_util::declare_parameter_if_not_declared( + node, "use_realtime_priority", rclcpp::ParameterValue(false)); + bool use_realtime_priority = false; + node->get_parameter("use_realtime_priority", use_realtime_priority); + if (use_realtime_priority) { + try { + nav2_util::setSoftRealTimePriority(); + } catch (const std::runtime_error & e) { + RCLCPP_ERROR(get_logger(), "%s", e.what()); + return nav2_util::CallbackReturn::FAILURE; + } + } + return nav2_util::CallbackReturn::SUCCESS; } @@ -85,6 +107,7 @@ CollisionMonitor::on_activate(const rclcpp_lifecycle::State & /*state*/) if (state_pub_) { state_pub_->on_activate(); } + collision_points_marker_pub_->on_activate(); // Activating polygons for (std::shared_ptr polygon : polygons_) { @@ -125,6 +148,7 @@ CollisionMonitor::on_deactivate(const rclcpp_lifecycle::State & /*state*/) if (state_pub_) { state_pub_->on_deactivate(); } + collision_points_marker_pub_->on_deactivate(); // Destroying bond connection destroyBond(); @@ -140,6 +164,7 @@ CollisionMonitor::on_cleanup(const rclcpp_lifecycle::State & /*state*/) cmd_vel_in_sub_.reset(); cmd_vel_out_pub_.reset(); state_pub_.reset(); + collision_points_marker_pub_.reset(); polygons_.clear(); sources_.clear(); @@ -158,12 +183,26 @@ CollisionMonitor::on_shutdown(const rclcpp_lifecycle::State & /*state*/) return nav2_util::CallbackReturn::SUCCESS; } -void CollisionMonitor::cmdVelInCallback(geometry_msgs::msg::Twist::ConstSharedPtr msg) +void CollisionMonitor::cmdVelInCallbackStamped(geometry_msgs::msg::TwistStamped::SharedPtr msg) +{ + // If message contains NaN or Inf, ignore + if (!nav2_util::validateTwist(*msg)) { + RCLCPP_ERROR(get_logger(), "Velocity message contains NaNs or Infs! Ignoring as invalid!"); + return; + } + + process({msg->twist.linear.x, msg->twist.linear.y, msg->twist.angular.z}, msg->header); +} + +void CollisionMonitor::cmdVelInCallbackUnstamped(geometry_msgs::msg::Twist::SharedPtr msg) { - process({msg->linear.x, msg->linear.y, msg->angular.z}); + auto twist_stamped = std::make_shared(); + twist_stamped->twist = *msg; + cmdVelInCallbackStamped(twist_stamped); } -void CollisionMonitor::publishVelocity(const Action & robot_action) +void CollisionMonitor::publishVelocity( + const Action & robot_action, const std_msgs::msg::Header & header) { if (robot_action.req_vel.isZero()) { if (!robot_action_prev_.req_vel.isZero()) { @@ -176,11 +215,11 @@ void CollisionMonitor::publishVelocity(const Action & robot_action) } } - std::unique_ptr cmd_vel_out_msg = - std::make_unique(); - cmd_vel_out_msg->linear.x = robot_action.req_vel.x; - cmd_vel_out_msg->linear.y = robot_action.req_vel.y; - cmd_vel_out_msg->angular.z = robot_action.req_vel.tw; + auto cmd_vel_out_msg = std::make_unique(); + cmd_vel_out_msg->header = header; + cmd_vel_out_msg->twist.linear.x = robot_action.req_vel.x; + cmd_vel_out_msg->twist.linear.y = robot_action.req_vel.y; + cmd_vel_out_msg->twist.angular.z = robot_action.req_vel.tw; // linear.z, angular.x and angular.y will remain 0.0 cmd_vel_out_pub_->publish(std::move(cmd_vel_out_msg)); @@ -198,7 +237,7 @@ bool CollisionMonitor::getParameters( auto node = shared_from_this(); nav2_util::declare_parameter_if_not_declared( - node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_raw")); + node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_smoothed")); cmd_vel_in_topic = get_parameter("cmd_vel_in_topic").as_string(); nav2_util::declare_parameter_if_not_declared( node, "cmd_vel_out_topic", rclcpp::ParameterValue("cmd_vel")); @@ -252,8 +291,9 @@ bool CollisionMonitor::configurePolygons( try { auto node = shared_from_this(); + // Leave it to be not initialized: to intentionally cause an error if it will not set nav2_util::declare_parameter_if_not_declared( - node, "polygons", rclcpp::ParameterValue(std::vector())); + node, "polygons", rclcpp::PARAMETER_STRING_ARRAY); std::vector polygon_names = get_parameter("polygons").as_string_array(); for (std::string polygon_name : polygon_names) { // Leave it not initialized: the will cause an error if it will not set @@ -269,6 +309,10 @@ bool CollisionMonitor::configurePolygons( polygons_.push_back( std::make_shared( node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); + } else if (polygon_type == "velocity_polygon") { + polygons_.push_back( + std::make_shared( + node, polygon_name, tf_buffer_, base_frame_id, transform_tolerance)); } else { // Error if something else RCLCPP_ERROR( get_logger(), @@ -334,6 +378,13 @@ bool CollisionMonitor::configureSources( r->configure(); sources_.push_back(r); + } else if (source_type == "polygon") { + std::shared_ptr ps = std::make_shared( + node, source_name, tf_buffer_, base_frame_id, odom_frame_id, + transform_tolerance, source_timeout, base_shift_correction); + ps->configure(); + + sources_.push_back(ps); } else { // Error if something else RCLCPP_ERROR( get_logger(), @@ -350,7 +401,7 @@ bool CollisionMonitor::configureSources( return true; } -void CollisionMonitor::process(const Velocity & cmd_vel_in) +void CollisionMonitor::process(const Velocity & cmd_vel_in, const std_msgs::msg::Header & header) { // Current timestamp for all inner routines prolongation rclcpp::Time curr_time = this->now(); @@ -363,26 +414,72 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in) // Points array collected from different data sources in a robot base frame std::vector collision_points; - // Fill collision_points array from different data sources - for (std::shared_ptr source : sources_) { - source->getData(curr_time, collision_points); - } - // By default - there is no action Action robot_action{DO_NOTHING, cmd_vel_in, ""}; // Polygon causing robot action (if any) std::shared_ptr action_polygon; + // Fill collision_points array from different data sources + for (std::shared_ptr source : sources_) { + if (source->getEnabled()) { + if (!source->getData(curr_time, collision_points) && + source->getSourceTimeout().seconds() != 0.0) + { + action_polygon = nullptr; + robot_action.polygon_name = "invalid source"; + robot_action.action_type = STOP; + robot_action.req_vel.x = 0.0; + robot_action.req_vel.y = 0.0; + robot_action.req_vel.tw = 0.0; + break; + } + } + } + + if (collision_points_marker_pub_->get_subscription_count() > 0) { + // visualize collision points with markers + auto marker_array = std::make_unique(); + visualization_msgs::msg::Marker marker; + marker.header.frame_id = get_parameter("base_frame_id").as_string(); + marker.header.stamp = rclcpp::Time(0, 0); + marker.ns = "collision_points"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::POINTS; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.scale.x = 0.02; + marker.scale.y = 0.02; + marker.color.r = 1.0; + marker.color.a = 1.0; + marker.lifetime = rclcpp::Duration(0, 0); + marker.frame_locked = true; + + for (const auto & point : collision_points) { + geometry_msgs::msg::Point p; + p.x = point.x; + p.y = point.y; + p.z = 0.0; + marker.points.push_back(p); + } + marker_array->markers.push_back(marker); + collision_points_marker_pub_->publish(std::move(marker_array)); + } + for (std::shared_ptr polygon : polygons_) { + if (!polygon->getEnabled()) { + continue; + } if (robot_action.action_type == STOP) { // If robot already should stop, do nothing break; } + // Update polygon coordinates + polygon->updatePolygon(cmd_vel_in); + const ActionType at = polygon->getActionType(); - if (at == STOP || at == SLOWDOWN) { + if (at == STOP || at == SLOWDOWN || at == LIMIT) { // Process STOP/SLOWDOWN for the selected polygon - if (processStopSlowdown(polygon, collision_points, cmd_vel_in, robot_action)) { + if (processStopSlowdownLimit(polygon, collision_points, cmd_vel_in, robot_action)) { action_polygon = polygon; } } else if (at == APPROACH) { @@ -398,8 +495,8 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in) notifyActionState(robot_action, action_polygon); } - // Publish requred robot velocity - publishVelocity(robot_action); + // Publish required robot velocity + publishVelocity(robot_action, header); // Publish polygons for better visualization publishPolygons(); @@ -407,7 +504,7 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in) robot_action_prev_ = robot_action; } -bool CollisionMonitor::processStopSlowdown( +bool CollisionMonitor::processStopSlowdownLimit( const std::shared_ptr polygon, const std::vector & collision_points, const Velocity & velocity, @@ -426,7 +523,7 @@ bool CollisionMonitor::processStopSlowdown( robot_action.req_vel.y = 0.0; robot_action.req_vel.tw = 0.0; return true; - } else { // SLOWDOWN + } else if (polygon->getActionType() == SLOWDOWN) { const Velocity safe_vel = velocity * polygon->getSlowdownRatio(); // Check that currently calculated velocity is safer than // chosen for previous shapes one @@ -436,6 +533,26 @@ bool CollisionMonitor::processStopSlowdown( robot_action.req_vel = safe_vel; return true; } + } else { // Limit + // Compute linear velocity + const double linear_vel = std::hypot(velocity.x, velocity.y); // absolute + Velocity safe_vel; + double ratio = 1.0; + if (linear_vel != 0.0) { + ratio = std::clamp(polygon->getLinearLimit() / linear_vel, 0.0, 1.0); + } + safe_vel.x = velocity.x * ratio; + safe_vel.y = velocity.y * ratio; + safe_vel.tw = std::clamp( + velocity.tw, -polygon->getAngularLimit(), polygon->getAngularLimit()); + // Check that currently calculated velocity is safer than + // chosen for previous shapes one + if (safe_vel < robot_action.req_vel) { + robot_action.polygon_name = polygon->getName(); + robot_action.action_type = LIMIT; + robot_action.req_vel = safe_vel; + return true; + } } } @@ -448,8 +565,6 @@ bool CollisionMonitor::processApproach( const Velocity & velocity, Action & robot_action) const { - polygon->updatePolygon(); - if (!polygon->isShapeSet()) { return false; } @@ -477,16 +592,29 @@ void CollisionMonitor::notifyActionState( const Action & robot_action, const std::shared_ptr action_polygon) const { if (robot_action.action_type == STOP) { - RCLCPP_INFO( - get_logger(), - "Robot to stop due to %s polygon", - action_polygon->getName().c_str()); + if (robot_action.polygon_name == "invalid source") { + RCLCPP_WARN( + get_logger(), + "Robot to stop due to invalid source." + " Either due to data not published yet, or to lack of new data received within the" + " sensor timeout, or if impossible to transform data to base frame"); + } else { + RCLCPP_INFO( + get_logger(), + "Robot to stop due to %s polygon", + action_polygon->getName().c_str()); + } } else if (robot_action.action_type == SLOWDOWN) { RCLCPP_INFO( get_logger(), "Robot to slowdown for %f percents due to %s polygon", action_polygon->getSlowdownRatio() * 100, action_polygon->getName().c_str()); + } else if (robot_action.action_type == LIMIT) { + RCLCPP_INFO( + get_logger(), + "Robot to limit speed due to %s polygon", + action_polygon->getName().c_str()); } else if (robot_action.action_type == APPROACH) { RCLCPP_INFO( get_logger(), @@ -511,7 +639,9 @@ void CollisionMonitor::notifyActionState( void CollisionMonitor::publishPolygons() const { for (std::shared_ptr polygon : polygons_) { - polygon->publish(); + if (polygon->getEnabled()) { + polygon->publish(); + } } } diff --git a/nav2_collision_monitor/src/pointcloud.cpp b/nav2_collision_monitor/src/pointcloud.cpp index 4582703b2f4..77daab68055 100644 --- a/nav2_collision_monitor/src/pointcloud.cpp +++ b/nav2_collision_monitor/src/pointcloud.cpp @@ -17,6 +17,7 @@ #include #include "sensor_msgs/point_cloud2_iterator.hpp" +#include "tf2/transform_datatypes.h" #include "nav2_util/node_utils.hpp" #include "nav2_util/robot_utils.hpp" @@ -49,6 +50,7 @@ PointCloud::~PointCloud() void PointCloud::configure() { + Source::configure(); auto node = node_.lock(); if (!node) { throw std::runtime_error{"Failed to lock node"}; @@ -64,42 +66,22 @@ void PointCloud::configure() std::bind(&PointCloud::dataCallback, this, std::placeholders::_1)); } -void PointCloud::getData( +bool PointCloud::getData( const rclcpp::Time & curr_time, - std::vector & data) const + std::vector & data) { // Ignore data from the source if it is not being published yet or // not published for a long time if (data_ == nullptr) { - return; + return false; } if (!sourceValid(data_->header.stamp, curr_time)) { - return; + return false; } tf2::Transform tf_transform; - if (base_shift_correction_) { - // Obtaining the transform to get data from source frame and time where it was received - // to the base frame and current time - if ( - !nav2_util::getTransform( - data_->header.frame_id, data_->header.stamp, - base_frame_id_, curr_time, global_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } - } else { - // Obtaining the transform to get data from source frame to base frame without time shift - // considered. Less accurate but much more faster option not dependent on state estimation - // frames. - if ( - !nav2_util::getTransform( - data_->header.frame_id, base_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } + if (!getTransform(curr_time, data_->header, tf_transform)) { + return false; } sensor_msgs::PointCloud2ConstIterator iter_x(*data_, "x"); @@ -117,6 +99,7 @@ void PointCloud::getData( data.push_back({p_v3_b.x(), p_v3_b.y()}); } } + return true; } void PointCloud::getParameters(std::string & source_topic) diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp index edde883c95c..08910c91458 100644 --- a/nav2_collision_monitor/src/polygon.cpp +++ b/nav2_collision_monitor/src/polygon.cpp @@ -19,9 +19,11 @@ #include "geometry_msgs/msg/point.hpp" #include "geometry_msgs/msg/point32.hpp" +#include "tf2/transform_datatypes.h" #include "nav2_util/node_utils.hpp" #include "nav2_util/robot_utils.hpp" +#include "nav2_util/array_parser.hpp" #include "nav2_collision_monitor/kinematics.hpp" @@ -35,7 +37,8 @@ Polygon::Polygon( const std::string & base_frame_id, const tf2::Duration & transform_tolerance) : node_(node), polygon_name_(polygon_name), action_type_(DO_NOTHING), - slowdown_ratio_(0.0), footprint_sub_(nullptr), tf_buffer_(tf_buffer), + slowdown_ratio_(0.0), linear_limit_(0.0), angular_limit_(0.0), + footprint_sub_(nullptr), tf_buffer_(tf_buffer), base_frame_id_(base_frame_id), transform_tolerance_(transform_tolerance) { RCLCPP_INFO(logger_, "[%s]: Creating Polygon", polygon_name_.c_str()); @@ -47,6 +50,7 @@ Polygon::~Polygon() polygon_sub_.reset(); polygon_pub_.reset(); poly_.clear(); + dyn_params_handler_.reset(); } bool Polygon::configure() @@ -62,16 +66,7 @@ bool Polygon::configure() return false; } - if (!polygon_sub_topic.empty()) { - RCLCPP_INFO( - logger_, - "[%s]: Subscribing on %s topic for polygon", - polygon_name_.c_str(), polygon_sub_topic.c_str()); - rclcpp::QoS polygon_qos = rclcpp::SystemDefaultsQoS(); // set to default - polygon_sub_ = node->create_subscription( - polygon_sub_topic, polygon_qos, - std::bind(&Polygon::polygonCallback, this, std::placeholders::_1)); - } + createSubscription(polygon_sub_topic); if (!footprint_topic.empty()) { RCLCPP_INFO( @@ -101,6 +96,10 @@ bool Polygon::configure() polygon_pub_topic, polygon_qos); } + // Add callback for dynamic parameters + dyn_params_handler_ = node->add_on_set_parameters_callback( + std::bind(&Polygon::dynamicParametersCallback, this, std::placeholders::_1)); + return true; } @@ -128,6 +127,11 @@ ActionType Polygon::getActionType() const return action_type_; } +bool Polygon::getEnabled() const +{ + return enabled_; +} + int Polygon::getMinPoints() const { return min_points_; @@ -138,6 +142,16 @@ double Polygon::getSlowdownRatio() const return slowdown_ratio_; } +double Polygon::getLinearLimit() const +{ + return linear_limit_; +} + +double Polygon::getAngularLimit() const +{ + return angular_limit_; +} + double Polygon::getTimeBeforeCollision() const { return time_before_collision_; @@ -157,7 +171,7 @@ bool Polygon::isShapeSet() return true; } -void Polygon::updatePolygon() +void Polygon::updatePolygon(const Velocity & /*cmd_vel_in*/) { if (footprint_sub_ != nullptr) { // Get latest robot footprint from footprint subscriber @@ -177,6 +191,30 @@ void Polygon::updatePolygon() p_s.y = footprint_vec[i].y; polygon_.polygon.points[i] = p_s; } + } else if (!polygon_.header.frame_id.empty() && polygon_.header.frame_id != base_frame_id_) { + // Polygon is published in another frame: correct poly_ vertices to the latest frame state + std::size_t new_size = polygon_.polygon.points.size(); + + // Get the transform from PolygonStamped frame to base_frame_id_ + tf2::Stamped tf_transform; + if ( + !nav2_util::getTransform( + polygon_.header.frame_id, base_frame_id_, + transform_tolerance_, tf_buffer_, tf_transform)) + { + return; + } + + // Correct main poly_ vertices + poly_.resize(new_size); + for (std::size_t i = 0; i < new_size; i++) { + // Transform point coordinates from PolygonStamped frame -> to base frame + tf2::Vector3 p_v3_s(polygon_.polygon.points[i].x, polygon_.polygon.points[i].y, 0.0); + tf2::Vector3 p_v3_b = tf_transform * p_v3_s; + + // Fill poly_ array + poly_[i] = {p_v3_b.x(), p_v3_b.y()}; + } } } @@ -238,7 +276,11 @@ void Polygon::publish() polygon_pub_->publish(std::move(msg)); } -bool Polygon::getCommonParameters(std::string & polygon_pub_topic) +bool Polygon::getCommonParameters( + std::string & polygon_sub_topic, + std::string & polygon_pub_topic, + std::string & footprint_topic, + bool use_dynamic_sub_topic) { auto node = node_.lock(); if (!node) { @@ -256,13 +298,21 @@ bool Polygon::getCommonParameters(std::string & polygon_pub_topic) action_type_ = STOP; } else if (at_str == "slowdown") { action_type_ = SLOWDOWN; + } else if (at_str == "limit") { + action_type_ = LIMIT; } else if (at_str == "approach") { action_type_ = APPROACH; + } else if (at_str == "none") { + action_type_ = DO_NOTHING; } else { // Error if something else RCLCPP_ERROR(logger_, "[%s]: Unknown action type: %s", polygon_name_.c_str(), at_str.c_str()); return false; } + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".enabled", rclcpp::ParameterValue(true)); + enabled_ = node->get_parameter(polygon_name_ + ".enabled").as_bool(); + nav2_util::declare_parameter_if_not_declared( node, polygon_name_ + ".min_points", rclcpp::ParameterValue(4)); min_points_ = node->get_parameter(polygon_name_ + ".min_points").as_int(); @@ -286,6 +336,15 @@ bool Polygon::getCommonParameters(std::string & polygon_pub_topic) slowdown_ratio_ = node->get_parameter(polygon_name_ + ".slowdown_ratio").as_double(); } + if (action_type_ == LIMIT) { + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".linear_limit", rclcpp::ParameterValue(0.5)); + linear_limit_ = node->get_parameter(polygon_name_ + ".linear_limit").as_double(); + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".angular_limit", rclcpp::ParameterValue(0.5)); + angular_limit_ = node->get_parameter(polygon_name_ + ".angular_limit").as_double(); + } + if (action_type_ == APPROACH) { nav2_util::declare_parameter_if_not_declared( node, polygon_name_ + ".time_before_collision", rclcpp::ParameterValue(2.0)); @@ -306,6 +365,28 @@ bool Polygon::getCommonParameters(std::string & polygon_pub_topic) node, polygon_name_ + ".polygon_pub_topic", rclcpp::ParameterValue(polygon_name_)); polygon_pub_topic = node->get_parameter(polygon_name_ + ".polygon_pub_topic").as_string(); } + + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".polygon_subscribe_transient_local", rclcpp::ParameterValue(false)); + polygon_subscribe_transient_local_ = + node->get_parameter(polygon_name_ + ".polygon_subscribe_transient_local").as_bool(); + + if (use_dynamic_sub_topic) { + if (action_type_ != APPROACH) { + // Get polygon sub topic + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".polygon_sub_topic", rclcpp::PARAMETER_STRING); + polygon_sub_topic = + node->get_parameter(polygon_name_ + ".polygon_sub_topic").as_string(); + } else { + // Obtain the footprint topic to make a footprint subscription for approach polygon + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".footprint_topic", + rclcpp::ParameterValue("local_costmap/published_footprint")); + footprint_topic = + node->get_parameter(polygon_name_ + ".footprint_topic").as_string(); + } + } } catch (const std::exception & ex) { RCLCPP_ERROR( logger_, @@ -327,78 +408,64 @@ bool Polygon::getParameters( throw std::runtime_error{"Failed to lock node"}; } - if (!getCommonParameters(polygon_pub_topic)) { - return false; - } - // Clear the subscription topics. They will be set later, if necessary. polygon_sub_topic.clear(); footprint_topic.clear(); + bool use_dynamic_sub = true; // if getting parameter points fails, use dynamic subscription try { - try { - // Leave it uninitialized: it will throw an inner exception if the parameter is not set - nav2_util::declare_parameter_if_not_declared( - node, polygon_name_ + ".points", rclcpp::PARAMETER_DOUBLE_ARRAY); - std::vector poly_row = - node->get_parameter(polygon_name_ + ".points").as_double_array(); - // Check for points format correctness - if (poly_row.size() <= 6 || poly_row.size() % 2 != 0) { - RCLCPP_ERROR( - logger_, - "[%s]: Polygon has incorrect points description", - polygon_name_.c_str()); - return false; - } + // Leave it uninitialized: it will throw an inner exception if the parameter is not set + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".points", rclcpp::PARAMETER_STRING); + std::string poly_string = + node->get_parameter(polygon_name_ + ".points").as_string(); - // Obtain polygon vertices - Point point; - bool first = true; - for (double val : poly_row) { - if (first) { - point.x = val; - } else { - point.y = val; - poly_.push_back(point); - } - first = !first; - } + use_dynamic_sub = !getPolygonFromString(poly_string, poly_); + } catch (const rclcpp::exceptions::ParameterUninitializedException &) { + RCLCPP_INFO( + logger_, + "[%s]: Polygon points are not defined. Using dynamic subscription instead.", + polygon_name_.c_str()); + } - // Do not need to proceed further, if "points" parameter is defined. - // Static polygon will be used. - return true; - } catch (const rclcpp::exceptions::ParameterUninitializedException &) { - RCLCPP_INFO( + if (!getCommonParameters( + polygon_sub_topic, polygon_pub_topic, footprint_topic, use_dynamic_sub)) + { + if (use_dynamic_sub && polygon_sub_topic.empty() && footprint_topic.empty()) { + RCLCPP_ERROR( logger_, - "[%s]: Polygon points are not defined. Using dynamic subscription instead.", + "[%s]: Error while getting polygon parameters:" + " static points and sub topic both not defined", polygon_name_.c_str()); } - - if (action_type_ == STOP || action_type_ == SLOWDOWN) { - // Dynamic polygon will be used - nav2_util::declare_parameter_if_not_declared( - node, polygon_name_ + ".polygon_sub_topic", rclcpp::PARAMETER_STRING); - polygon_sub_topic = - node->get_parameter(polygon_name_ + ".polygon_sub_topic").as_string(); - } else if (action_type_ == APPROACH) { - // Obtain the footprint topic to make a footprint subscription for approach polygon - nav2_util::declare_parameter_if_not_declared( - node, polygon_name_ + ".footprint_topic", - rclcpp::ParameterValue("local_costmap/published_footprint")); - footprint_topic = - node->get_parameter(polygon_name_ + ".footprint_topic").as_string(); - } - } catch (const std::exception & ex) { - RCLCPP_ERROR( - logger_, - "[%s]: Error while getting polygon parameters: %s", - polygon_name_.c_str(), ex.what()); return false; } return true; } +void Polygon::createSubscription(std::string & polygon_sub_topic) +{ + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + + if (!polygon_sub_topic.empty()) { + RCLCPP_INFO( + logger_, + "[%s]: Subscribing on %s topic for polygon", + polygon_name_.c_str(), polygon_sub_topic.c_str()); + rclcpp::QoS polygon_qos = rclcpp::SystemDefaultsQoS(); // set to default + if (polygon_subscribe_transient_local_) { + polygon_qos.transient_local(); + } + polygon_sub_ = node->create_subscription( + polygon_sub_topic, polygon_qos, + std::bind(&Polygon::polygonCallback, this, std::placeholders::_1)); + } +} + void Polygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg) { std::size_t new_size = msg->polygon.points.size(); @@ -412,7 +479,7 @@ void Polygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr m } // Get the transform from PolygonStamped frame to base_frame_id_ - tf2::Transform tf_transform; + tf2::Stamped tf_transform; if ( !nav2_util::getTransform( msg->header.frame_id, base_frame_id_, @@ -421,7 +488,7 @@ void Polygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr m return; } - // Set main polygon vertices + // Set main poly_ vertices first time poly_.resize(new_size); for (std::size_t i = 0; i < new_size; i++) { // Transform point coordinates from PolygonStamped frame -> to base frame @@ -432,10 +499,29 @@ void Polygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr m poly_[i] = {p_v3_b.x(), p_v3_b.y()}; } - if (visualize_) { - // Store polygon_ for visualization - polygon_ = *msg; + // Store incoming polygon for further (possible) poly_ vertices corrections + // from PolygonStamped frame -> to base frame + polygon_ = *msg; +} + +rcl_interfaces::msg::SetParametersResult +Polygon::dynamicParametersCallback( + std::vector parameters) +{ + rcl_interfaces::msg::SetParametersResult result; + + for (auto parameter : parameters) { + const auto & param_type = parameter.get_type(); + const auto & param_name = parameter.get_name(); + + if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) { + if (param_name == polygon_name_ + "." + "enabled") { + enabled_ = parameter.as_bool(); + } + } } + result.successful = true; + return result; } void Polygon::polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg) @@ -479,4 +565,45 @@ inline bool Polygon::isPointInside(const Point & point) const return res; } +bool Polygon::getPolygonFromString( + std::string & poly_string, + std::vector & polygon) +{ + std::string error; + std::vector> vvf = nav2_util::parseVVF(poly_string, error); + + if (error != "") { + RCLCPP_ERROR( + logger_, "Error parsing polygon parameter %s: '%s'", + poly_string.c_str(), error.c_str()); + return false; + } + + // Check for minimum 4 points + if (vvf.size() <= 3) { + RCLCPP_ERROR( + logger_, + "Polygon must have at least three points."); + return false; + } + for (unsigned int i = 0; i < vvf.size(); i++) { + if (vvf[i].size() == 2) { + Point point; + point.x = vvf[i][0]; + point.y = vvf[i][1]; + polygon.push_back(point); + } else { + RCLCPP_ERROR( + logger_, + "Points in the polygon specification must be pairs of numbers" + "Found a point with %d numbers.", + static_cast(vvf[i].size())); + polygon.clear(); + return false; + } + } + + return true; +} + } // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/src/polygon_source.cpp b/nav2_collision_monitor/src/polygon_source.cpp new file mode 100644 index 00000000000..149ac43153f --- /dev/null +++ b/nav2_collision_monitor/src/polygon_source.cpp @@ -0,0 +1,186 @@ +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "nav2_collision_monitor/polygon_source.hpp" + +#include +#include + +#include "geometry_msgs/msg/polygon_stamped.hpp" +#include "tf2/transform_datatypes.h" + +#include "nav2_util/node_utils.hpp" +#include "nav2_util/robot_utils.hpp" + + +namespace nav2_collision_monitor +{ + +PolygonSource::PolygonSource( + const nav2_util::LifecycleNode::WeakPtr & node, + const std::string & source_name, + const std::shared_ptr tf_buffer, + const std::string & base_frame_id, + const std::string & global_frame_id, + const tf2::Duration & transform_tolerance, + const rclcpp::Duration & source_timeout, + const bool base_shift_correction) +: Source( + node, source_name, tf_buffer, base_frame_id, global_frame_id, + transform_tolerance, source_timeout, base_shift_correction) +{ +} + +PolygonSource::~PolygonSource() +{ + data_sub_.reset(); +} + +void PolygonSource::configure() +{ + Source::configure(); + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + + std::string source_topic; + + getParameters(source_topic); + + rclcpp::QoS qos = rclcpp::SensorDataQoS(); // set to default + data_sub_ = node->create_subscription( + source_topic, qos, + std::bind(&PolygonSource::dataCallback, this, std::placeholders::_1)); +} + +bool PolygonSource::getData( + const rclcpp::Time & curr_time, + std::vector & data) +{ + // Ignore data from the source if it is not being published yet or + // not published for a long time + if (data_.empty()) { + return false; + } + + // Remove stale data + data_.erase( + std::remove_if( + data_.begin(), data_.end(), + [this, curr_time](const geometry_msgs::msg::PolygonInstanceStamped & polygon_stamped) { + return curr_time - rclcpp::Time(polygon_stamped.header.stamp) > source_timeout_; + }), data_.end()); + + tf2::Stamped tf_transform; + for (const auto & polygon_instance : data_) { + if (base_shift_correction_) { + // Obtaining the transform to get data from source frame and time where it was received + // to the base frame and current time + if ( + !nav2_util::getTransform( + polygon_instance.header.frame_id, polygon_instance.header.stamp, + base_frame_id_, curr_time, global_frame_id_, + transform_tolerance_, tf_buffer_, tf_transform)) + { + return false; + } + } else { + // Obtaining the transform to get data from source frame to base frame without time shift + // considered. Less accurate but much more faster option not dependent on state estimation + // frames. + if ( + !nav2_util::getTransform( + polygon_instance.header.frame_id, base_frame_id_, + transform_tolerance_, tf_buffer_, tf_transform)) + { + return false; + } + } + geometry_msgs::msg::PolygonStamped poly_out, polygon_stamped; + geometry_msgs::msg::TransformStamped tf = tf2::toMsg(tf_transform); + polygon_stamped.header = polygon_instance.header; + polygon_stamped.polygon = polygon_instance.polygon.polygon; + tf2::doTransform(polygon_stamped, poly_out, tf); + convertPolygonStampedToPoints(poly_out, data); + } + return true; +} + +void PolygonSource::convertPolygonStampedToPoints( + const geometry_msgs::msg::PolygonStamped & polygon, std::vector & data) const +{ + /* Full function generated by GPT */ + + // Iterate over the vertices of the polygon + for (size_t i = 0; i < polygon.polygon.points.size(); ++i) { + const auto & current_point = polygon.polygon.points[i]; + const auto & next_point = + polygon.polygon.points[(i + 1) % polygon.polygon.points.size()]; + + // Calculate the distance between the current and next points + double segment_length = + std::hypot(next_point.x - current_point.x, next_point.y - current_point.y); + + // Calculate the number of points to sample in the current segment + int num_points_in_segment = + std::max(static_cast(std::ceil(segment_length / sampling_distance_)), 1); + + // Calculate the step size for each pair of vertices + const double dx = (next_point.x - current_point.x) / num_points_in_segment; + const double dy = (next_point.y - current_point.y) / num_points_in_segment; + + // Sample the points with equal spacing + for (int j = 0; j <= num_points_in_segment; ++j) { + Point p; + p.x = current_point.x + j * dx; + p.y = current_point.y + j * dy; + data.push_back(p); + } + } +} + +void PolygonSource::getParameters(std::string & source_topic) +{ + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + + getCommonParameters(source_topic); + + nav2_util::declare_parameter_if_not_declared( + node, source_name_ + ".sampling_distance", rclcpp::ParameterValue(0.1)); + sampling_distance_ = node->get_parameter(source_name_ + ".sampling_distance").as_double(); +} + +void PolygonSource::dataCallback(geometry_msgs::msg::PolygonInstanceStamped::ConstSharedPtr msg) +{ + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + auto curr_time = node->now(); + + // check if older similar polygon exists already and replace it with the new one + for (auto & polygon_stamped : data_) { + if (msg->polygon.id == polygon_stamped.polygon.id) { + polygon_stamped = *msg; + return; + } + } + data_.push_back(*msg); +} + +} // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/src/range.cpp b/nav2_collision_monitor/src/range.cpp index 556e35da466..fe555b171f3 100644 --- a/nav2_collision_monitor/src/range.cpp +++ b/nav2_collision_monitor/src/range.cpp @@ -18,6 +18,8 @@ #include #include +#include "tf2/transform_datatypes.h" + #include "nav2_util/node_utils.hpp" #include "nav2_util/robot_utils.hpp" @@ -49,6 +51,7 @@ Range::~Range() void Range::configure() { + Source::configure(); auto node = node_.lock(); if (!node) { throw std::runtime_error{"Failed to lock node"}; @@ -64,51 +67,31 @@ void Range::configure() std::bind(&Range::dataCallback, this, std::placeholders::_1)); } -void Range::getData( +bool Range::getData( const rclcpp::Time & curr_time, - std::vector & data) const + std::vector & data) { // Ignore data from the source if it is not being published yet or // not being published for a long time if (data_ == nullptr) { - return; + return false; } if (!sourceValid(data_->header.stamp, curr_time)) { - return; + return false; } // Ignore data, if its range is out of scope of range sensor abilities if (data_->range < data_->min_range || data_->range > data_->max_range) { - RCLCPP_WARN( + RCLCPP_DEBUG( logger_, "[%s]: Data range %fm is out of {%f..%f} sensor span. Ignoring...", source_name_.c_str(), data_->range, data_->min_range, data_->max_range); - return; + return false; } tf2::Transform tf_transform; - if (base_shift_correction_) { - // Obtaining the transform to get data from source frame and time where it was received - // to the base frame and current time - if ( - !nav2_util::getTransform( - data_->header.frame_id, data_->header.stamp, - base_frame_id_, curr_time, global_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } - } else { - // Obtaining the transform to get data from source frame to base frame without time shift - // considered. Less accurate but much more faster option not dependent on state estimation - // frames. - if ( - !nav2_util::getTransform( - data_->header.frame_id, base_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } + if (!getTransform(curr_time, data_->header, tf_transform)) { + return false; } // Calculate poses and refill data array @@ -141,6 +124,8 @@ void Range::getData( // Refill data array data.push_back({p_v3_b.x(), p_v3_b.y()}); + + return true; } void Range::getParameters(std::string & source_topic) diff --git a/nav2_collision_monitor/src/scan.cpp b/nav2_collision_monitor/src/scan.cpp index 731ee8baa8b..f891df69a0a 100644 --- a/nav2_collision_monitor/src/scan.cpp +++ b/nav2_collision_monitor/src/scan.cpp @@ -17,6 +17,8 @@ #include #include +#include "tf2/transform_datatypes.h" + #include "nav2_util/robot_utils.hpp" namespace nav2_collision_monitor @@ -47,6 +49,7 @@ Scan::~Scan() void Scan::configure() { + Source::configure(); auto node = node_.lock(); if (!node) { throw std::runtime_error{"Failed to lock node"}; @@ -63,42 +66,22 @@ void Scan::configure() std::bind(&Scan::dataCallback, this, std::placeholders::_1)); } -void Scan::getData( +bool Scan::getData( const rclcpp::Time & curr_time, - std::vector & data) const + std::vector & data) { // Ignore data from the source if it is not being published yet or // not being published for a long time if (data_ == nullptr) { - return; + return false; } if (!sourceValid(data_->header.stamp, curr_time)) { - return; + return false; } tf2::Transform tf_transform; - if (base_shift_correction_) { - // Obtaining the transform to get data from source frame and time where it was received - // to the base frame and current time - if ( - !nav2_util::getTransform( - data_->header.frame_id, data_->header.stamp, - base_frame_id_, curr_time, global_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } - } else { - // Obtaining the transform to get data from source frame to base frame without time shift - // considered. Less accurate but much more faster option not dependent on state estimation - // frames. - if ( - !nav2_util::getTransform( - data_->header.frame_id, base_frame_id_, - transform_tolerance_, tf_buffer_, tf_transform)) - { - return; - } + if (!getTransform(curr_time, data_->header, tf_transform)) { + return false; } // Calculate poses and refill data array @@ -117,6 +100,7 @@ void Scan::getData( } angle += data_->angle_increment; } + return true; } void Scan::dataCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr msg) diff --git a/nav2_collision_monitor/src/source.cpp b/nav2_collision_monitor/src/source.cpp index df539495f25..c7aafd06ace 100644 --- a/nav2_collision_monitor/src/source.cpp +++ b/nav2_collision_monitor/src/source.cpp @@ -19,6 +19,7 @@ #include "geometry_msgs/msg/transform_stamped.hpp" #include "nav2_util/node_utils.hpp" +#include "nav2_util/robot_utils.hpp" namespace nav2_collision_monitor { @@ -43,6 +44,17 @@ Source::~Source() { } +bool Source::configure() +{ + auto node = node_.lock(); + + // Add callback for dynamic parameters + dyn_params_handler_ = node->add_on_set_parameters_callback( + std::bind(&Source::dynamicParametersCallback, this, std::placeholders::_1)); + + return true; +} + void Source::getCommonParameters(std::string & source_topic) { auto node = node_.lock(); @@ -54,6 +66,16 @@ void Source::getCommonParameters(std::string & source_topic) node, source_name_ + ".topic", rclcpp::ParameterValue("scan")); // Set deafult topic for laser scanner source_topic = node->get_parameter(source_name_ + ".topic").as_string(); + + nav2_util::declare_parameter_if_not_declared( + node, source_name_ + ".enabled", rclcpp::ParameterValue(true)); + enabled_ = node->get_parameter(source_name_ + ".enabled").as_bool(); + + nav2_util::declare_parameter_if_not_declared( + node, source_name_ + ".source_timeout", + rclcpp::ParameterValue(source_timeout_.seconds())); // node source_timeout by default + source_timeout_ = rclcpp::Duration::from_seconds( + node->get_parameter(source_name_ + ".source_timeout").as_double()); } bool Source::sourceValid( @@ -63,7 +85,7 @@ bool Source::sourceValid( // Source is considered as not valid, if latest received data timestamp is earlier // than current time by source_timeout_ interval const rclcpp::Duration dt = curr_time - source_time; - if (dt > source_timeout_) { + if (source_timeout_.seconds() != 0.0 && dt > source_timeout_) { RCLCPP_WARN( logger_, "[%s]: Latest source and current collision monitor node timestamps differ on %f seconds. " @@ -75,4 +97,65 @@ bool Source::sourceValid( return true; } +bool Source::getEnabled() const +{ + return enabled_; +} + +std::string Source::getSourceName() const +{ + return source_name_; +} + +rclcpp::Duration Source::getSourceTimeout() const +{ + return source_timeout_; +} + +rcl_interfaces::msg::SetParametersResult +Source::dynamicParametersCallback( + std::vector parameters) +{ + rcl_interfaces::msg::SetParametersResult result; + + for (auto parameter : parameters) { + const auto & param_type = parameter.get_type(); + const auto & param_name = parameter.get_name(); + + if (param_type == rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) { + if (param_name == source_name_ + "." + "enabled") { + enabled_ = parameter.as_bool(); + } + } + } + result.successful = true; + return result; +} + +bool Source::getTransform( + const rclcpp::Time & curr_time, + const std_msgs::msg::Header & data_header, + tf2::Transform & tf_transform) const +{ + if (base_shift_correction_) { + if ( + !nav2_util::getTransform( + data_header.frame_id, data_header.stamp, + base_frame_id_, curr_time, global_frame_id_, + transform_tolerance_, tf_buffer_, tf_transform)) + { + return false; + } + } else { + if ( + !nav2_util::getTransform( + data_header.frame_id, base_frame_id_, + transform_tolerance_, tf_buffer_, tf_transform)) + { + return false; + } + } + return true; +} + } // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/src/velocity_polygon.cpp b/nav2_collision_monitor/src/velocity_polygon.cpp new file mode 100644 index 00000000000..602a018c2bb --- /dev/null +++ b/nav2_collision_monitor/src/velocity_polygon.cpp @@ -0,0 +1,193 @@ +// Copyright (c) 2023 Dexory +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "nav2_collision_monitor/velocity_polygon.hpp" + +#include "nav2_util/node_utils.hpp" + +namespace nav2_collision_monitor +{ + +VelocityPolygon::VelocityPolygon( + const nav2_util::LifecycleNode::WeakPtr & node, const std::string & polygon_name, + const std::shared_ptr tf_buffer, const std::string & base_frame_id, + const tf2::Duration & transform_tolerance) +: Polygon::Polygon(node, polygon_name, tf_buffer, base_frame_id, transform_tolerance) +{ + RCLCPP_INFO(logger_, "[%s]: Creating VelocityPolygon", polygon_name_.c_str()); +} + +VelocityPolygon::~VelocityPolygon() +{ + RCLCPP_INFO(logger_, "[%s]: Destroying VelocityPolygon", polygon_name_.c_str()); +} + +bool VelocityPolygon::getParameters( + std::string & polygon_sub_topic, + std::string & polygon_pub_topic, + std::string & footprint_topic) +{ + auto node = node_.lock(); + if (!node) { + throw std::runtime_error{"Failed to lock node"}; + } + clock_ = node->get_clock(); + + if (!getCommonParameters(polygon_sub_topic, polygon_pub_topic, footprint_topic, false)) { + return false; + } + + try { + // Get velocity_polygons parameter + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".velocity_polygons", rclcpp::PARAMETER_STRING_ARRAY); + std::vector velocity_polygons = + node->get_parameter(polygon_name_ + ".velocity_polygons").as_string_array(); + + // holonomic param + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + ".holonomic", rclcpp::ParameterValue(false)); + holonomic_ = node->get_parameter(polygon_name_ + ".holonomic").as_bool(); + + for (std::string velocity_polygon_name : velocity_polygons) { + // polygon points parameter + std::vector poly; + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".points", rclcpp::PARAMETER_STRING); + std::string poly_string = + node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".points").as_string(); + + if (!getPolygonFromString(poly_string, poly)) { + return false; + } + + // linear_min param + double linear_min; + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".linear_min", + rclcpp::PARAMETER_DOUBLE); + linear_min = node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".linear_min") + .as_double(); + + // linear_max param + double linear_max; + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".linear_max", + rclcpp::PARAMETER_DOUBLE); + linear_max = node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".linear_max") + .as_double(); + + // theta_min param + double theta_min; + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".theta_min", + rclcpp::PARAMETER_DOUBLE); + theta_min = + node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".theta_min").as_double(); + + // theta_max param + double theta_max; + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".theta_max", + rclcpp::PARAMETER_DOUBLE); + theta_max = + node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".theta_max").as_double(); + + // direction_end_angle param and direction_start_angle param + double direction_end_angle = 0.0; + double direction_start_angle = 0.0; + if (holonomic_) { + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".direction_end_angle", + rclcpp::ParameterValue(M_PI)); + direction_end_angle = + node->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".direction_end_angle") + .as_double(); + + nav2_util::declare_parameter_if_not_declared( + node, polygon_name_ + "." + velocity_polygon_name + ".direction_start_angle", + rclcpp::ParameterValue(-M_PI)); + direction_start_angle = + node + ->get_parameter(polygon_name_ + "." + velocity_polygon_name + ".direction_start_angle") + .as_double(); + } + + SubPolygonParameter sub_polygon = { + poly, velocity_polygon_name, linear_min, linear_max, theta_min, + theta_max, direction_end_angle, direction_start_angle}; + sub_polygons_.push_back(sub_polygon); + } + } catch (const std::exception & ex) { + RCLCPP_ERROR( + logger_, "[%s]: Error while getting polygon parameters: %s", polygon_name_.c_str(), + ex.what()); + return false; + } + return true; +} + +void VelocityPolygon::updatePolygon(const Velocity & cmd_vel_in) +{ + for (auto & sub_polygon : sub_polygons_) { + if (isInRange(cmd_vel_in, sub_polygon)) { + // Set the polygon that is within the speed range + poly_ = sub_polygon.poly_; + + // Update visualization polygon + polygon_.polygon.points.clear(); + for (const Point & p : poly_) { + geometry_msgs::msg::Point32 p_s; + p_s.x = p.x; + p_s.y = p.y; + // p_s.z will remain 0.0 + polygon_.polygon.points.push_back(p_s); + } + return; + } + } + + // Log for uncovered velocity + RCLCPP_WARN_THROTTLE( + logger_, *clock_, 2.0, + "Velocity is not covered by any of the velocity polygons. x: %.3f y: %.3f tw: %.3f ", + cmd_vel_in.x, cmd_vel_in.y, cmd_vel_in.tw); + return; +} + +bool VelocityPolygon::isInRange( + const Velocity & cmd_vel_in, const SubPolygonParameter & sub_polygon) +{ + bool in_range = + (cmd_vel_in.x <= sub_polygon.linear_max_ && cmd_vel_in.x >= sub_polygon.linear_min_ && + cmd_vel_in.tw <= sub_polygon.theta_max_ && cmd_vel_in.tw >= sub_polygon.theta_min_); + + if (holonomic_) { + // Additionally check if moving direction in angle range(start -> end) for holonomic case + const double direction = std::atan2(cmd_vel_in.y, cmd_vel_in.x); + if (sub_polygon.direction_start_angle_ <= sub_polygon.direction_end_angle_) { + in_range &= + (direction >= sub_polygon.direction_start_angle_ && + direction <= sub_polygon.direction_end_angle_); + } else { + in_range &= + (direction >= sub_polygon.direction_start_angle_ || + direction <= sub_polygon.direction_end_angle_); + } + } + + return in_range; +} + +} // namespace nav2_collision_monitor diff --git a/nav2_collision_monitor/test/CMakeLists.txt b/nav2_collision_monitor/test/CMakeLists.txt index 77870826b88..2f879e1d396 100644 --- a/nav2_collision_monitor/test/CMakeLists.txt +++ b/nav2_collision_monitor/test/CMakeLists.txt @@ -4,7 +4,7 @@ ament_target_dependencies(kinematics_test ${dependencies} ) target_link_libraries(kinematics_test - ${library_name} + ${monitor_library_name} ) # Data sources test @@ -13,7 +13,7 @@ ament_target_dependencies(sources_test ${dependencies} ) target_link_libraries(sources_test - ${library_name} + ${monitor_library_name} ) # Polygon shapes test @@ -22,7 +22,16 @@ ament_target_dependencies(polygons_test ${dependencies} ) target_link_libraries(polygons_test - ${library_name} + ${monitor_library_name} +) + +# Velocity Polygon test +ament_add_gtest(velocity_polygons_test velocity_polygons_test.cpp) +ament_target_dependencies(velocity_polygons_test + ${dependencies} +) +target_link_libraries(velocity_polygons_test + ${monitor_library_name} ) # Collision Monitor node test @@ -31,5 +40,13 @@ ament_target_dependencies(collision_monitor_node_test ${dependencies} ) target_link_libraries(collision_monitor_node_test - ${library_name} + ${monitor_library_name} +) +# Collision Detector node test +ament_add_gtest(collision_detector_node_test collision_detector_node_test.cpp) +ament_target_dependencies(collision_detector_node_test + ${dependencies} ) +target_link_libraries(collision_detector_node_test + ${detector_library_name} +) \ No newline at end of file diff --git a/nav2_collision_monitor/test/collision_detector_node_test.cpp b/nav2_collision_monitor/test/collision_detector_node_test.cpp new file mode 100644 index 00000000000..da2ecbc98e8 --- /dev/null +++ b/nav2_collision_monitor/test/collision_detector_node_test.cpp @@ -0,0 +1,833 @@ +// Copyright (c) 2022 Samsung R&D Institute Russia +// Copyright (c) 2023 Pixel Robotics GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "sensor_msgs/msg/laser_scan.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "sensor_msgs/msg/range.hpp" +#include "sensor_msgs/point_cloud2_iterator.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/polygon_stamped.hpp" +#include "visualization_msgs/msg/marker_array.hpp" + +#include "tf2_ros/transform_broadcaster.h" + +#include "nav2_collision_monitor/types.hpp" +#include "nav2_collision_monitor/collision_detector_node.hpp" + +using namespace std::chrono_literals; + +static constexpr double EPSILON = 1e-5; + +static const char BASE_FRAME_ID[]{"base_link"}; +static const char SOURCE_FRAME_ID[]{"base_source"}; +static const char ODOM_FRAME_ID[]{"odom"}; +static const char SCAN_NAME[]{"Scan"}; +static const char POINTCLOUD_NAME[]{"PointCloud"}; +static const char RANGE_NAME[]{"Range"}; +static const char POLYGON_NAME[]{"Polygon"}; +static const char STATE_TOPIC[]{"collision_detector_state"}; +static const char COLLISION_POINTS_MARKERS_TOPIC[]{"/collision_detector/collision_points_marker"}; +static const int MIN_POINTS{1}; +static const double SIMULATION_TIME_STEP{0.01}; +static const double TRANSFORM_TOLERANCE{0.5}; +static const double SOURCE_TIMEOUT{5.0}; +static const double FREQUENCY{10.0}; + +enum PolygonType +{ + POLYGON_UNKNOWN = 0, + POLYGON = 1, + CIRCLE = 2 +}; + +enum SourceType +{ + SOURCE_UNKNOWN = 0, + SCAN = 1, + POINTCLOUD = 2, + RANGE = 3, + POLYGON_SOURCE = 4 +}; + +class CollisionDetectorWrapper : public nav2_collision_monitor::CollisionDetector +{ +public: + void start() + { + ASSERT_EQ(on_configure(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + ASSERT_EQ(on_activate(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + } + + void stop() + { + ASSERT_EQ(on_deactivate(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + ASSERT_EQ(on_cleanup(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + ASSERT_EQ(on_shutdown(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + } + + void configure() + { + ASSERT_EQ(on_configure(get_current_state()), nav2_util::CallbackReturn::SUCCESS); + } + + void cant_configure() + { + ASSERT_EQ(on_configure(get_current_state()), nav2_util::CallbackReturn::FAILURE); + } + + bool correctDataReceived(const double expected_dist, const rclcpp::Time & stamp) + { + for (std::shared_ptr source : sources_) { + std::vector collision_points; + source->getData(stamp, collision_points); + if (collision_points.size() != 0) { + const double dist = std::hypot(collision_points[0].x, collision_points[0].y); + if (std::fabs(dist - expected_dist) <= EPSILON) { + return true; + } + } + } + return false; + } +}; // CollisionDetectorWrapper + +class Tester : public ::testing::Test +{ +public: + Tester(); + ~Tester(); + + // Configuring + void setCommonParameters(); + void addPolygon( + const std::string & polygon_name, const PolygonType type, + const double size, const std::string & at); + void addSource(const std::string & source_name, const SourceType type); + void setVectors( + const std::vector & polygons, + const std::vector & sources); + + // Setting TF chains + void sendTransforms(const rclcpp::Time & stamp); + + // Publish robot footprint + void publishFootprint(const double radius, const rclcpp::Time & stamp); + + // Main topic/data working routines + void publishScan(const double dist, const rclcpp::Time & stamp); + void publishPointCloud(const double dist, const rclcpp::Time & stamp); + void publishRange(const double dist, const rclcpp::Time & stamp); + void publishPolygon(const double dist, const rclcpp::Time & stamp); + bool waitData( + const double expected_dist, + const std::chrono::nanoseconds & timeout, + const rclcpp::Time & stamp); + bool waitState(const std::chrono::nanoseconds & timeout); + void stateCallback(nav2_msgs::msg::CollisionDetectorState::SharedPtr msg); + bool waitCollisionPointsMarker(const std::chrono::nanoseconds & timeout); + void collisionPointsMarkerCallback(visualization_msgs::msg::MarkerArray::SharedPtr msg); + +protected: + // CollisionDetector node + std::shared_ptr cd_; + + // Data source publishers + rclcpp::Publisher::SharedPtr scan_pub_; + rclcpp::Publisher::SharedPtr pointcloud_pub_; + rclcpp::Publisher::SharedPtr range_pub_; + rclcpp::Publisher::SharedPtr polygon_source_pub_; + + rclcpp::Subscription::SharedPtr state_sub_; + nav2_msgs::msg::CollisionDetectorState::SharedPtr state_msg_; + + // CollisionMonitor collision points markers + rclcpp::Subscription::SharedPtr + collision_points_marker_sub_; + visualization_msgs::msg::MarkerArray::SharedPtr collision_points_marker_msg_; +}; // Tester + +Tester::Tester() +{ + cd_ = std::make_shared(); + + scan_pub_ = cd_->create_publisher( + SCAN_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + pointcloud_pub_ = cd_->create_publisher( + POINTCLOUD_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + range_pub_ = cd_->create_publisher( + RANGE_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + polygon_source_pub_ = cd_->create_publisher( + POLYGON_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + + state_sub_ = cd_->create_subscription( + STATE_TOPIC, rclcpp::SystemDefaultsQoS(), + std::bind(&Tester::stateCallback, this, std::placeholders::_1)); + + collision_points_marker_sub_ = cd_->create_subscription( + COLLISION_POINTS_MARKERS_TOPIC, rclcpp::SystemDefaultsQoS(), + std::bind(&Tester::collisionPointsMarkerCallback, this, std::placeholders::_1)); +} + +Tester::~Tester() +{ + scan_pub_.reset(); + pointcloud_pub_.reset(); + range_pub_.reset(); + polygon_source_pub_.reset(); + collision_points_marker_sub_.reset(); + + cd_.reset(); +} + +bool Tester::waitState(const std::chrono::nanoseconds & timeout) +{ + rclcpp::Time start_time = cd_->now(); + while (rclcpp::ok() && cd_->now() - start_time <= rclcpp::Duration(timeout)) { + if (state_msg_) { + return true; + } + rclcpp::spin_some(cd_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + +bool Tester::waitCollisionPointsMarker(const std::chrono::nanoseconds & timeout) +{ + collision_points_marker_msg_ = nullptr; + rclcpp::Time start_time = cd_->now(); + while (rclcpp::ok() && cd_->now() - start_time <= rclcpp::Duration(timeout)) { + if (collision_points_marker_msg_) { + return true; + } + rclcpp::spin_some(cd_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + +void Tester::stateCallback(nav2_msgs::msg::CollisionDetectorState::SharedPtr msg) +{ + state_msg_ = msg; +} + +void Tester::collisionPointsMarkerCallback(visualization_msgs::msg::MarkerArray::SharedPtr msg) +{ + collision_points_marker_msg_ = msg; +} + +void Tester::setCommonParameters() +{ + cd_->declare_parameter( + "base_frame_id", rclcpp::ParameterValue(BASE_FRAME_ID)); + cd_->set_parameter( + rclcpp::Parameter("base_frame_id", BASE_FRAME_ID)); + cd_->declare_parameter( + "odom_frame_id", rclcpp::ParameterValue(ODOM_FRAME_ID)); + cd_->set_parameter( + rclcpp::Parameter("odom_frame_id", ODOM_FRAME_ID)); + + cd_->declare_parameter( + "transform_tolerance", rclcpp::ParameterValue(TRANSFORM_TOLERANCE)); + cd_->set_parameter( + rclcpp::Parameter("transform_tolerance", TRANSFORM_TOLERANCE)); + cd_->declare_parameter( + "source_timeout", rclcpp::ParameterValue(SOURCE_TIMEOUT)); + cd_->set_parameter( + rclcpp::Parameter("source_timeout", SOURCE_TIMEOUT)); + cd_->declare_parameter( + "frequency", rclcpp::ParameterValue(FREQUENCY)); + cd_->set_parameter( + rclcpp::Parameter("frequency", FREQUENCY)); +} + +void Tester::addPolygon( + const std::string & polygon_name, const PolygonType type, + const double size, const std::string & at) +{ + if (type == POLYGON) { + cd_->declare_parameter( + polygon_name + ".type", rclcpp::ParameterValue("polygon")); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".type", "polygon")); + + const std::string points = "[[" + + std::to_string(size) + ", " + std::to_string(size) + "], [" + + std::to_string(size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(size) + "]]"; + cd_->declare_parameter( + polygon_name + ".points", rclcpp::ParameterValue(points)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".points", points)); + } else if (type == CIRCLE) { + cd_->declare_parameter( + polygon_name + ".type", rclcpp::ParameterValue("circle")); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".type", "circle")); + + cd_->declare_parameter( + polygon_name + ".radius", rclcpp::ParameterValue(size)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".radius", size)); + } else { // type == POLYGON_UNKNOWN + cd_->declare_parameter( + polygon_name + ".type", rclcpp::ParameterValue("unknown")); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".type", "unknown")); + } + + cd_->declare_parameter( + polygon_name + ".action_type", rclcpp::ParameterValue(at)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".action_type", at)); + + cd_->declare_parameter( + polygon_name + ".min_points", rclcpp::ParameterValue(MIN_POINTS)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".min_points", MIN_POINTS)); + + cd_->declare_parameter( + polygon_name + ".simulation_time_step", rclcpp::ParameterValue(SIMULATION_TIME_STEP)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".simulation_time_step", SIMULATION_TIME_STEP)); + + cd_->declare_parameter( + polygon_name + ".visualize", rclcpp::ParameterValue(false)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".visualize", false)); + + cd_->declare_parameter( + polygon_name + ".polygon_pub_topic", rclcpp::ParameterValue(polygon_name)); + cd_->set_parameter( + rclcpp::Parameter(polygon_name + ".polygon_pub_topic", polygon_name)); +} + +void Tester::addSource( + const std::string & source_name, const SourceType type) +{ + if (type == SCAN) { + cd_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("scan")); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".type", "scan")); + } else if (type == POINTCLOUD) { + cd_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("pointcloud")); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".type", "pointcloud")); + + cd_->declare_parameter( + source_name + ".min_height", rclcpp::ParameterValue(0.1)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".min_height", 0.1)); + cd_->declare_parameter( + source_name + ".max_height", rclcpp::ParameterValue(1.0)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".max_height", 1.0)); + } else if (type == RANGE) { + cd_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("range")); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".type", "range")); + + cd_->declare_parameter( + source_name + ".obstacles_angle", rclcpp::ParameterValue(M_PI / 200)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".obstacles_angle", M_PI / 200)); + } else if (type == POLYGON_SOURCE) { + cd_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("polygon")); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".type", "polygon")); + + cd_->declare_parameter( + source_name + ".sampling_distance", rclcpp::ParameterValue(0.1)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".sampling_distance", 0.1)); + cd_->declare_parameter( + source_name + ".polygon_similarity_threshold", rclcpp::ParameterValue(2.0)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".polygon_similarity_threshold", 2.0)); + } else { // type == SOURCE_UNKNOWN + cd_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("unknown")); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".type", "unknown")); + } + + cd_->declare_parameter( + source_name + ".topic", rclcpp::ParameterValue(source_name)); + cd_->set_parameter( + rclcpp::Parameter(source_name + ".topic", source_name)); +} + +void Tester::setVectors( + const std::vector & polygons, + const std::vector & sources) +{ + cd_->declare_parameter("polygons", rclcpp::ParameterValue(polygons)); + cd_->set_parameter(rclcpp::Parameter("polygons", polygons)); + + cd_->declare_parameter("observation_sources", rclcpp::ParameterValue(sources)); + cd_->set_parameter(rclcpp::Parameter("observation_sources", sources)); +} + +void Tester::sendTransforms(const rclcpp::Time & stamp) +{ + std::shared_ptr tf_broadcaster = + std::make_shared(cd_); + + geometry_msgs::msg::TransformStamped transform; + transform.transform.rotation.x = 0.0; + transform.transform.rotation.y = 0.0; + transform.transform.rotation.z = 0.0; + transform.transform.rotation.w = 1.0; + + // Fill TF buffer ahead for future transform usage in CollisionDetector::process() + const rclcpp::Duration ahead = 1000ms; + for (rclcpp::Time t = stamp; t <= stamp + ahead; t += rclcpp::Duration(50ms)) { + transform.header.stamp = t; + + // base_frame -> source_frame transform + transform.header.frame_id = BASE_FRAME_ID; + transform.child_frame_id = SOURCE_FRAME_ID; + tf_broadcaster->sendTransform(transform); + + // odom_frame -> base_frame transform + transform.header.frame_id = ODOM_FRAME_ID; + transform.child_frame_id = BASE_FRAME_ID; + tf_broadcaster->sendTransform(transform); + } +} + +void Tester::publishScan(const double dist, const rclcpp::Time & stamp) +{ + std::unique_ptr msg = + std::make_unique(); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + msg->angle_min = 0.0; + msg->angle_max = 2 * M_PI; + msg->angle_increment = M_PI / 180; + msg->time_increment = 0.0; + msg->scan_time = 0.0; + msg->range_min = 0.1; + msg->range_max = dist + 1.0; + std::vector ranges(360, dist); + msg->ranges = ranges; + + scan_pub_->publish(std::move(msg)); +} + +void Tester::publishPointCloud(const double dist, const rclcpp::Time & stamp) +{ + std::unique_ptr msg = + std::make_unique(); + sensor_msgs::PointCloud2Modifier modifier(*msg); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + modifier.setPointCloud2Fields( + 3, "x", 1, sensor_msgs::msg::PointField::FLOAT32, + "y", 1, sensor_msgs::msg::PointField::FLOAT32, + "z", 1, sensor_msgs::msg::PointField::FLOAT32); + modifier.resize(2); + + sensor_msgs::PointCloud2Iterator iter_x(*msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(*msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(*msg, "z"); + + // Point 0: (dist, 0.01, 0.2) + *iter_x = dist; + *iter_y = 0.01; + *iter_z = 0.2; + ++iter_x; ++iter_y; ++iter_z; + + // Point 1: (dist, -0.01, 0.2) + *iter_x = dist; + *iter_y = -0.01; + *iter_z = 0.2; + + pointcloud_pub_->publish(std::move(msg)); +} + +void Tester::publishRange(const double dist, const rclcpp::Time & stamp) +{ + std::unique_ptr msg = + std::make_unique(); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + msg->radiation_type = 0; + msg->field_of_view = M_PI / 10; + msg->min_range = 0.1; + msg->max_range = dist + 0.1; + msg->range = dist; + + range_pub_->publish(std::move(msg)); +} + +void Tester::publishPolygon(const double dist, const rclcpp::Time & stamp) +{ + std::unique_ptr msg = + std::make_unique(); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + geometry_msgs::msg::Point32 p; + p.x = 1.0; + p.y = dist; + msg->polygon.polygon.points.push_back(p); + p.x = -1.0; + p.y = dist; + msg->polygon.polygon.points.push_back(p); + p.x = -1.0; + p.y = dist + 1.0; + msg->polygon.polygon.points.push_back(p); + p.x = 1.0; + p.y = dist + 1.0; + msg->polygon.polygon.points.push_back(p); + msg->polygon.id = 1u; + + polygon_source_pub_->publish(std::move(msg)); +} + +bool Tester::waitData( + const double expected_dist, + const std::chrono::nanoseconds & timeout, + const rclcpp::Time & stamp) +{ + rclcpp::Time start_time = cd_->now(); + while (rclcpp::ok() && cd_->now() - start_time <= rclcpp::Duration(timeout)) { + if (cd_->correctDataReceived(expected_dist, stamp)) { + return true; + } + rclcpp::spin_some(cd_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + + +TEST_F(Tester, testIncorrectPolygonType) +{ + setCommonParameters(); + addPolygon("UnknownShape", POLYGON_UNKNOWN, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + setVectors({"UnknownShape"}, {SCAN_NAME}); + + // Check that Collision Detector node can not be configured for this parameters set + cd_->cant_configure(); +} + +TEST_F(Tester, testIncorrectActionType) +{ + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "approach"); + addSource(SCAN_NAME, SCAN); + setVectors({"DetectionRegion"}, {SCAN_NAME}); + + // Check that Collision Detector node can not be configured for this action type + cd_->cant_configure(); +} + +TEST_F(Tester, testIncorrectSourceType) +{ + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource("UnknownSource", SOURCE_UNKNOWN); + setVectors({"DetectionRegion"}, {"UnknownSource"}); + + // Check that Collision Detector node can not be configured for this parameters set + cd_->cant_configure(); +} + +TEST_F(Tester, testPolygonsNotSet) +{ + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + + // Check that Collision Detector node can not be configured for this parameters set + cd_->cant_configure(); +} + +TEST_F(Tester, testSourcesNotSet) +{ + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + cd_->declare_parameter( + "polygons", + rclcpp::ParameterValue(std::vector{"DetectionRegion"})); + cd_->set_parameter(rclcpp::Parameter("polygons", std::vector{"DetectionRegion"})); + + // Check that Collision Detector node can not be configured for this parameters set + cd_->cant_configure(); +} + +TEST_F(Tester, testSuccessfulConfigure) +{ + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + setVectors({"DetectionRegion"}, {SCAN_NAME}); + + // Check that Collision Detector node can be configured successfully for this parameters set + cd_->configure(); +} + +TEST_F(Tester, testProcessNonActive) +{ + rclcpp::Time curr_time = cd_->now(); + + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + setVectors({"DetectionRegion"}, {SCAN_NAME}); + + // Configure Collision Detector node, but not activate + cd_->configure(); + + // ... and check that the detector state was not published + ASSERT_FALSE(waitState(300ms)); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testProcessActive) +{ + rclcpp::Time curr_time = cd_->now(); + + setCommonParameters(); + addPolygon("DetectionRegion", POLYGON, 1.0, "none"); + addSource(SCAN_NAME, SCAN); + setVectors({"DetectionRegion"}, {SCAN_NAME}); + + // Configure and activate Collision Detector node + cd_->start(); + // ... and check that state is published + ASSERT_TRUE(waitState(300ms)); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testPolygonDetection) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Detector parameters. + setCommonParameters(); + // Create polygon + addPolygon("DetectionRegion", POLYGON, 2.0, "none"); + addSource(RANGE_NAME, RANGE); + setVectors({"DetectionRegion"}, {RANGE_NAME}); + + // Start Collision Detector node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is in DetectionRegion + publishRange(1.5, curr_time); + + ASSERT_TRUE(waitData(1.5, 300ms, curr_time)); + ASSERT_TRUE(waitState(300ms)); + ASSERT_NE(state_msg_->detections.size(), 0u); + ASSERT_EQ(state_msg_->detections[0], true); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testCircleDetection) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Detector parameters. + setCommonParameters(); + // Create Circle + addPolygon("DetectionRegion", CIRCLE, 3.0, "none"); + addSource(RANGE_NAME, RANGE); + setVectors({"DetectionRegion"}, {RANGE_NAME}); + + // Start Collision Detector node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is in DetectionRegion + publishRange(1.5, curr_time); + + ASSERT_TRUE(waitData(1.5, 300ms, curr_time)); + ASSERT_TRUE(waitState(300ms)); + ASSERT_NE(state_msg_->detections.size(), 0u); + ASSERT_EQ(state_msg_->detections[0], true); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testScanDetection) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Detector parameters. + setCommonParameters(); + // Create polygon + addPolygon("DetectionRegion", CIRCLE, 3.0, "none"); + addSource(SCAN_NAME, SCAN); + setVectors({"DetectionRegion"}, {SCAN_NAME}); + + // Start Collision Detector node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is in DetectionRegion + publishScan(1.5, curr_time); + + ASSERT_TRUE(waitData(1.5, 300ms, curr_time)); + ASSERT_TRUE(waitState(300ms)); + ASSERT_NE(state_msg_->detections.size(), 0u); + ASSERT_EQ(state_msg_->detections[0], true); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testPointcloudDetection) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Detector parameters. + setCommonParameters(); + // Create polygon + addPolygon("DetectionRegion", CIRCLE, 3.0, "none"); + addSource(POINTCLOUD_NAME, POINTCLOUD); + setVectors({"DetectionRegion"}, {POINTCLOUD_NAME}); + + // Start Collision Detector node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is in DetectionRegion + publishPointCloud(2.5, curr_time); + + ASSERT_TRUE(waitData(std::hypot(2.5, 0.01), 500ms, curr_time)); + ASSERT_TRUE(waitState(300ms)); + ASSERT_NE(state_msg_->detections.size(), 0u); + ASSERT_EQ(state_msg_->detections[0], true); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testPolygonSourceDetection) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Detector parameters. + setCommonParameters(); + // Create polygon + addPolygon("DetectionRegion", CIRCLE, 3.0, "none"); + addSource(POLYGON_NAME, POLYGON_SOURCE); + setVectors({"DetectionRegion"}, {POLYGON_NAME}); + + // Start Collision Detector node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is in DetectionRegion + publishPolygon(2.5, curr_time); + + ASSERT_TRUE(waitData(std::hypot(2.5, 1.0), 500ms, curr_time)); + ASSERT_TRUE(waitState(300ms)); + ASSERT_NE(state_msg_->detections.size(), 0u); + ASSERT_EQ(state_msg_->detections[0], true); + + // Stop Collision Detector node + cd_->stop(); +} + +TEST_F(Tester, testCollisionPointsMarkers) +{ + rclcpp::Time curr_time = cd_->now(); + + // Set Collision Monitor parameters. + // Making two polygons: outer polygon for slowdown and inner for robot stop. + setCommonParameters(); + addSource(SCAN_NAME, SCAN); + setVectors({}, {SCAN_NAME}); + + // Start Collision Monitor node + cd_->start(); + + // Share TF + sendTransforms(curr_time); + + ASSERT_TRUE(waitCollisionPointsMarker(500ms)); + ASSERT_EQ(collision_points_marker_msg_->markers[0].points.size(), 0u); + + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + ASSERT_TRUE(waitCollisionPointsMarker(500ms)); + ASSERT_NE(collision_points_marker_msg_->markers[0].points.size(), 0u); + // Stop Collision Monitor node + cd_->stop(); +} + +int main(int argc, char ** argv) +{ + // Initialize the system + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + + // Actual testing + bool test_result = RUN_ALL_TESTS(); + + // Shutdown + rclcpp::shutdown(); + + return test_result; +} diff --git a/nav2_collision_monitor/test/collision_monitor_node_test.cpp b/nav2_collision_monitor/test/collision_monitor_node_test.cpp index 5ba19d443c8..69f8ac21e06 100644 --- a/nav2_collision_monitor/test/collision_monitor_node_test.cpp +++ b/nav2_collision_monitor/test/collision_monitor_node_test.cpp @@ -32,6 +32,7 @@ #include "sensor_msgs/point_cloud2_iterator.hpp" #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/polygon_stamped.hpp" +#include "visualization_msgs/msg/marker_array.hpp" #include "tf2_ros/transform_broadcaster.h" @@ -48,12 +49,16 @@ static const char ODOM_FRAME_ID[]{"odom"}; static const char CMD_VEL_IN_TOPIC[]{"cmd_vel_in"}; static const char CMD_VEL_OUT_TOPIC[]{"cmd_vel_out"}; static const char STATE_TOPIC[]{"collision_monitor_state"}; +static const char COLLISION_POINTS_MARKERS_TOPIC[]{"/collision_monitor/collision_points_marker"}; static const char FOOTPRINT_TOPIC[]{"footprint"}; static const char SCAN_NAME[]{"Scan"}; static const char POINTCLOUD_NAME[]{"PointCloud"}; static const char RANGE_NAME[]{"Range"}; +static const char POLYGON_NAME[]{"Polygon"}; static const int MIN_POINTS{2}; static const double SLOWDOWN_RATIO{0.7}; +static const double LINEAR_LIMIT{0.4}; +static const double ANGULAR_LIMIT{0.09}; static const double TIME_BEFORE_COLLISION{1.0}; static const double SIMULATION_TIME_STEP{0.01}; static const double TRANSFORM_TOLERANCE{0.5}; @@ -64,7 +69,8 @@ enum PolygonType { POLYGON_UNKNOWN = 0, POLYGON = 1, - CIRCLE = 2 + CIRCLE = 2, + VELOCITY_POLYGON = 3 }; enum SourceType @@ -72,7 +78,8 @@ enum SourceType SOURCE_UNKNOWN = 0, SCAN = 1, POINTCLOUD = 2, - RANGE = 3 + RANGE = 3, + POLYGON_SOURCE = 4 }; enum ActionType @@ -81,6 +88,7 @@ enum ActionType STOP = 1, SLOWDOWN = 2, APPROACH = 3, + LIMIT = 4, }; class CollisionMonitorWrapper : public nav2_collision_monitor::CollisionMonitor @@ -136,10 +144,18 @@ class Tester : public ::testing::Test void addPolygon( const std::string & polygon_name, const PolygonType type, const double size, const std::string & at); + void addPolygonVelocitySubPolygon( + const std::string & polygon_name, const std::string & sub_polygon_name, + const double linear_min, const double linear_max, + const double theta_min, const double theta_max, + const double size); void addSource(const std::string & source_name, const SourceType type); void setVectors( const std::vector & polygons, const std::vector & sources); + void setPolygonVelocityVectors( + const std::string & polygon_name, + const std::vector & polygons); // Setting TF chains void sendTransforms(const rclcpp::Time & stamp); @@ -151,17 +167,23 @@ class Tester : public ::testing::Test void publishScan(const double dist, const rclcpp::Time & stamp); void publishPointCloud(const double dist, const rclcpp::Time & stamp); void publishRange(const double dist, const rclcpp::Time & stamp); + void publishPolygon(const double dist, const rclcpp::Time & stamp); void publishCmdVel(const double x, const double y, const double tw); bool waitData( const double expected_dist, const std::chrono::nanoseconds & timeout, const rclcpp::Time & stamp); bool waitCmdVel(const std::chrono::nanoseconds & timeout); + bool waitFuture( + rclcpp::Client::SharedFuture, + const std::chrono::nanoseconds & timeout); bool waitActionState(const std::chrono::nanoseconds & timeout); + bool waitCollisionPointsMarker(const std::chrono::nanoseconds & timeout); protected: void cmdVelOutCallback(geometry_msgs::msg::Twist::SharedPtr msg); void actionStateCallback(nav2_msgs::msg::CollisionMonitorState::SharedPtr msg); + void collisionPointsMarkerCallback(visualization_msgs::msg::MarkerArray::SharedPtr msg); // CollisionMonitor node std::shared_ptr cm_; @@ -173,6 +195,7 @@ class Tester : public ::testing::Test rclcpp::Publisher::SharedPtr scan_pub_; rclcpp::Publisher::SharedPtr pointcloud_pub_; rclcpp::Publisher::SharedPtr range_pub_; + rclcpp::Publisher::SharedPtr polygon_source_pub_; // Working with cmd_vel_in/cmd_vel_out rclcpp::Publisher::SharedPtr cmd_vel_in_pub_; @@ -184,6 +207,13 @@ class Tester : public ::testing::Test rclcpp::Subscription::SharedPtr action_state_sub_; nav2_msgs::msg::CollisionMonitorState::SharedPtr action_state_; + // CollisionMonitor collision points markers + rclcpp::Subscription::SharedPtr + collision_points_marker_sub_; + visualization_msgs::msg::MarkerArray::SharedPtr collision_points_marker_msg_; + + // Service client for setting CollisionMonitor parameters + rclcpp::Client::SharedPtr parameters_client_; }; // Tester Tester::Tester() @@ -199,6 +229,8 @@ Tester::Tester() POINTCLOUD_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); range_pub_ = cm_->create_publisher( RANGE_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + polygon_source_pub_ = cm_->create_publisher( + POLYGON_NAME, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); cmd_vel_in_pub_ = cm_->create_publisher( CMD_VEL_IN_TOPIC, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); @@ -209,6 +241,13 @@ Tester::Tester() action_state_sub_ = cm_->create_subscription( STATE_TOPIC, rclcpp::SystemDefaultsQoS(), std::bind(&Tester::actionStateCallback, this, std::placeholders::_1)); + collision_points_marker_sub_ = cm_->create_subscription( + COLLISION_POINTS_MARKERS_TOPIC, rclcpp::SystemDefaultsQoS(), + std::bind(&Tester::collisionPointsMarkerCallback, this, std::placeholders::_1)); + parameters_client_ = + cm_->create_client( + std::string( + cm_->get_name()) + "/set_parameters"); } Tester::~Tester() @@ -218,11 +257,13 @@ Tester::~Tester() scan_pub_.reset(); pointcloud_pub_.reset(); range_pub_.reset(); + polygon_source_pub_.reset(); cmd_vel_in_pub_.reset(); cmd_vel_out_sub_.reset(); action_state_sub_.reset(); + collision_points_marker_sub_.reset(); cm_.reset(); } @@ -277,8 +318,11 @@ void Tester::addPolygon( rclcpp::Parameter(polygon_name + ".type", "polygon")); if (at != "approach") { - const std::vector points { - size, size, size, -size, -size, -size, -size, size}; + const std::string points = "[[" + + std::to_string(size) + ", " + std::to_string(size) + "], [" + + std::to_string(size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(size) + "]]"; cm_->declare_parameter( polygon_name + ".points", rclcpp::ParameterValue(points)); cm_->set_parameter( @@ -299,6 +343,15 @@ void Tester::addPolygon( polygon_name + ".radius", rclcpp::ParameterValue(size)); cm_->set_parameter( rclcpp::Parameter(polygon_name + ".radius", size)); + } else if (type == VELOCITY_POLYGON) { + cm_->declare_parameter( + polygon_name + ".type", rclcpp::ParameterValue("velocity_polygon")); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + ".type", "velocity_polygon")); + cm_->declare_parameter( + polygon_name + ".holonomic", rclcpp::ParameterValue(false)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + ".holonomic", false)); } else { // type == POLYGON_UNKNOWN cm_->declare_parameter( polygon_name + ".type", rclcpp::ParameterValue("unknown")); @@ -306,6 +359,11 @@ void Tester::addPolygon( rclcpp::Parameter(polygon_name + ".type", "unknown")); } + cm_->declare_parameter( + polygon_name + ".enabled", rclcpp::ParameterValue(true)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + ".enabled", true)); + cm_->declare_parameter( polygon_name + ".action_type", rclcpp::ParameterValue(at)); cm_->set_parameter( @@ -321,6 +379,16 @@ void Tester::addPolygon( cm_->set_parameter( rclcpp::Parameter(polygon_name + ".slowdown_ratio", SLOWDOWN_RATIO)); + cm_->declare_parameter( + polygon_name + ".linear_limit", rclcpp::ParameterValue(LINEAR_LIMIT)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + ".linear_limit", LINEAR_LIMIT)); + + cm_->declare_parameter( + polygon_name + ".angular_limit", rclcpp::ParameterValue(ANGULAR_LIMIT)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + ".angular_limit", ANGULAR_LIMIT)); + cm_->declare_parameter( polygon_name + ".time_before_collision", rclcpp::ParameterValue(TIME_BEFORE_COLLISION)); cm_->set_parameter( @@ -342,6 +410,43 @@ void Tester::addPolygon( rclcpp::Parameter(polygon_name + ".polygon_pub_topic", polygon_name)); } +void Tester::addPolygonVelocitySubPolygon( + const std::string & polygon_name, const std::string & sub_polygon_name, + const double linear_min, const double linear_max, + const double theta_min, const double theta_max, + const double size) +{ + const std::string points = "[[" + + std::to_string(size) + ", " + std::to_string(size) + "], [" + + std::to_string(size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(-size) + "], [" + + std::to_string(-size) + ", " + std::to_string(size) + "]]"; + cm_->declare_parameter( + polygon_name + "." + sub_polygon_name + ".points", rclcpp::ParameterValue(points)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + "." + sub_polygon_name + ".points", points)); + + cm_->declare_parameter( + polygon_name + "." + sub_polygon_name + ".linear_min", rclcpp::ParameterValue(linear_min)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + "." + sub_polygon_name + ".linear_min", linear_min)); + + cm_->declare_parameter( + polygon_name + "." + sub_polygon_name + ".linear_max", rclcpp::ParameterValue(linear_max)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + "." + sub_polygon_name + ".linear_max", linear_max)); + + cm_->declare_parameter( + polygon_name + "." + sub_polygon_name + ".theta_min", rclcpp::ParameterValue(theta_min)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + "." + sub_polygon_name + ".theta_min", theta_min)); + + cm_->declare_parameter( + polygon_name + "." + sub_polygon_name + ".theta_max", rclcpp::ParameterValue(theta_max)); + cm_->set_parameter( + rclcpp::Parameter(polygon_name + "." + sub_polygon_name + ".theta_max", theta_max)); +} + void Tester::addSource( const std::string & source_name, const SourceType type) { @@ -374,6 +479,20 @@ void Tester::addSource( source_name + ".obstacles_angle", rclcpp::ParameterValue(M_PI / 200)); cm_->set_parameter( rclcpp::Parameter(source_name + ".obstacles_angle", M_PI / 200)); + } else if (type == POLYGON_SOURCE) { + cm_->declare_parameter( + source_name + ".type", rclcpp::ParameterValue("polygon")); + cm_->set_parameter( + rclcpp::Parameter(source_name + ".type", "polygon")); + + cm_->declare_parameter( + source_name + ".sampling_distance", rclcpp::ParameterValue(0.1)); + cm_->set_parameter( + rclcpp::Parameter(source_name + ".sampling_distance", 0.1)); + cm_->declare_parameter( + source_name + ".polygon_similarity_threshold", rclcpp::ParameterValue(2.0)); + cm_->set_parameter( + rclcpp::Parameter(source_name + ".polygon_similarity_threshold", 2.0)); } else { // type == SOURCE_UNKNOWN cm_->declare_parameter( source_name + ".type", rclcpp::ParameterValue("unknown")); @@ -398,6 +517,14 @@ void Tester::setVectors( cm_->set_parameter(rclcpp::Parameter("observation_sources", sources)); } +void Tester::setPolygonVelocityVectors( + const std::string & polygon_name, + const std::vector & polygons) +{ + cm_->declare_parameter(polygon_name + ".velocity_polygons", rclcpp::ParameterValue(polygons)); + cm_->set_parameter(rclcpp::Parameter(polygon_name + ".velocity_polygons", polygons)); +} + void Tester::sendTransforms(const rclcpp::Time & stamp) { std::shared_ptr tf_broadcaster = @@ -522,11 +649,37 @@ void Tester::publishRange(const double dist, const rclcpp::Time & stamp) range_pub_->publish(std::move(msg)); } +void Tester::publishPolygon(const double dist, const rclcpp::Time & stamp) +{ + std::unique_ptr msg = + std::make_unique(); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + geometry_msgs::msg::Point32 p; + p.x = 1.0; + p.y = dist; + msg->polygon.polygon.points.push_back(p); + p.x = -1.0; + p.y = dist; + msg->polygon.polygon.points.push_back(p); + p.x = -1.0; + p.y = dist + 1.0; + msg->polygon.polygon.points.push_back(p); + p.x = 1.0; + p.y = dist + 1.0; + msg->polygon.polygon.points.push_back(p); + + polygon_source_pub_->publish(std::move(msg)); +} + void Tester::publishCmdVel(const double x, const double y, const double tw) { // Reset cmd_vel_out_ before calling CollisionMonitor::process() cmd_vel_out_ = nullptr; action_state_ = nullptr; + collision_points_marker_msg_ = nullptr; std::unique_ptr msg = std::make_unique(); @@ -567,6 +720,22 @@ bool Tester::waitCmdVel(const std::chrono::nanoseconds & timeout) return false; } +bool Tester::waitFuture( + rclcpp::Client::SharedFuture result_future, + const std::chrono::nanoseconds & timeout) +{ + rclcpp::Time start_time = cm_->now(); + while (rclcpp::ok() && cm_->now() - start_time <= rclcpp::Duration(timeout)) { + std::future_status status = result_future.wait_for(10ms); + if (status == std::future_status::ready) { + return true; + } + rclcpp::spin_some(cm_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + bool Tester::waitActionState(const std::chrono::nanoseconds & timeout) { rclcpp::Time start_time = cm_->now(); @@ -580,6 +749,19 @@ bool Tester::waitActionState(const std::chrono::nanoseconds & timeout) return false; } +bool Tester::waitCollisionPointsMarker(const std::chrono::nanoseconds & timeout) +{ + rclcpp::Time start_time = cm_->now(); + while (rclcpp::ok() && cm_->now() - start_time <= rclcpp::Duration(timeout)) { + if (collision_points_marker_msg_) { + return true; + } + rclcpp::spin_some(cm_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + void Tester::cmdVelOutCallback(geometry_msgs::msg::Twist::SharedPtr msg) { cmd_vel_out_ = msg; @@ -590,17 +772,23 @@ void Tester::actionStateCallback(nav2_msgs::msg::CollisionMonitorState::SharedPt action_state_ = msg; } -TEST_F(Tester, testProcessStopSlowdown) +void Tester::collisionPointsMarkerCallback(visualization_msgs::msg::MarkerArray::SharedPtr msg) +{ + collision_points_marker_msg_ = msg; +} + +TEST_F(Tester, testProcessStopSlowdownLimit) { rclcpp::Time curr_time = cm_->now(); // Set Collision Monitor parameters. // Making two polygons: outer polygon for slowdown and inner for robot stop. setCommonParameters(); + addPolygon("Limit", POLYGON, 3.0, "limit"); addPolygon("SlowDown", POLYGON, 2.0, "slowdown"); addPolygon("Stop", POLYGON, 1.0, "stop"); addSource(SCAN_NAME, SCAN); - setVectors({"SlowDown", "Stop"}, {SCAN_NAME}); + setVectors({"Limit", "SlowDown", "Stop"}, {SCAN_NAME}); // Start Collision Monitor node cm_->start(); @@ -609,15 +797,29 @@ TEST_F(Tester, testProcessStopSlowdown) sendTransforms(curr_time); // 1. Obstacle is far away from robot - publishScan(3.0, curr_time); - ASSERT_TRUE(waitData(3.0, 500ms, curr_time)); + publishScan(4.5, curr_time); + ASSERT_TRUE(waitData(4.5, 500ms, curr_time)); publishCmdVel(0.5, 0.2, 0.1); ASSERT_TRUE(waitCmdVel(500ms)); ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON); ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); - // 2. Obstacle is in slowdown robot zone + // 2. Obstacle is in limit robot zone + publishScan(3.0, curr_time); + ASSERT_TRUE(waitData(3.0, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + const double speed = std::sqrt(0.5 * 0.5 + 0.2 * 0.2); + const double ratio = LINEAR_LIMIT / speed; + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5 * ratio, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2 * ratio, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.09, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, LIMIT); + ASSERT_EQ(action_state_->polygon_name, "Limit"); + + // 3. Obstacle is in slowdown robot zone publishScan(1.5, curr_time); ASSERT_TRUE(waitData(1.5, 500ms, curr_time)); publishCmdVel(0.5, 0.2, 0.1); @@ -629,7 +831,7 @@ TEST_F(Tester, testProcessStopSlowdown) ASSERT_EQ(action_state_->action_type, SLOWDOWN); ASSERT_EQ(action_state_->polygon_name, "SlowDown"); - // 3. Obstacle is inside stop zone + // 4. Obstacle is inside stop zone publishScan(0.5, curr_time); ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); publishCmdVel(0.5, 0.2, 0.1); @@ -641,9 +843,95 @@ TEST_F(Tester, testProcessStopSlowdown) ASSERT_EQ(action_state_->action_type, STOP); ASSERT_EQ(action_state_->polygon_name, "Stop"); - // 4. Restoring back normal operation - publishScan(3.0, curr_time); - ASSERT_TRUE(waitData(3.0, 500ms, curr_time)); + // 5. Restoring back normal operation + publishScan(4.5, curr_time); + ASSERT_TRUE(waitData(4.5, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, DO_NOTHING); + ASSERT_EQ(action_state_->polygon_name, ""); + + // Stop Collision Monitor node + cm_->stop(); +} + +TEST_F(Tester, testPolygonSource) +{ + rclcpp::Time curr_time = cm_->now(); + + // Set Collision Monitor parameters. + // Making two polygons: outer polygon for slowdown and inner for robot stop. + setCommonParameters(); + // Set source_timeout to 0.0 to clear out quickly the polygons from test to test + cm_->set_parameter( + rclcpp::Parameter("source_timeout", 0.1)); + addPolygon("Limit", POLYGON, 3.0, "limit"); + addPolygon("SlowDown", POLYGON, 2.0, "slowdown"); + addPolygon("Stop", POLYGON, 1.0, "stop"); + addSource(POLYGON_NAME, POLYGON_SOURCE); + setVectors({"Limit", "SlowDown", "Stop"}, {POLYGON_NAME}); + + // Start Collision Monitor node + cm_->start(); + + // Share TF + sendTransforms(curr_time); + + // 1. Obstacle is far away from robot + publishPolygon(4.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(1.0, 4.5), 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + + // 2. Obstacle is in limit robot zone + publishPolygon(3.0, curr_time); + EXPECT_TRUE(waitData(std::hypot(1.0, 3.0), 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + EXPECT_TRUE(waitCmdVel(500ms)); + const double speed = std::sqrt(0.5 * 0.5 + 0.2 * 0.2); + const double ratio = LINEAR_LIMIT / speed; + EXPECT_NEAR(cmd_vel_out_->linear.x, 0.5 * ratio, EPSILON); + EXPECT_NEAR(cmd_vel_out_->linear.y, 0.2 * ratio, EPSILON); + EXPECT_NEAR(cmd_vel_out_->angular.z, 0.09, EPSILON); + EXPECT_TRUE(waitActionState(500ms)); + EXPECT_EQ(action_state_->action_type, LIMIT); + EXPECT_EQ(action_state_->polygon_name, "Limit"); + + // 3. Obstacle is in slowdown robot zone + publishPolygon(1.5, curr_time); + EXPECT_TRUE(waitData(std::hypot(1.0, 1.5), 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + EXPECT_TRUE(waitCmdVel(500ms)); + EXPECT_NEAR(cmd_vel_out_->linear.x, 0.5 * SLOWDOWN_RATIO, EPSILON); + EXPECT_NEAR(cmd_vel_out_->linear.y, 0.2 * SLOWDOWN_RATIO, EPSILON); + EXPECT_NEAR(cmd_vel_out_->angular.z, 0.1 * SLOWDOWN_RATIO, EPSILON); + EXPECT_TRUE(waitActionState(500ms)); + EXPECT_EQ(action_state_->action_type, SLOWDOWN); + EXPECT_EQ(action_state_->polygon_name, "SlowDown"); + + // 4. Obstacle is inside stop zone + curr_time = cm_->now(); + publishPolygon(0.5, curr_time); + EXPECT_TRUE(waitData(std::hypot(1.0, 0.5), 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + EXPECT_TRUE(waitCmdVel(500ms)); + EXPECT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON); + EXPECT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + EXPECT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + EXPECT_TRUE(waitActionState(500ms)); + EXPECT_EQ(action_state_->action_type, STOP); + EXPECT_EQ(action_state_->polygon_name, "Stop"); + + // 5. Restoring back normal operation + publishPolygon(4.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(1.0, 4.5), 500ms, curr_time)); publishCmdVel(0.5, 0.2, 0.1); ASSERT_TRUE(waitCmdVel(500ms)); ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); @@ -819,6 +1107,7 @@ TEST_F(Tester, testCrossOver) // 1. Obstacle is not in the slowdown zone, but less than TIME_BEFORE_COLLISION (ahead in 1.5 m). // Robot should approach the obstacle. publishPointCloud(2.5, curr_time); + publishRange(2.5, curr_time); ASSERT_TRUE(waitData(std::hypot(2.5, 0.01), 500ms, curr_time)); publishCmdVel(3.0, 0.0, 0.0); ASSERT_TRUE(waitCmdVel(500ms)); @@ -863,6 +1152,87 @@ TEST_F(Tester, testCrossOver) cm_->stop(); } +TEST_F(Tester, testSourceTimeout) +{ + rclcpp::Time curr_time = cm_->now(); + + // Set Collision Monitor parameters. + // Making two polygons: outer polygon for slowdown and inner circle + // as robot footprint for approach. + setCommonParameters(); + addPolygon("SlowDown", POLYGON, 2.0, "slowdown"); + addPolygon("Approach", CIRCLE, 1.0, "approach"); + addSource(POINTCLOUD_NAME, POINTCLOUD); + addSource(RANGE_NAME, RANGE); + setVectors({"SlowDown", "Approach"}, {POINTCLOUD_NAME, RANGE_NAME}); + + // Start Collision Monitor node + cm_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is not in the slowdown zone, but less than TIME_BEFORE_COLLISION (ahead in 1.5 m). + // Robot should approach the obstacle. + publishPointCloud(2.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(2.5, 0.01), 500ms, curr_time)); + publishCmdVel(3.0, 3.0, 3.0); + ASSERT_TRUE(waitCmdVel(500ms)); + // Range configured but not published, range source should be considered invalid + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, STOP); + ASSERT_EQ(action_state_->polygon_name, "invalid source"); + + // Stop Collision Monitor node + cm_->stop(); +} + +TEST_F(Tester, testSourceTimeoutOverride) +{ + rclcpp::Time curr_time = cm_->now(); + + // Set Collision Monitor parameters. + // Making two polygons: outer polygon for slowdown and inner circle + // as robot footprint for approach. + setCommonParameters(); + addPolygon("SlowDown", POLYGON, 2.0, "slowdown"); + addPolygon("Approach", CIRCLE, 1.0, "approach"); + addSource(POINTCLOUD_NAME, POINTCLOUD); + addSource(RANGE_NAME, RANGE); + setVectors({"SlowDown", "Approach"}, {POINTCLOUD_NAME, RANGE_NAME}); + cm_->set_parameter(rclcpp::Parameter("source_timeout", 0.0)); + + // Start Collision Monitor node + cm_->start(); + + // Share TF + sendTransforms(curr_time); + + // Obstacle is not in the slowdown zone, but less than TIME_BEFORE_COLLISION (ahead in 1.5 m). + // Robot should approach the obstacle. + publishPointCloud(2.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(2.5, 0.01), 500ms, curr_time)); + publishCmdVel(3.0, 0.0, 0.0); + ASSERT_TRUE(waitCmdVel(500ms)); + // change_ratio = (1.5 m / 3.0 m/s) / TIME_BEFORE_COLLISION s + double change_ratio = (1.5 / 3.0) / TIME_BEFORE_COLLISION; + // Range configured but not published, range source should be considered invalid + // but as we set the source_timeout of the Range source to 0.0, its validity check is overidden + ASSERT_NEAR( + cmd_vel_out_->linear.x, 3.0 * change_ratio, 3.0 * SIMULATION_TIME_STEP / TIME_BEFORE_COLLISION); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, APPROACH); + ASSERT_EQ(action_state_->polygon_name, "Approach"); + + // Stop Collision Monitor node + cm_->stop(); +} + TEST_F(Tester, testCeasePublishZeroVel) { rclcpp::Time curr_time = cm_->now(); @@ -934,6 +1304,116 @@ TEST_F(Tester, testCeasePublishZeroVel) cm_->stop(); } +TEST_F(Tester, testPolygonNotEnabled) +{ + // Set Collision Monitor parameters. + // Create a STOP polygon + setCommonParameters(); + addPolygon("Stop", POLYGON, 1.0, "stop"); + // Create a Scan source + addSource(SCAN_NAME, SCAN); + setVectors({"Stop"}, {SCAN_NAME}); + + // Start Collision Monitor node + cm_->start(); + + // Check that robot stops when polygon is enabled + rclcpp::Time curr_time = cm_->now(); + sendTransforms(curr_time); + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, STOP); + ASSERT_EQ(action_state_->polygon_name, "Stop"); + + // Disable polygon by calling service + auto set_parameters_msg = std::make_shared(); + auto parameter_msg = std::make_shared(); + parameter_msg->name = "Stop.enabled"; + parameter_msg->value.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL; + parameter_msg->value.bool_value = false; + set_parameters_msg->parameters.push_back(*parameter_msg); + auto result_future = parameters_client_->async_send_request(set_parameters_msg).future.share(); + ASSERT_TRUE(waitFuture(result_future, 2s)); + + // Check that robot does not stop when polygon is disabled + curr_time = cm_->now(); + sendTransforms(curr_time); + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, DO_NOTHING); + ASSERT_EQ(action_state_->polygon_name, ""); + + // Stop Collision Monitor node + cm_->stop(); +} + +TEST_F(Tester, testSourceNotEnabled) +{ + // Set Collision Monitor parameters. + // Create a STOP polygon + setCommonParameters(); + addPolygon("Stop", POLYGON, 1.0, "stop"); + // Create a Scan source + addSource(SCAN_NAME, SCAN); + setVectors({"Stop"}, {SCAN_NAME}); + + // Start Collision Monitor node + cm_->start(); + + // Check that robot stops when source is enabled + rclcpp::Time curr_time = cm_->now(); + sendTransforms(curr_time); + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, STOP); + ASSERT_EQ(action_state_->polygon_name, "Stop"); + + // Disable source by calling service + auto set_parameters_msg = std::make_shared(); + auto parameter_msg = std::make_shared(); + parameter_msg->name = std::string(SCAN_NAME) + ".enabled"; + parameter_msg->value.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL; + parameter_msg->value.bool_value = false; + set_parameters_msg->parameters.push_back(*parameter_msg); + auto result_future = parameters_client_->async_send_request(set_parameters_msg).future.share(); + ASSERT_TRUE(waitFuture(result_future, 2s)); + + // Check that robot does not stop when source is disabled + curr_time = cm_->now(); + sendTransforms(curr_time); + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.5, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.2, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, DO_NOTHING); + ASSERT_EQ(action_state_->polygon_name, ""); + + // Stop Collision Monitor node + cm_->stop(); +} + TEST_F(Tester, testProcessNonActive) { rclcpp::Time curr_time = cm_->now(); @@ -995,13 +1475,110 @@ TEST_F(Tester, testSourcesNotSet) setCommonParameters(); addPolygon("Stop", POLYGON, 1.0, "stop"); addSource(SCAN_NAME, SCAN); - cm_->declare_parameter("polygons", rclcpp::ParameterValue({"Stop"})); + cm_->declare_parameter("polygons", rclcpp::ParameterValue(std::vector{"Stop"})); cm_->set_parameter(rclcpp::Parameter("polygons", std::vector{"Stop"})); // Check that Collision Monitor node can not be configured for this parameters set cm_->cant_configure(); } +TEST_F(Tester, testCollisionPointsMarkers) +{ + rclcpp::Time curr_time = cm_->now(); + + // Set Collision Monitor parameters. + // Making two polygons: outer polygon for slowdown and inner for robot stop. + setCommonParameters(); + addSource(SCAN_NAME, SCAN); + setVectors({}, {SCAN_NAME}); + + // Start Collision Monitor node + cm_->start(); + + // Share TF + sendTransforms(curr_time); + + publishCmdVel(0.5, 0.2, 0.1); + ASSERT_TRUE(waitCollisionPointsMarker(500ms)); + ASSERT_EQ(collision_points_marker_msg_->markers[0].points.size(), 0u); + + publishCmdVel(0.5, 0.2, 0.1); + publishScan(0.5, curr_time); + ASSERT_TRUE(waitData(0.5, 500ms, curr_time)); + ASSERT_TRUE(waitCollisionPointsMarker(500ms)); + ASSERT_NE(collision_points_marker_msg_->markers[0].points.size(), 0u); + // Stop Collision Monitor node + cm_->stop(); +} + +TEST_F(Tester, testVelocityPolygonStop) +{ + // Set Collision Monitor parameters. + // Add velocity polygon with 2 sub polygon: + // 1. Forward: 0 -> 0.5 m/s + // 2. Backward: 0 -> -0.5 m/s + setCommonParameters(); + addPolygon("VelocityPoylgon", VELOCITY_POLYGON, 1.0, "stop"); + addPolygonVelocitySubPolygon("VelocityPoylgon", "Forward", 0.0, 0.5, 0.0, 1.0, 4.0); + addPolygonVelocitySubPolygon("VelocityPoylgon", "Backward", -0.5, 0.0, 0.0, 1.0, 2.0); + setPolygonVelocityVectors("VelocityPoylgon", {"Forward", "Backward"}); + addSource(POINTCLOUD_NAME, POINTCLOUD); + setVectors({"VelocityPoylgon"}, {POINTCLOUD_NAME}); + + rclcpp::Time curr_time = cm_->now(); + // Start Collision Monitor node + cm_->start(); + // Check that robot stops when source is enabled + sendTransforms(curr_time); + + // 1. Obstacle is far away from Forward velocity polygon + publishPointCloud(4.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(4.5, 0.01), 500ms, curr_time)); + publishCmdVel(0.4, 0.0, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.4, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + + // 2. Obstacle is in Forward velocity polygon + publishPointCloud(3.0, curr_time); + ASSERT_TRUE(waitData(std::hypot(3.0, 0.01), 500ms, curr_time)); + publishCmdVel(0.4, 0.0, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, STOP); + ASSERT_EQ(action_state_->polygon_name, "VelocityPoylgon"); + + // 3. Switch to Backward velocity polygon + // Obstacle is far away from Backward velocity polygon + publishCmdVel(-0.4, 0.0, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, -0.4, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.1, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, DO_NOTHING); + ASSERT_EQ(action_state_->polygon_name, ""); + + // 4. Obstacle is in Backward velocity polygon + publishPointCloud(-1.5, curr_time); + ASSERT_TRUE(waitData(std::hypot(-1.5, 0.01), 500ms, curr_time)); + publishCmdVel(-0.4, 0.0, 0.1); + ASSERT_TRUE(waitCmdVel(500ms)); + ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON); + ASSERT_NEAR(cmd_vel_out_->angular.z, 0.0, EPSILON); + ASSERT_TRUE(waitActionState(500ms)); + ASSERT_EQ(action_state_->action_type, STOP); + ASSERT_EQ(action_state_->polygon_name, "VelocityPoylgon"); + + // Stop Collision Monitor node + cm_->stop(); +} + int main(int argc, char ** argv) { // Initialize the system diff --git a/nav2_collision_monitor/test/polygons_test.cpp b/nav2_collision_monitor/test/polygons_test.cpp index db3e80805f0..c703e12557b 100644 --- a/nav2_collision_monitor/test/polygons_test.cpp +++ b/nav2_collision_monitor/test/polygons_test.cpp @@ -50,9 +50,24 @@ static const std::vector SQUARE_POLYGON { 0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5}; static const std::vector ARBITRARY_POLYGON { 1.0, 1.0, 1.0, 0.0, 2.0, 0.0, 2.0, -1.0, -1.0, -1.0, -1.0, 1.0}; +static const char SQUARE_POLYGON_STR[]{ + "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"}; +static const char ARBITRARY_POLYGON_STR[]{ + "[[1.0, 1.0], [1.0, 0.0], [2.0, 0.0], [2.0, -1.0], [-1.0, -1.0], [-1.0, 1.0]]"}; +static const char INCORRECT_POINTS_1_STR[]{ + "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5]]" +}; +static const char INCORRECT_POINTS_2_STR[]{ + "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5], [0]]" +}; +static const char INVALID_POINTS_STR[]{ + "[[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5], 0]]" +}; static const double CIRCLE_RADIUS{0.5}; static const int MIN_POINTS{2}; static const double SLOWDOWN_RATIO{0.7}; +static const double LINEAR_LIMIT{0.4}; +static const double ANGULAR_LIMIT{0.09}; static const double TIME_BEFORE_COLLISION{1.0}; static const double SIMULATION_TIME_STEP{0.01}; static const tf2::Duration TRANSFORM_TOLERANCE{tf2::durationFromSec(0.1)}; @@ -102,6 +117,17 @@ class TestNode : public nav2_util::LifecycleNode polygon_pub_->publish(std::move(msg)); } + void publishRadius() + { + radius_pub_ = this->create_publisher( + POLYGON_SUB_TOPIC, rclcpp::SystemDefaultsQoS()); + + std::unique_ptr msg = std::make_unique(); + msg->data = CIRCLE_RADIUS; + + radius_pub_->publish(std::move(msg)); + } + void publishFootprint() { footprint_pub_ = this->create_publisher( @@ -144,6 +170,7 @@ class TestNode : public nav2_util::LifecycleNode private: rclcpp::Publisher::SharedPtr polygon_pub_; + rclcpp::Publisher::SharedPtr radius_pub_; rclcpp::Publisher::SharedPtr footprint_pub_; rclcpp::Subscription::SharedPtr polygon_sub_; @@ -210,21 +237,24 @@ class Tester : public ::testing::Test // Working with parameters void setCommonParameters(const std::string & polygon_name, const std::string & action_type); void setPolygonParameters( - const std::vector & points, + const char * points, const bool is_static); - void setCircleParameters(const double radius); + void setCircleParameters(const double radius, const bool is_static); bool checkUndeclaredParameter(const std::string & polygon_name, const std::string & param); // Creating routines void createPolygon(const std::string & action_type, const bool is_static); - void createCircle(const std::string & action_type); + void createCircle(const std::string & action_type, const bool is_static); - void sendTransforms(); + void sendTransforms(double shift); // Wait until polygon will be received bool waitPolygon( const std::chrono::nanoseconds & timeout, std::vector & poly); + // Wait until circle polygon radius will be received + bool waitRadius(const std::chrono::nanoseconds & timeout); + // Wait until footprint will be received bool waitFootprint( const std::chrono::nanoseconds & timeout, @@ -276,6 +306,16 @@ void Tester::setCommonParameters(const std::string & polygon_name, const std::st test_node_->set_parameter( rclcpp::Parameter(polygon_name + ".slowdown_ratio", SLOWDOWN_RATIO)); + test_node_->declare_parameter( + polygon_name + ".linear_limit", rclcpp::ParameterValue(LINEAR_LIMIT)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".linear_limit", LINEAR_LIMIT)); + + test_node_->declare_parameter( + polygon_name + ".angular_limit", rclcpp::ParameterValue(ANGULAR_LIMIT)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".angular_limit", ANGULAR_LIMIT)); + test_node_->declare_parameter( polygon_name + ".time_before_collision", rclcpp::ParameterValue(TIME_BEFORE_COLLISION)); @@ -299,7 +339,7 @@ void Tester::setCommonParameters(const std::string & polygon_name, const std::st } void Tester::setPolygonParameters( - const std::vector & points, const bool is_static) + const char * points, const bool is_static) { if (is_static) { test_node_->declare_parameter( @@ -319,12 +359,19 @@ void Tester::setPolygonParameters( } } -void Tester::setCircleParameters(const double radius) +void Tester::setCircleParameters(const double radius, const bool is_static) { - test_node_->declare_parameter( - std::string(CIRCLE_NAME) + ".radius", rclcpp::ParameterValue(radius)); - test_node_->set_parameter( - rclcpp::Parameter(std::string(CIRCLE_NAME) + ".radius", radius)); + if (is_static) { + test_node_->declare_parameter( + std::string(CIRCLE_NAME) + ".radius", rclcpp::ParameterValue(radius)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(CIRCLE_NAME) + ".radius", radius)); + } else { + test_node_->declare_parameter( + std::string(CIRCLE_NAME) + ".polygon_sub_topic", rclcpp::ParameterValue(POLYGON_SUB_TOPIC)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(CIRCLE_NAME) + ".polygon_sub_topic", POLYGON_SUB_TOPIC)); + } } bool Tester::checkUndeclaredParameter(const std::string & polygon_name, const std::string & param) @@ -348,7 +395,7 @@ bool Tester::checkUndeclaredParameter(const std::string & polygon_name, const st void Tester::createPolygon(const std::string & action_type, const bool is_static) { setCommonParameters(POLYGON_NAME, action_type); - setPolygonParameters(SQUARE_POLYGON, is_static); + setPolygonParameters(SQUARE_POLYGON_STR, is_static); polygon_ = std::make_shared( test_node_, POLYGON_NAME, @@ -357,10 +404,10 @@ void Tester::createPolygon(const std::string & action_type, const bool is_static polygon_->activate(); } -void Tester::createCircle(const std::string & action_type) +void Tester::createCircle(const std::string & action_type, const bool is_static) { setCommonParameters(CIRCLE_NAME, action_type); - setCircleParameters(CIRCLE_RADIUS); + setCircleParameters(CIRCLE_RADIUS, is_static); circle_ = std::make_shared( test_node_, CIRCLE_NAME, @@ -369,7 +416,7 @@ void Tester::createCircle(const std::string & action_type) circle_->activate(); } -void Tester::sendTransforms() +void Tester::sendTransforms(double shift) { std::shared_ptr tf_broadcaster = std::make_shared(test_node_); @@ -381,8 +428,8 @@ void Tester::sendTransforms() transform.child_frame_id = BASE2_FRAME_ID; transform.header.stamp = test_node_->now(); - transform.transform.translation.x = 0.1; - transform.transform.translation.y = 0.1; + transform.transform.translation.x = shift; + transform.transform.translation.y = shift; transform.transform.translation.z = 0.0; transform.transform.rotation.x = 0.0; transform.transform.rotation.y = 0.0; @@ -408,13 +455,27 @@ bool Tester::waitPolygon( return false; } +bool Tester::waitRadius(const std::chrono::nanoseconds & timeout) +{ + rclcpp::Time start_time = test_node_->now(); + while (rclcpp::ok() && test_node_->now() - start_time <= rclcpp::Duration(timeout)) { + if (circle_->isShapeSet()) { + return true; + } + rclcpp::spin_some(test_node_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + bool Tester::waitFootprint( const std::chrono::nanoseconds & timeout, std::vector & footprint) { rclcpp::Time start_time = test_node_->now(); + nav2_collision_monitor::Velocity vel{0.0, 0.0, 0.0}; while (rclcpp::ok() && test_node_->now() - start_time <= rclcpp::Duration(timeout)) { - polygon_->updatePolygon(); + polygon_->updatePolygon(vel); polygon_->getPolygon(footprint); if (footprint.size() > 0) { return true; @@ -462,6 +523,20 @@ TEST_F(Tester, testPolygonGetSlowdownParameters) EXPECT_NEAR(polygon_->getSlowdownRatio(), SLOWDOWN_RATIO, EPSILON); } +TEST_F(Tester, testPolygonGetLimitParameters) +{ + createPolygon("limit", true); + + // Check that common parameters set correctly + EXPECT_EQ(polygon_->getName(), POLYGON_NAME); + EXPECT_EQ(polygon_->getActionType(), nav2_collision_monitor::LIMIT); + EXPECT_EQ(polygon_->getMinPoints(), MIN_POINTS); + EXPECT_EQ(polygon_->isVisualize(), true); + // Check that limit params are correct + EXPECT_NEAR(polygon_->getLinearLimit(), LINEAR_LIMIT, EPSILON); + EXPECT_NEAR(polygon_->getAngularLimit(), ANGULAR_LIMIT, EPSILON); +} + TEST_F(Tester, testPolygonGetApproachParameters) { createPolygon("approach", true); @@ -478,7 +553,7 @@ TEST_F(Tester, testPolygonGetApproachParameters) TEST_F(Tester, testCircleGetParameters) { - createCircle("approach"); + createCircle("approach", true); // Check that common parameters set correctly EXPECT_EQ(circle_->getName(), CIRCLE_NAME); @@ -520,7 +595,7 @@ TEST_F(Tester, testPolygonUndeclaredPoints) TEST_F(Tester, testPolygonIncorrectActionType) { setCommonParameters(POLYGON_NAME, "incorrect_action_type"); - setPolygonParameters(SQUARE_POLYGON, true); + setPolygonParameters(SQUARE_POLYGON_STR, true); polygon_ = std::make_shared( test_node_, POLYGON_NAME, @@ -532,12 +607,11 @@ TEST_F(Tester, testPolygonIncorrectPoints1) { setCommonParameters(POLYGON_NAME, "stop"); - std::vector incorrect_points = SQUARE_POLYGON; - incorrect_points.resize(6); // Not enough for triangle + // Triangle points test_node_->declare_parameter( - std::string(POLYGON_NAME) + ".points", rclcpp::ParameterValue(incorrect_points)); + std::string(POLYGON_NAME) + ".points", rclcpp::ParameterValue(INCORRECT_POINTS_1_STR)); test_node_->set_parameter( - rclcpp::Parameter(std::string(POLYGON_NAME) + ".points", incorrect_points)); + rclcpp::Parameter(std::string(POLYGON_NAME) + ".points", INCORRECT_POINTS_1_STR)); polygon_ = std::make_shared( test_node_, POLYGON_NAME, @@ -549,12 +623,11 @@ TEST_F(Tester, testPolygonIncorrectPoints2) { setCommonParameters(POLYGON_NAME, "stop"); - std::vector incorrect_points = SQUARE_POLYGON; - incorrect_points.resize(9); // Odd number of points + // Odd number of elements test_node_->declare_parameter( - std::string(POLYGON_NAME) + ".points", rclcpp::ParameterValue(incorrect_points)); + std::string(POLYGON_NAME) + ".points", rclcpp::ParameterValue(INCORRECT_POINTS_2_STR)); test_node_->set_parameter( - rclcpp::Parameter(std::string(POLYGON_NAME) + ".points", incorrect_points)); + rclcpp::Parameter(std::string(POLYGON_NAME) + ".points", INCORRECT_POINTS_2_STR)); polygon_ = std::make_shared( test_node_, POLYGON_NAME, @@ -566,7 +639,7 @@ TEST_F(Tester, testPolygonIncorrectPoints2) TEST_F(Tester, testPolygonMaxPoints) { setCommonParameters(POLYGON_NAME, "stop"); - setPolygonParameters(SQUARE_POLYGON, true); + setPolygonParameters(SQUARE_POLYGON_STR, true); const int max_points = 5; test_node_->declare_parameter( @@ -590,8 +663,9 @@ TEST_F(Tester, testCircleUndeclaredRadius) tf_buffer_, BASE_FRAME_ID, TRANSFORM_TOLERANCE); ASSERT_FALSE(circle_->configure()); - // Check that "radius" parameter is not set after configuring + // Check that "radius" and "polygon_sub_topic" parameters are not set after configuring ASSERT_TRUE(checkUndeclaredParameter(CIRCLE_NAME, "radius")); + ASSERT_TRUE(checkUndeclaredParameter(CIRCLE_NAME, "polygon_sub_topic")); } TEST_F(Tester, testPolygonTopicUpdate) @@ -608,7 +682,7 @@ TEST_F(Tester, testPolygonTopicUpdate) ASSERT_FALSE(waitPolygon(100ms, poly)); ASSERT_FALSE(polygon_->isShapeSet()); - // Publush correct polygon and make shure that it was set correctly + // Publish correct polygon and make sure that it was set correctly test_node_->publishPolygon(BASE_FRAME_ID, true); ASSERT_TRUE(waitPolygon(500ms, poly)); ASSERT_TRUE(polygon_->isShapeSet()); @@ -623,10 +697,22 @@ TEST_F(Tester, testPolygonTopicUpdate) EXPECT_NEAR(poly[3].y, SQUARE_POLYGON[7], EPSILON); } +TEST_F(Tester, testCircleTopicUpdate) +{ + createCircle("stop", false); + ASSERT_FALSE(circle_->isShapeSet()); + + // Publish radius and make sure that it was set correctly + test_node_->publishRadius(); + ASSERT_TRUE(waitRadius(500ms)); + EXPECT_NEAR(circle_->getRadius(), CIRCLE_RADIUS, EPSILON); + EXPECT_NEAR(circle_->getRadiusSquared(), CIRCLE_RADIUS * CIRCLE_RADIUS, EPSILON); +} + TEST_F(Tester, testPolygonTopicUpdateDifferentFrame) { createPolygon("stop", false); - sendTransforms(); + sendTransforms(0.1); std::vector poly; polygon_->getPolygon(poly); @@ -644,12 +730,29 @@ TEST_F(Tester, testPolygonTopicUpdateDifferentFrame) EXPECT_NEAR(poly[2].y, SQUARE_POLYGON[5] + 0.1, EPSILON); EXPECT_NEAR(poly[3].x, SQUARE_POLYGON[6] + 0.1, EPSILON); EXPECT_NEAR(poly[3].y, SQUARE_POLYGON[7] + 0.1, EPSILON); + + // Move BASE2_FRAME_ID to 0.2 m away from BASE_FRAME_ID + sendTransforms(0.2); + // updatePolygon(vel) should update poly coordinates to correct ones in BASE_FRAME_ID + nav2_collision_monitor::Velocity vel{0.0, 0.0, 0.0}; + polygon_->updatePolygon(vel); + // Check that polygon coordinates were updated correctly + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, SQUARE_POLYGON[0] + 0.2, EPSILON); + EXPECT_NEAR(poly[0].y, SQUARE_POLYGON[1] + 0.2, EPSILON); + EXPECT_NEAR(poly[1].x, SQUARE_POLYGON[2] + 0.2, EPSILON); + EXPECT_NEAR(poly[1].y, SQUARE_POLYGON[3] + 0.2, EPSILON); + EXPECT_NEAR(poly[2].x, SQUARE_POLYGON[4] + 0.2, EPSILON); + EXPECT_NEAR(poly[2].y, SQUARE_POLYGON[5] + 0.2, EPSILON); + EXPECT_NEAR(poly[3].x, SQUARE_POLYGON[6] + 0.2, EPSILON); + EXPECT_NEAR(poly[3].y, SQUARE_POLYGON[7] + 0.2, EPSILON); } TEST_F(Tester, testPolygonTopicUpdateIncorrectFrame) { createPolygon("stop", false); - sendTransforms(); + sendTransforms(0.1); std::vector poly; polygon_->getPolygon(poly); @@ -709,7 +812,7 @@ TEST_F(Tester, testPolygonGetPointsInsideEdge) // Test for checking edge cases in raytracing algorithm. // All points are lie on the edge lines parallel to OX, where the raytracing takes place. setCommonParameters(POLYGON_NAME, "stop"); - setPolygonParameters(ARBITRARY_POLYGON, true); + setPolygonParameters(ARBITRARY_POLYGON_STR, true); polygon_ = std::make_shared( test_node_, POLYGON_NAME, @@ -734,7 +837,7 @@ TEST_F(Tester, testPolygonGetPointsInsideEdge) TEST_F(Tester, testCircleGetPointsInside) { - createCircle("stop"); + createCircle("stop", true); std::vector points; // Point out of radius @@ -842,7 +945,7 @@ TEST_F(Tester, testPolygonDefaultVisualize) std::string(POLYGON_NAME) + ".action_type", rclcpp::ParameterValue("stop")); test_node_->set_parameter( rclcpp::Parameter(std::string(POLYGON_NAME) + ".action_type", "stop")); - setPolygonParameters(SQUARE_POLYGON, true); + setPolygonParameters(SQUARE_POLYGON_STR, true); // Create new polygon polygon_ = std::make_shared( @@ -858,6 +961,22 @@ TEST_F(Tester, testPolygonDefaultVisualize) ASSERT_EQ(test_node_->waitPolygonReceived(100ms), nullptr); } +TEST_F(Tester, testPolygonInvalidPointsString) +{ + setCommonParameters(POLYGON_NAME, "stop"); + + // Invalid points + test_node_->declare_parameter( + std::string(POLYGON_NAME) + ".points", rclcpp::ParameterValue(INVALID_POINTS_STR)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(POLYGON_NAME) + ".points", INVALID_POINTS_STR)); + + polygon_ = std::make_shared( + test_node_, POLYGON_NAME, + tf_buffer_, BASE_FRAME_ID, TRANSFORM_TOLERANCE); + ASSERT_FALSE(polygon_->configure()); +} + int main(int argc, char ** argv) { // Initialize the system diff --git a/nav2_collision_monitor/test/sources_test.cpp b/nav2_collision_monitor/test/sources_test.cpp index 0bfcd1a062c..24de5cbe056 100644 --- a/nav2_collision_monitor/test/sources_test.cpp +++ b/nav2_collision_monitor/test/sources_test.cpp @@ -38,6 +38,7 @@ #include "nav2_collision_monitor/scan.hpp" #include "nav2_collision_monitor/pointcloud.hpp" #include "nav2_collision_monitor/range.hpp" +#include "nav2_collision_monitor/polygon_source.hpp" using namespace std::chrono_literals; @@ -52,6 +53,8 @@ static const char POINTCLOUD_NAME[]{"PointCloud"}; static const char POINTCLOUD_TOPIC[]{"pointcloud"}; static const char RANGE_NAME[]{"Range"}; static const char RANGE_TOPIC[]{"range"}; +static const char POLYGON_NAME[]{"Polygon"}; +static const char POLYGON_TOPIC[]{"polygon"}; static const tf2::Duration TRANSFORM_TOLERANCE{tf2::durationFromSec(0.1)}; static const rclcpp::Duration DATA_TIMEOUT{rclcpp::Duration::from_seconds(5.0)}; @@ -68,6 +71,7 @@ class TestNode : public nav2_util::LifecycleNode scan_pub_.reset(); pointcloud_pub_.reset(); range_pub_.reset(); + polygon_pub_.reset(); } void publishScan(const rclcpp::Time & stamp, const double range) @@ -156,10 +160,43 @@ class TestNode : public nav2_util::LifecycleNode range_pub_->publish(std::move(msg)); } + void publishPolygon(const rclcpp::Time & stamp) + { + polygon_pub_ = this->create_publisher( + POLYGON_TOPIC, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable()); + + std::unique_ptr msg = + std::make_unique(); + + msg->header.frame_id = SOURCE_FRAME_ID; + msg->header.stamp = stamp; + + geometry_msgs::msg::Point32 point; + point.x = 1.0; + point.y = -1.0; + point.z = 0.0; + msg->polygon.polygon.points.push_back(point); + point.x = 1.0; + point.y = 1.0; + point.z = 0.0; + msg->polygon.polygon.points.push_back(point); + point.x = -1.0; + point.y = 1.0; + point.z = 0.0; + msg->polygon.polygon.points.push_back(point); + point.x = -1.0; + point.y = -1.0; + point.z = 0.0; + msg->polygon.polygon.points.push_back(point); + msg->polygon.id = 1u; + polygon_pub_->publish(std::move(msg)); + } + private: rclcpp::Publisher::SharedPtr scan_pub_; rclcpp::Publisher::SharedPtr pointcloud_pub_; rclcpp::Publisher::SharedPtr range_pub_; + rclcpp::Publisher::SharedPtr polygon_pub_; }; // TestNode class ScanWrapper : public nav2_collision_monitor::Scan @@ -231,6 +268,29 @@ class RangeWrapper : public nav2_collision_monitor::Range } }; // RangeWrapper +class PolygonWrapper : public nav2_collision_monitor::PolygonSource +{ +public: + PolygonWrapper( + const nav2_util::LifecycleNode::WeakPtr & node, + const std::string & source_name, + const std::shared_ptr tf_buffer, + const std::string & base_frame_id, + const std::string & global_frame_id, + const tf2::Duration & transform_tolerance, + const rclcpp::Duration & data_timeout, + const bool base_shift_correction) + : nav2_collision_monitor::PolygonSource( + node, source_name, tf_buffer, base_frame_id, global_frame_id, + transform_tolerance, data_timeout, base_shift_correction) + {} + + bool dataReceived() const + { + return data_.size() > 0; + } +}; // PolygonWrapper + class Tester : public ::testing::Test { public: @@ -248,14 +308,17 @@ class Tester : public ::testing::Test bool waitScan(const std::chrono::nanoseconds & timeout); bool waitPointCloud(const std::chrono::nanoseconds & timeout); bool waitRange(const std::chrono::nanoseconds & timeout); + bool waitPolygon(const std::chrono::nanoseconds & timeout); void checkScan(const std::vector & data); void checkPointCloud(const std::vector & data); void checkRange(const std::vector & data); + void checkPolygon(const std::vector & data); std::shared_ptr test_node_; std::shared_ptr scan_; std::shared_ptr pointcloud_; std::shared_ptr range_; + std::shared_ptr polygon_; private: std::shared_ptr tf_buffer_; @@ -331,6 +394,21 @@ void Tester::createSources(const bool base_shift_correction) BASE_FRAME_ID, GLOBAL_FRAME_ID, TRANSFORM_TOLERANCE, DATA_TIMEOUT, base_shift_correction); range_->configure(); + + // Create Polygon object + test_node_->declare_parameter( + std::string(POLYGON_NAME) + ".topic", rclcpp::ParameterValue(POLYGON_TOPIC)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(POLYGON_NAME) + ".topic", POLYGON_TOPIC)); + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + ".sampling_distance", rclcpp::ParameterValue(0.1)); + + polygon_ = std::make_shared( + test_node_, POLYGON_NAME, tf_buffer_, + BASE_FRAME_ID, GLOBAL_FRAME_ID, + TRANSFORM_TOLERANCE, DATA_TIMEOUT, base_shift_correction); + polygon_->configure(); } void Tester::sendTransforms(const rclcpp::Time & stamp) @@ -404,6 +482,19 @@ bool Tester::waitRange(const std::chrono::nanoseconds & timeout) return false; } +bool Tester::waitPolygon(const std::chrono::nanoseconds & timeout) +{ + rclcpp::Time start_time = test_node_->now(); + while (rclcpp::ok() && test_node_->now() - start_time <= rclcpp::Duration(timeout)) { + if (polygon_->dataReceived()) { + return true; + } + rclcpp::spin_some(test_node_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + void Tester::checkScan(const std::vector & data) { ASSERT_EQ(data.size(), 4u); @@ -458,6 +549,11 @@ void Tester::checkRange(const std::vector & data) ASSERT_NEAR(data[i].y, 1.0 * std::sin(angle) + 0.1, EPSILON); } +void Tester::checkPolygon(const std::vector & data) +{ + ASSERT_EQ(data.size(), 84u); +} + TEST_F(Tester, testGetData) { rclcpp::Time curr_time = test_node_->now(); @@ -470,11 +566,13 @@ TEST_F(Tester, testGetData) test_node_->publishScan(curr_time, 1.0); test_node_->publishPointCloud(curr_time); test_node_->publishRange(curr_time, 1.0); + test_node_->publishPolygon(curr_time); // Wait until all sources will receive the data ASSERT_TRUE(waitScan(500ms)); ASSERT_TRUE(waitPointCloud(500ms)); ASSERT_TRUE(waitRange(500ms)); + ASSERT_TRUE(waitPolygon(500ms)); // Check Scan data std::vector data; @@ -490,6 +588,11 @@ TEST_F(Tester, testGetData) data.clear(); range_->getData(curr_time, data); checkRange(data); + + // Check Polygon data + data.clear(); + polygon_->getData(curr_time, data); + checkPolygon(data); } TEST_F(Tester, testGetOutdatedData) @@ -504,11 +607,13 @@ TEST_F(Tester, testGetOutdatedData) test_node_->publishScan(curr_time - DATA_TIMEOUT - 1s, 1.0); test_node_->publishPointCloud(curr_time - DATA_TIMEOUT - 1s); test_node_->publishRange(curr_time - DATA_TIMEOUT - 1s, 1.0); + test_node_->publishPolygon(curr_time - DATA_TIMEOUT - 1s); // Wait until all sources will receive the data ASSERT_TRUE(waitScan(500ms)); ASSERT_TRUE(waitPointCloud(500ms)); ASSERT_TRUE(waitRange(500ms)); + ASSERT_TRUE(waitPolygon(500ms)); // Scan data should be empty std::vector data; @@ -522,6 +627,10 @@ TEST_F(Tester, testGetOutdatedData) // Range data should be empty range_->getData(curr_time, data); ASSERT_EQ(data.size(), 0u); + + // Polygon data should be empty + polygon_->getData(curr_time, data); + ASSERT_EQ(data.size(), 0u); } TEST_F(Tester, testIncorrectFrameData) @@ -537,11 +646,13 @@ TEST_F(Tester, testIncorrectFrameData) test_node_->publishScan(curr_time, 1.0); test_node_->publishPointCloud(curr_time); test_node_->publishRange(curr_time, 1.0); + test_node_->publishPolygon(curr_time); // Wait until all sources will receive the data ASSERT_TRUE(waitScan(500ms)); ASSERT_TRUE(waitPointCloud(500ms)); ASSERT_TRUE(waitRange(500ms)); + ASSERT_TRUE(waitPolygon(500ms)); // Scan data should be empty std::vector data; @@ -555,6 +666,10 @@ TEST_F(Tester, testIncorrectFrameData) // Range data should be empty range_->getData(curr_time, data); ASSERT_EQ(data.size(), 0u); + + // Polygon data should be empty + polygon_->getData(curr_time, data); + ASSERT_EQ(data.size(), 0u); } TEST_F(Tester, testIncorrectData) @@ -597,11 +712,13 @@ TEST_F(Tester, testIgnoreTimeShift) test_node_->publishScan(curr_time, 1.0); test_node_->publishPointCloud(curr_time); test_node_->publishRange(curr_time, 1.0); + test_node_->publishPolygon(curr_time); // Wait until all sources will receive the data ASSERT_TRUE(waitScan(500ms)); ASSERT_TRUE(waitPointCloud(500ms)); ASSERT_TRUE(waitRange(500ms)); + ASSERT_TRUE(waitPolygon(500ms)); // Scan data should be consistent std::vector data; @@ -617,6 +734,11 @@ TEST_F(Tester, testIgnoreTimeShift) data.clear(); range_->getData(curr_time, data); checkRange(data); + + // Polygon data should be consistent + data.clear(); + polygon_->getData(curr_time, data); + checkPolygon(data); } int main(int argc, char ** argv) diff --git a/nav2_collision_monitor/test/velocity_polygons_test.cpp b/nav2_collision_monitor/test/velocity_polygons_test.cpp new file mode 100644 index 00000000000..4fd4f8bc0b3 --- /dev/null +++ b/nav2_collision_monitor/test/velocity_polygons_test.cpp @@ -0,0 +1,576 @@ +// Copyright (c) 2024 Dexory +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "nav2_util/lifecycle_node.hpp" +#include "geometry_msgs/msg/point32.hpp" +#include "geometry_msgs/msg/polygon_stamped.hpp" + +#include "tf2_ros/buffer.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/transform_broadcaster.h" + +#include "nav2_collision_monitor/types.hpp" +#include "nav2_collision_monitor/polygon.hpp" +#include "nav2_collision_monitor/velocity_polygon.hpp" + +using namespace std::chrono_literals; + +static constexpr double EPSILON = std::numeric_limits::epsilon(); + +static const char BASE_FRAME_ID[]{"base_link"}; +static const char POLYGON_PUB_TOPIC[]{"polygon_pub"}; +static const char POLYGON_NAME[]{"TestVelocityPolygon"}; +static const char SUB_POLYGON_FORWARD_NAME[]{"Forward"}; +static const char SUB_POLYGON_BACKWARD_NAME[]{"Backward"}; +static const char SUB_POLYGON_LEFT_NAME[]{"Left"}; +static const char SUB_POLYGON_RIGHT_NAME[]{"Right"}; +static const std::vector FORWARD_POLYGON{ + 0.5, 0.5, 0.5, -0.5, 0.0, -0.5, 0.0, 0.5}; +static const std::vector BACKWARD_POLYGON{ + 0.0, 0.5, 0.0, -0.5, -0.5, -0.5, -0.5, 0.5}; +static const std::vector LEFT_POLYGON{ + 0.5, 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, -0.5}; +static const std::vector RIGHT_POLYGON{ + 0.5, 0.0, 0.5, -0.5, -0.5, -0.5, 0.0, 0.0}; +static const char FORWARD_POLYGON_STR[]{ + "[[0.5, 0.5], [0.5, -0.5], [0.0, -0.5], [0.0, 0.5]]"}; +static const char BACKWARD_POLYGON_STR[]{ + "[[0.0, 0.5], [0.0, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"}; +static const char LEFT_POLYGON_STR[]{ + "[[0.5, 0.5], [0.5, 0.0], [0.0, 0.0], [0.0, -0.5]]"}; +static const char RIGHT_POLYGON_STR[]{ + "[[0.5, 0.0], [0.5, -0.5], [-0.5, -0.5], [0.0, 0.0]]"}; + +static const bool IS_HOLONOMIC{true}; +static const bool IS_NOT_HOLONOMIC{false}; +static const int MIN_POINTS{2}; +static const tf2::Duration TRANSFORM_TOLERANCE{tf2::durationFromSec(0.1)}; + +class TestNode : public nav2_util::LifecycleNode +{ +public: + TestNode() + : nav2_util::LifecycleNode("test_node"), polygon_received_(nullptr) + { + polygon_sub_ = this->create_subscription( + POLYGON_PUB_TOPIC, rclcpp::SystemDefaultsQoS(), + std::bind(&TestNode::polygonCallback, this, std::placeholders::_1)); + } + + ~TestNode() {} + + void polygonCallback(geometry_msgs::msg::PolygonStamped::SharedPtr msg) + { + polygon_received_ = msg; + } + + geometry_msgs::msg::PolygonStamped::SharedPtr waitPolygonReceived( + const std::chrono::nanoseconds & timeout) + { + rclcpp::Time start_time = this->now(); + while (rclcpp::ok() && this->now() - start_time <= rclcpp::Duration(timeout)) { + if (polygon_received_) { + return polygon_received_; + } + rclcpp::spin_some(this->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return nullptr; + } + +private: + rclcpp::Subscription::SharedPtr polygon_sub_; + geometry_msgs::msg::PolygonStamped::SharedPtr polygon_received_; +}; // TestNode + +class VelocityPolygonWrapper : public nav2_collision_monitor::VelocityPolygon +{ +public: + VelocityPolygonWrapper( + const nav2_util::LifecycleNode::WeakPtr & node, + const std::string & polygon_name, + const std::shared_ptr tf_buffer, + const std::string & base_frame_id, + const tf2::Duration & transform_tolerance) + : nav2_collision_monitor::VelocityPolygon( + node, polygon_name, tf_buffer, base_frame_id, transform_tolerance) + { + } + + double isHolonomic() const + { + return holonomic_; + } + + double isVisualize() const + { + return visualize_; + } + + std::vector getSubPolygons() + { + return sub_polygons_; + } +}; // VelocityPolygonWrapper + +class Tester : public ::testing::Test +{ +public: + Tester(); + ~Tester(); + +protected: + // Working with parameters + void setCommonParameters(const std::string & polygon_name, const std::string & action_type); + void setVelocityPolygonParameters(const bool is_holonomic); + void addPolygonVelocitySubPolygon( + const std::string & sub_polygon_name, + const double linear_min, const double linear_max, + const double theta_min, const double theta_max, + const double direction_end_angle, const double direction_start_angle, + const std::string & polygon_points, const bool is_holonomic); + + // Creating routines + void createVelocityPolygon(const std::string & action_type, const bool is_holonomic); + + // Wait until polygon will be received + bool waitPolygon( + const std::chrono::nanoseconds & timeout, + std::vector & poly); + + std::shared_ptr test_node_; + + std::shared_ptr velocity_polygon_; + + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; +}; // Tester + +Tester::Tester() +{ + test_node_ = std::make_shared(); + + tf_buffer_ = std::make_shared(test_node_->get_clock()); + tf_buffer_->setUsingDedicatedThread(true); // One-thread broadcasting-listening model + tf_listener_ = std::make_shared(*tf_buffer_); +} + +Tester::~Tester() +{ + velocity_polygon_.reset(); + + test_node_.reset(); + + tf_listener_.reset(); + tf_buffer_.reset(); +} + +void Tester::setCommonParameters(const std::string & polygon_name, const std::string & action_type) +{ + test_node_->declare_parameter( + polygon_name + ".action_type", rclcpp::ParameterValue(action_type)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".action_type", action_type)); + + test_node_->declare_parameter( + polygon_name + ".min_points", rclcpp::ParameterValue(MIN_POINTS)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".min_points", MIN_POINTS)); + + test_node_->declare_parameter( + polygon_name + ".visualize", rclcpp::ParameterValue(true)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".visualize", true)); + + test_node_->declare_parameter( + polygon_name + ".polygon_pub_topic", rclcpp::ParameterValue(POLYGON_PUB_TOPIC)); + test_node_->set_parameter( + rclcpp::Parameter(polygon_name + ".polygon_pub_topic", POLYGON_PUB_TOPIC)); +} + +void Tester::setVelocityPolygonParameters(const bool is_holonomic) +{ + test_node_->declare_parameter( + std::string(POLYGON_NAME) + ".holonomic", rclcpp::ParameterValue(is_holonomic)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(POLYGON_NAME) + ".holonomic", is_holonomic)); + + std::vector velocity_polygons = + {SUB_POLYGON_FORWARD_NAME, SUB_POLYGON_BACKWARD_NAME}; + + if (is_holonomic) { + // Direction angle range for holonomic type + // + // ^OY + // | + // | + // 0.75pi (left) 0.25pi + // --------------- <- robot footprint + // | \ | / | + // (backward) | \ | / | (forward) + // --------pi--|------o------|---------->OX + // | / | \ | + // | / | \ | + // -------------- + // -0.75pi (right) -0.25pi + // | + addPolygonVelocitySubPolygon( + SUB_POLYGON_FORWARD_NAME, 0.0, 0.5, -1.0, 1.0, -M_PI_4, M_PI_4, FORWARD_POLYGON_STR, + is_holonomic); + addPolygonVelocitySubPolygon( + SUB_POLYGON_BACKWARD_NAME, -0.5, 0.0, -1.0, 1.0, 0.75 * M_PI, -0.75 * M_PI, + BACKWARD_POLYGON_STR, + is_holonomic); + addPolygonVelocitySubPolygon( + SUB_POLYGON_LEFT_NAME, -0.5, 0.5, -1.0, 1.0, M_PI_4, 0.75 * M_PI, LEFT_POLYGON_STR, + is_holonomic); + addPolygonVelocitySubPolygon( + SUB_POLYGON_RIGHT_NAME, -0.5, 0.5, -1.0, 1.0, -0.75 * M_PI, -M_PI_4, + RIGHT_POLYGON_STR, is_holonomic); + + velocity_polygons = {SUB_POLYGON_FORWARD_NAME, SUB_POLYGON_BACKWARD_NAME, SUB_POLYGON_LEFT_NAME, + SUB_POLYGON_RIGHT_NAME}; + } else { + // draw forward and backward polygon + addPolygonVelocitySubPolygon( + SUB_POLYGON_FORWARD_NAME, 0.0, 0.5, -1.0, 1.0, 0.0, 0.0, FORWARD_POLYGON_STR, + is_holonomic); + addPolygonVelocitySubPolygon( + SUB_POLYGON_BACKWARD_NAME, -0.5, 0.0, -1.0, 1.0, 0.0, 0.0, BACKWARD_POLYGON_STR, + is_holonomic); + velocity_polygons = {SUB_POLYGON_FORWARD_NAME, SUB_POLYGON_BACKWARD_NAME}; + } + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + ".velocity_polygons", rclcpp::ParameterValue(velocity_polygons)); + test_node_->set_parameter( + rclcpp::Parameter(std::string(POLYGON_NAME) + ".velocity_polygons", velocity_polygons)); +} + +void Tester::addPolygonVelocitySubPolygon( + const std::string & sub_polygon_name, + const double linear_min, const double linear_max, + const double theta_min, const double theta_max, + const double direction_start_angle, const double direction_end_angle, + const std::string & polygon_points, const bool is_holonomic) +{ + test_node_->declare_parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".points", + rclcpp::ParameterValue(polygon_points)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string( + POLYGON_NAME) + + "." + sub_polygon_name + ".points", + polygon_points)); + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".linear_min", + rclcpp::ParameterValue(linear_min)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string( + POLYGON_NAME) + + "." + sub_polygon_name + ".linear_min", + linear_min)); + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".linear_max", + rclcpp::ParameterValue(linear_max)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string( + POLYGON_NAME) + + "." + sub_polygon_name + ".linear_max", + linear_max)); + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".theta_min", + rclcpp::ParameterValue(theta_min)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".theta_min", + theta_min)); + + test_node_->declare_parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".theta_max", + rclcpp::ParameterValue(theta_max)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".theta_max", + theta_max)); + + if (is_holonomic) { + test_node_->declare_parameter( + std::string( + POLYGON_NAME) + + "." + sub_polygon_name + ".direction_end_angle", + rclcpp::ParameterValue(direction_end_angle)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + ".direction_end_angle", + direction_end_angle)); + + test_node_->declare_parameter( + std::string( + POLYGON_NAME) + + "." + sub_polygon_name + ".direction_start_angle", + rclcpp::ParameterValue(direction_start_angle)); + test_node_->set_parameter( + rclcpp::Parameter( + std::string(POLYGON_NAME) + "." + sub_polygon_name + + ".direction_start_angle", + direction_start_angle)); + } +} + +void Tester::createVelocityPolygon(const std::string & action_type, const bool is_holonomic) +{ + setCommonParameters(POLYGON_NAME, action_type); + setVelocityPolygonParameters(is_holonomic); + + velocity_polygon_ = std::make_shared( + test_node_, POLYGON_NAME, + tf_buffer_, BASE_FRAME_ID, TRANSFORM_TOLERANCE); + ASSERT_TRUE(velocity_polygon_->configure()); + velocity_polygon_->activate(); +} + +bool Tester::waitPolygon( + const std::chrono::nanoseconds & timeout, + std::vector & poly) +{ + rclcpp::Time start_time = test_node_->now(); + while (rclcpp::ok() && test_node_->now() - start_time <= rclcpp::Duration(timeout)) { + velocity_polygon_->getPolygon(poly); + if (poly.size() > 0) { + return true; + } + rclcpp::spin_some(test_node_->get_node_base_interface()); + std::this_thread::sleep_for(10ms); + } + return false; +} + +TEST_F(Tester, testVelocityPolygonGetStopParameters) +{ + createVelocityPolygon("stop", IS_NOT_HOLONOMIC); + + // Check that common parameters set correctly + EXPECT_EQ(velocity_polygon_->getName(), POLYGON_NAME); + EXPECT_EQ(velocity_polygon_->getActionType(), nav2_collision_monitor::STOP); + EXPECT_EQ(velocity_polygon_->getMinPoints(), MIN_POINTS); + EXPECT_EQ(velocity_polygon_->isVisualize(), true); +} + +TEST_F(Tester, testVelocityPolygonGetSlowdownParameters) +{ + createVelocityPolygon("slowdown", IS_NOT_HOLONOMIC); + + // Check that common parameters set correctly + EXPECT_EQ(velocity_polygon_->getName(), POLYGON_NAME); + EXPECT_EQ(velocity_polygon_->getActionType(), nav2_collision_monitor::SLOWDOWN); + EXPECT_EQ(velocity_polygon_->getMinPoints(), MIN_POINTS); + EXPECT_EQ(velocity_polygon_->isVisualize(), true); +} + +TEST_F(Tester, testVelocityPolygonParameters) +{ + createVelocityPolygon("stop", IS_NOT_HOLONOMIC); + + // Check velocity polygon parameters + EXPECT_EQ(velocity_polygon_->isHolonomic(), IS_NOT_HOLONOMIC); + ASSERT_EQ(velocity_polygon_->getSubPolygons().size(), 2u); +} + +TEST_F(Tester, testHolonomicVelocityPolygonParameters) +{ + createVelocityPolygon("stop", IS_HOLONOMIC); + + // Check velocity polygon parameters + EXPECT_EQ(velocity_polygon_->isHolonomic(), IS_HOLONOMIC); + ASSERT_EQ(velocity_polygon_->getSubPolygons().size(), 4u); +} + +TEST_F(Tester, testVelocityPolygonOutOfRangeVelocity) +{ + createVelocityPolygon("stop", IS_NOT_HOLONOMIC); + + // Check velocity polygon parameters + EXPECT_EQ(velocity_polygon_->isHolonomic(), IS_NOT_HOLONOMIC); + ASSERT_EQ(velocity_polygon_->getSubPolygons().size(), 2u); + + // Check that polygon is empty before the first cmd_vel received + std::vector poly; + velocity_polygon_->getPolygon(poly); + ASSERT_EQ(poly.size(), 0u); + + + // Publish out of range cmd_vel(linear) and check that polygon is still emtpy + nav2_collision_monitor::Velocity vel{0.6, 0.0, 0.0}; + velocity_polygon_->updatePolygon(vel); + ASSERT_FALSE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 0u); + + // Publish out of range cmd_vel(rotation) and check that polygon is still emtpy + vel = {0.3, 0.0, 1.5}; + velocity_polygon_->updatePolygon(vel); + ASSERT_FALSE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 0u); + + // Publish a valid cmd_vel and check that polygon is correct + vel = {0.3, 0.0, 0.0}; // 0.3 m/s forward movement + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); +} + +TEST_F(Tester, testVelocityPolygonVelocitySwitching) +{ + createVelocityPolygon("stop", IS_NOT_HOLONOMIC); + + // Check velocity polygon parameters + EXPECT_EQ(velocity_polygon_->isHolonomic(), IS_NOT_HOLONOMIC); + ASSERT_EQ(velocity_polygon_->getSubPolygons().size(), 2u); + + // Check that polygon is empty before the first cmd_vel received + std::vector poly; + velocity_polygon_->getPolygon(poly); + ASSERT_EQ(poly.size(), 0u); + + // Publish cmd_vel (forward) and check that polygon is correct + nav2_collision_monitor::Velocity vel{0.3, 0.0, 0.0}; + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, FORWARD_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, FORWARD_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, FORWARD_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, FORWARD_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, FORWARD_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, FORWARD_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, FORWARD_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, FORWARD_POLYGON[7], EPSILON); + + // Publish cmd_vel (backward) and check that polygon is correct + vel = {-0.3, 0.0, 0.0}; // 0.3 m/s backward movement + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, BACKWARD_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, BACKWARD_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, BACKWARD_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, BACKWARD_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, BACKWARD_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, BACKWARD_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, BACKWARD_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, BACKWARD_POLYGON[7], EPSILON); +} + +TEST_F(Tester, testVelocityPolygonHolonomicVelocitySwitching) +{ + createVelocityPolygon("stop", IS_HOLONOMIC); + + // Check velocity polygon parameters + EXPECT_EQ(velocity_polygon_->isHolonomic(), IS_HOLONOMIC); + ASSERT_EQ(velocity_polygon_->getSubPolygons().size(), 4u); + + // Check that polygon is empty before the first cmd_vel received + std::vector poly; + velocity_polygon_->getPolygon(poly); + ASSERT_EQ(poly.size(), 0u); + + // Publish cmd_vel (forward) and check that polygon is correct + nav2_collision_monitor::Velocity vel{0.3, 0.0, 0.0}; + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, FORWARD_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, FORWARD_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, FORWARD_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, FORWARD_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, FORWARD_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, FORWARD_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, FORWARD_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, FORWARD_POLYGON[7], EPSILON); + + // Publish cmd_vel (backward) and check that polygon is correct + vel = {-0.3, 0.0, 0.0}; // 0.3 m/s backward movement + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, BACKWARD_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, BACKWARD_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, BACKWARD_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, BACKWARD_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, BACKWARD_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, BACKWARD_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, BACKWARD_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, BACKWARD_POLYGON[7], EPSILON); + + // Publish cmd_vel (left) and check that polygon is correct + vel = {0.0, 0.3, 0.0}; // 0.3 m/s left movement + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, LEFT_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, LEFT_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, LEFT_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, LEFT_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, LEFT_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, LEFT_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, LEFT_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, LEFT_POLYGON[7], EPSILON); + + // Publish cmd_vel (right) and check that polygon is correct + vel = {0.0, -0.3, 0.0}; // 0.3 m/s right movement + velocity_polygon_->updatePolygon(vel); + ASSERT_TRUE(waitPolygon(500ms, poly)); + ASSERT_EQ(poly.size(), 4u); + EXPECT_NEAR(poly[0].x, RIGHT_POLYGON[0], EPSILON); + EXPECT_NEAR(poly[0].y, RIGHT_POLYGON[1], EPSILON); + EXPECT_NEAR(poly[1].x, RIGHT_POLYGON[2], EPSILON); + EXPECT_NEAR(poly[1].y, RIGHT_POLYGON[3], EPSILON); + EXPECT_NEAR(poly[2].x, RIGHT_POLYGON[4], EPSILON); + EXPECT_NEAR(poly[2].y, RIGHT_POLYGON[5], EPSILON); + EXPECT_NEAR(poly[3].x, RIGHT_POLYGON[6], EPSILON); + EXPECT_NEAR(poly[3].y, RIGHT_POLYGON[7], EPSILON); +} + + +int main(int argc, char ** argv) +{ + // Initialize the system + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + + // Actual testing + bool test_result = RUN_ALL_TESTS(); + + // Shutdown + rclcpp::shutdown(); + + return test_result; +} diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake index 82a0fe92b1c..3f4977193c8 100644 --- a/nav2_common/cmake/nav2_package.cmake +++ b/nav2_common/cmake/nav2_package.cmake @@ -36,8 +36,9 @@ macro(nav2_package) endif() endif() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC) + if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference) + add_compile_options("$<$:-Wnon-virtual-dtor>") endif() option(COVERAGE_ENABLED "Enable code coverage" FALSE) diff --git a/nav2_common/nav2_common/launch/__init__.py b/nav2_common/nav2_common/launch/__init__.py index c25fadb220c..61ea85dd793 100644 --- a/nav2_common/nav2_common/launch/__init__.py +++ b/nav2_common/nav2_common/launch/__init__.py @@ -13,5 +13,13 @@ # limitations under the License. from .has_node_params import HasNodeParams -from .rewritten_yaml import RewrittenYaml +from .parse_multirobot_pose import ParseMultiRobotPose from .replace_string import ReplaceString +from .rewritten_yaml import RewrittenYaml + +__all__ = [ + 'HasNodeParams', + 'RewrittenYaml', + 'ReplaceString', + 'ParseMultiRobotPose', +] diff --git a/nav2_common/nav2_common/launch/has_node_params.py b/nav2_common/nav2_common/launch/has_node_params.py index 92f96790b5b..41f005bbc50 100644 --- a/nav2_common/nav2_common/launch/has_node_params.py +++ b/nav2_common/nav2_common/launch/has_node_params.py @@ -15,46 +15,48 @@ from typing import List from typing import Text -import yaml import launch +import yaml -import sys # delete this class HasNodeParams(launch.Substitution): - """ - Substitution that checks if a param file contains parameters for a node - - Used in launch system - """ + """ + Substitution that checks if a param file contains parameters for a node. - def __init__(self, - source_file: launch.SomeSubstitutionsType, - node_name: Text) -> None: - super().__init__() + Used in launch system """ + + def __init__( + self, source_file: launch.SomeSubstitutionsType, node_name: Text + ) -> None: + super().__init__() + """ Construct the substitution :param: source_file the parameter YAML file :param: node_name the name of the node to check """ - from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop - self.__source_file = normalize_to_list_of_substitutions(source_file) - self.__node_name = node_name + from launch.utilities import ( + normalize_to_list_of_substitutions, + ) # import here to avoid loop + + self.__source_file = normalize_to_list_of_substitutions(source_file) + self.__node_name = node_name - @property - def name(self) -> List[launch.Substitution]: - """Getter for name.""" - return self.__source_file + @property + def name(self) -> List[launch.Substitution]: + """Getter for name.""" + return self.__source_file - def describe(self) -> Text: - """Return a description of this substitution as a string.""" - return '' + def describe(self) -> Text: + """Return a description of this substitution as a string.""" + return '' - def perform(self, context: launch.LaunchContext) -> Text: - yaml_filename = launch.utilities.perform_substitutions(context, self.name) - data = yaml.safe_load(open(yaml_filename, 'r')) + def perform(self, context: launch.LaunchContext) -> Text: + yaml_filename = launch.utilities.perform_substitutions(context, self.name) + data = yaml.safe_load(open(yaml_filename, 'r')) - if self.__node_name in data.keys(): - return "True" - return "False" + if self.__node_name in data.keys(): + return 'True' + return 'False' diff --git a/nav2_common/nav2_common/launch/parse_multirobot_pose.py b/nav2_common/nav2_common/launch/parse_multirobot_pose.py new file mode 100644 index 00000000000..bb1725d36de --- /dev/null +++ b/nav2_common/nav2_common/launch/parse_multirobot_pose.py @@ -0,0 +1,77 @@ +# Copyright (c) 2023 LG Electronics. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import sys +from typing import Dict, Text + +import yaml + + +class ParseMultiRobotPose: + """Parsing argument using sys module.""" + + def __init__(self, target_argument: Text): + """ + Parse arguments for multi-robot's pose. + + for example, + `ros2 launch nav2_bringup bringup_multirobot_launch.py + robots:="robot1={x: 1.0, y: 1.0, yaw: 0.0}; + robot2={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"` + + `target_argument` shall be 'robots'. + Then, this will parse a string value for `robots` argument. + + Each robot name which is corresponding to namespace and pose of it will be separted by `;`. + The pose consists of x, y and yaw with YAML format. + + :param: target argument name to parse + """ + self.__args: Text = self.__parse_argument(target_argument) + + def __parse_argument(self, target_argument: Text) -> Text: + """Get value of target argument.""" + if len(sys.argv) > 4: + argv = sys.argv[4:] + for arg in argv: + if arg.startswith(target_argument + ':='): + return arg.replace(target_argument + ':=', '') + return '' + + def value(self) -> Dict: + """Get value of target argument.""" + args = self.__args + parsed_args = [] if len(args) == 0 else args.split(';') + multirobots = {} + for arg in parsed_args: + key_val = arg.strip().split('=') + if len(key_val) != 2: + continue + key = key_val[0].strip() + val = key_val[1].strip() + robot_pose = yaml.safe_load(val) + if 'x' not in robot_pose: + robot_pose['x'] = 0.0 + if 'y' not in robot_pose: + robot_pose['y'] = 0.0 + if 'z' not in robot_pose: + robot_pose['z'] = 0.0 + if 'roll' not in robot_pose: + robot_pose['roll'] = 0.0 + if 'pitch' not in robot_pose: + robot_pose['pitch'] = 0.0 + if 'yaw' not in robot_pose: + robot_pose['yaw'] = 0.0 + multirobots[key] = robot_pose + return multirobots diff --git a/nav2_common/nav2_common/launch/replace_string.py b/nav2_common/nav2_common/launch/replace_string.py index 4b5c82e757a..076ac16f21f 100644 --- a/nav2_common/nav2_common/launch/replace_string.py +++ b/nav2_common/nav2_common/launch/replace_string.py @@ -12,64 +12,87 @@ # See the License for the specific language governing permissions and # limitations under the License. -from typing import Dict -from typing import List -from typing import Text import tempfile +from typing import Dict, List, Optional, Text + import launch + class ReplaceString(launch.Substitution): - """ - Substitution that replaces strings on a given file. + """ + Substitution that replaces strings on a given file. - Used in launch system - """ + Used in launch system + """ - def __init__(self, - source_file: launch.SomeSubstitutionsType, - replacements: Dict) -> None: - super().__init__() + def __init__( + self, + source_file: launch.SomeSubstitutionsType, + replacements: Dict, + condition: Optional[launch.Condition] = None, + ) -> None: + super().__init__() - from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop - self.__source_file = normalize_to_list_of_substitutions(source_file) - self.__replacements = {} - for key in replacements: - self.__replacements[key] = normalize_to_list_of_substitutions(replacements[key]) + from launch.utilities import ( + normalize_to_list_of_substitutions, + ) # import here to avoid loop - @property - def name(self) -> List[launch.Substitution]: - """Getter for name.""" - return self.__source_file + self.__source_file = normalize_to_list_of_substitutions(source_file) + self.__replacements = {} + for key in replacements: + self.__replacements[key] = normalize_to_list_of_substitutions( + replacements[key] + ) + self.__condition = condition - def describe(self) -> Text: - """Return a description of this substitution as a string.""" - return '' + @property + def name(self) -> List[launch.Substitution]: + """Getter for name.""" + return self.__source_file - def perform(self, context: launch.LaunchContext) -> Text: - output_file = tempfile.NamedTemporaryFile(mode='w', delete=False) - replacements = self.resolve_replacements(context) - try: - input_file = open(launch.utilities.perform_substitutions(context, self.name), 'r') - self.replace(input_file, output_file, replacements) - except Exception as err: # noqa: B902 - print('ReplaceString substitution error: ', err) - finally: - input_file.close() - output_file.close() - return output_file.name + @property + def condition(self) -> Optional[launch.Condition]: + """Getter for condition.""" + return self.__condition - def resolve_replacements(self, context): - resolved_replacements = {} - for key in self.__replacements: - resolved_replacements[key] = launch.utilities.perform_substitutions(context, self.__replacements[key]) - return resolved_replacements + def describe(self) -> Text: + """Return a description of this substitution as a string.""" + return '' - def replace(self, input_file, output_file, replacements): - for line in input_file: - for key, value in replacements.items(): - if isinstance(key, str) and isinstance(value, str): - if key in line: - line = line.replace(key, value) + def perform(self, context: launch.LaunchContext) -> Text: + yaml_filename = launch.utilities.perform_substitutions(context, self.name) + if self.__condition is None or self.__condition.evaluate(context): + output_file = tempfile.NamedTemporaryFile(mode='w', delete=False) + replacements = self.resolve_replacements(context) + try: + input_file = open(yaml_filename, 'r') + self.replace(input_file, output_file, replacements) + except Exception as err: # noqa: B902 + print('ReplaceString substitution error: ', err) + finally: + input_file.close() + output_file.close() + return output_file.name else: - raise TypeError('A provided replacement pair is not a string. Both key and value should be strings.') - output_file.write(line) + return yaml_filename + + def resolve_replacements(self, context): + resolved_replacements = {} + for key in self.__replacements: + resolved_replacements[key] = launch.utilities.perform_substitutions( + context, self.__replacements[key] + ) + return resolved_replacements + + def replace(self, input_file, output_file, replacements): + for line in input_file: + for key, value in replacements.items(): + if isinstance(key, str) and isinstance(value, str): + if key in line: + line = line.replace(key, value) + else: + raise TypeError( + 'A provided replacement pair is not a string. Both key and value should be' + 'strings.' + ) + output_file.write(line) diff --git a/nav2_common/nav2_common/launch/rewritten_yaml.py b/nav2_common/nav2_common/launch/rewritten_yaml.py index 3b29fdda595..11aa77227e3 100644 --- a/nav2_common/nav2_common/launch/rewritten_yaml.py +++ b/nav2_common/nav2_common/launch/rewritten_yaml.py @@ -12,17 +12,15 @@ # See the License for the specific language governing permissions and # limitations under the License. -from typing import Dict -from typing import List -from typing import Text -from typing import Optional - -import yaml import tempfile +from typing import Dict, List, Optional, Text + import launch +import yaml class DictItemReference: + def __init__(self, dictionary, key): self.dictionary = dictionary self.dictKey = key @@ -41,12 +39,14 @@ class RewrittenYaml(launch.Substitution): Used in launch system """ - def __init__(self, + def __init__( + self, source_file: launch.SomeSubstitutionsType, param_rewrites: Dict, root_key: Optional[launch.SomeSubstitutionsType] = None, key_rewrites: Optional[Dict] = None, - convert_types = False) -> None: + convert_types=False, + ) -> None: super().__init__() """ Construct the substitution @@ -58,17 +58,24 @@ def __init__(self, :param: convert_types whether to attempt converting the string to a number or boolean """ - from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop + from launch.utilities import ( + normalize_to_list_of_substitutions, + ) # import here to avoid loop + self.__source_file = normalize_to_list_of_substitutions(source_file) self.__param_rewrites = {} self.__key_rewrites = {} self.__convert_types = convert_types self.__root_key = None for key in param_rewrites: - self.__param_rewrites[key] = normalize_to_list_of_substitutions(param_rewrites[key]) + self.__param_rewrites[key] = normalize_to_list_of_substitutions( + param_rewrites[key] + ) if key_rewrites is not None: for key in key_rewrites: - self.__key_rewrites[key] = normalize_to_list_of_substitutions(key_rewrites[key]) + self.__key_rewrites[key] = normalize_to_list_of_substitutions( + key_rewrites[key] + ) if root_key is not None: self.__root_key = normalize_to_list_of_substitutions(root_key) @@ -87,6 +94,7 @@ def perform(self, context: launch.LaunchContext) -> Text: param_rewrites, keys_rewrites = self.resolve_rewrites(context) data = yaml.safe_load(open(yaml_filename, 'r')) self.substitute_params(data, param_rewrites) + self.add_params(data, param_rewrites) self.substitute_keys(data, keys_rewrites) if self.__root_key is not None: root_key = launch.utilities.perform_substitutions(context, self.__root_key) @@ -99,10 +107,14 @@ def perform(self, context: launch.LaunchContext) -> Text: def resolve_rewrites(self, context): resolved_params = {} for key in self.__param_rewrites: - resolved_params[key] = launch.utilities.perform_substitutions(context, self.__param_rewrites[key]) + resolved_params[key] = launch.utilities.perform_substitutions( + context, self.__param_rewrites[key] + ) resolved_keys = {} for key in self.__key_rewrites: - resolved_keys[key] = launch.utilities.perform_substitutions(context, self.__key_rewrites[key]) + resolved_keys[key] = launch.utilities.perform_substitutions( + context, self.__key_rewrites[key] + ) return resolved_params, resolved_keys def substitute_params(self, yaml, param_rewrites): @@ -121,6 +133,15 @@ def substitute_params(self, yaml, param_rewrites): yaml_keys = path.split('.') yaml = self.updateYamlPathVals(yaml, yaml_keys, rewrite_val) + def add_params(self, yaml, param_rewrites): + # add new total path parameters + yaml_paths = self.pathify(yaml) + for path in param_rewrites: + if not path in yaml_paths: # noqa: E713 + new_val = self.convert(param_rewrites[path]) + yaml_keys = path.split('.') + if 'ros__parameters' in yaml_keys: + yaml = self.updateYamlPathVals(yaml, yaml_keys, new_val) def updateYamlPathVals(self, yaml, yaml_key_list, rewrite_val): for key in yaml_key_list: @@ -128,17 +149,25 @@ def updateYamlPathVals(self, yaml, yaml_key_list, rewrite_val): yaml[key] = rewrite_val break key = yaml_key_list.pop(0) - yaml[key] = self.updateYamlPathVals(yaml.get(key, {}), yaml_key_list, rewrite_val) - + if isinstance(yaml, list): + yaml[int(key)] = self.updateYamlPathVals( + yaml[int(key)], yaml_key_list, rewrite_val + ) + else: + yaml[key] = self.updateYamlPathVals( + yaml.get(key, {}), yaml_key_list, rewrite_val + ) return yaml def substitute_keys(self, yaml, key_rewrites): if len(key_rewrites) != 0: - for key, val in yaml.items(): - if isinstance(val, dict) and key in key_rewrites: + for key in list(yaml.keys()): + val = yaml[key] + if key in key_rewrites: new_key = key_rewrites[key] yaml[new_key] = yaml[key] del yaml[key] + if isinstance(val, dict): self.substitute_keys(val, key_rewrites) def getYamlLeafKeys(self, yamlData): @@ -153,10 +182,10 @@ def getYamlLeafKeys(self, yamlData): def pathify(self, d, p=None, paths=None, joinchar='.'): if p is None: paths = {} - self.pathify(d, "", paths, joinchar=joinchar) + self.pathify(d, '', paths, joinchar=joinchar) return paths pn = p - if p != "": + if p != '': pn += joinchar if isinstance(d, dict): for k in d: @@ -177,9 +206,9 @@ def convert(self, text_value): pass # try converting to bool - if text_value.lower() == "true": + if text_value.lower() == 'true': return True - if text_value.lower() == "false": + if text_value.lower() == 'false': return False # nothing else worked so fall through and return text diff --git a/nav2_common/package.xml b/nav2_common/package.xml index 2213c091047..73dda5dd4bd 100644 --- a/nav2_common/package.xml +++ b/nav2_common/package.xml @@ -2,7 +2,7 @@ nav2_common - 1.1.0 + 1.2.0 Common support functionality used throughout the navigation 2 stack Carl Delsey Apache-2.0 diff --git a/nav2_constrained_smoother/CMakeLists.txt b/nav2_constrained_smoother/CMakeLists.txt index 6bc4e7dc6ee..c68732d4d75 100644 --- a/nav2_constrained_smoother/CMakeLists.txt +++ b/nav2_constrained_smoother/CMakeLists.txt @@ -27,7 +27,6 @@ set(library_name nav2_constrained_smoother) include_directories( include - ${CERES_INCLUDES} ) set(dependencies @@ -42,7 +41,7 @@ set(dependencies ) add_library(${library_name} SHARED src/constrained_smoother.cpp) -target_link_libraries(${library_name} ${CERES_LIBRARIES}) +target_link_libraries(${library_name} Ceres::ceres) # prevent pluginlib from using boost target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") ament_target_dependencies(${library_name} ${dependencies}) diff --git a/nav2_constrained_smoother/README.md b/nav2_constrained_smoother/README.md index 55482d5dcf9..72768ede25e 100644 --- a/nav2_constrained_smoother/README.md +++ b/nav2_constrained_smoother/README.md @@ -2,7 +2,7 @@ A smoother plugin for `nav2_smoother` based on the original deprecated smoother in `nav2_smac_planner` by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) and put into operational state by [**RoboTech Vision**](https://robotechvision.com/). Suitable for applications which need planned global path to be pushed away from obstacles and/or for Reeds-Shepp motion models. -See documentation on navigation.ros.org: https://navigation.ros.org/configuration/packages/configuring-constrained-smoother.html +See documentation on docs.nav2.org: https://docs.nav2.org/configuration/packages/configuring-constrained-smoother.html Example of configuration (see indoor_navigation package of this repo for a full launch configuration): @@ -26,13 +26,13 @@ smoother_server: w_cost: 0.015 # weight to steer robot away from collision and cost # Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes) - # See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification + # See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification w_cost_cusp_multiplier: 3.0 # option to have higher weight during forward/reverse direction change which is often accompanied with dangerous rotations cusp_zone_length: 2.5 # length of the section around cusp in which nodes use w_cost_cusp_multiplier (w_cost rises gradually inside the zone towards the cusp point, whose costmap weight equals w_cost*w_cost_cusp_multiplier) # Points in robot frame to grab costmap values from. Format: [x1, y1, weight1, x2, y2, weight2, ...] # IMPORTANT: Requires much higher number of iterations to actually improve the path. Uncomment only if you really need it (highly elongated/asymmetric robots) - # See the [docs page](https://navigation.ros.org/configuration/packages/configuring-constrained-smoother) for further clarification + # See the [docs page](https://docs.nav2.org/configuration/packages/configuring-constrained-smoother) for further clarification # cost_check_points: [-0.185, 0.0, 1.0] optimizer: diff --git a/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp b/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp index aa3ba1eb024..a0d5dfa115e 100644 --- a/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp +++ b/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother.hpp @@ -194,8 +194,8 @@ class Smoother // update cusp zone costmap weights if (is_cusp) { double len_to_cusp = current_segment_len; - for (int i = potential_cusp_funcs.size() - 1; i >= 0; i--) { - auto & f = potential_cusp_funcs[i]; + for (int i_cusp = potential_cusp_funcs.size() - 1; i_cusp >= 0; i_cusp--) { + auto & f = potential_cusp_funcs[i_cusp]; double new_weight = params.cusp_costmap_weight * (1.0 - len_to_cusp / cusp_half_length) + params.costmap_weight * len_to_cusp / cusp_half_length; @@ -293,7 +293,7 @@ class Smoother } int last_i = 0; int prelast_i = -1; - Eigen::Vector2d prelast_dir; + Eigen::Vector2d prelast_dir = {0, 0}; for (int i = 1; i <= static_cast(path_optim.size()); i++) { if (i == static_cast(path_optim.size()) || optimized[i]) { if (prelast_i != -1) { diff --git a/nav2_constrained_smoother/package.xml b/nav2_constrained_smoother/package.xml index b253b3b7757..70e0d638ef9 100644 --- a/nav2_constrained_smoother/package.xml +++ b/nav2_constrained_smoother/package.xml @@ -2,7 +2,7 @@ nav2_constrained_smoother - 1.1.0 + 1.2.0 Ceres constrained smoother Matej Vargovcik Steve Macenski diff --git a/nav2_constrained_smoother/src/constrained_smoother.cpp b/nav2_constrained_smoother/src/constrained_smoother.cpp index 305f4141f3c..406ca377c3f 100644 --- a/nav2_constrained_smoother/src/constrained_smoother.cpp +++ b/nav2_constrained_smoother/src/constrained_smoother.cpp @@ -132,6 +132,7 @@ bool ConstrainedSmoother::smooth(nav_msgs::msg::Path & path, const rclcpp::Durat // Smooth plan auto costmap = costmap_sub_->getCostmap(); + std::lock_guard lock(*(costmap->getMutex())); if (!smoother_->smooth(path_world, start_dir, end_dir, costmap.get(), smoother_params_)) { RCLCPP_WARN( logger_, diff --git a/nav2_constrained_smoother/test/test_constrained_smoother.cpp b/nav2_constrained_smoother/test/test_constrained_smoother.cpp index 463af33fd08..6687b3452da 100644 --- a/nav2_constrained_smoother/test/test_constrained_smoother.cpp +++ b/nav2_constrained_smoother/test/test_constrained_smoother.cpp @@ -82,7 +82,12 @@ class DummyCostmapSubscriber : public nav2_costmap_2d::CostmapSubscriber void setCostmap(nav2_msgs::msg::Costmap::SharedPtr msg) { costmap_msg_ = msg; - costmap_received_ = true; + costmap_ = std::make_shared( + msg->metadata.size_x, msg->metadata.size_y, + msg->metadata.resolution, msg->metadata.origin.position.x, + msg->metadata.origin.position.y); + + processCurrentCostmapMsg(); } }; @@ -100,7 +105,7 @@ class SmootherTest : public ::testing::Test SmootherTest() {SetUp();} ~SmootherTest() {} - void SetUp() + void SetUp() override { node_lifecycle_ = std::make_shared( diff --git a/nav2_controller/README.md b/nav2_controller/README.md index 3a77144f160..c718a4e56f7 100644 --- a/nav2_controller/README.md +++ b/nav2_controller/README.md @@ -4,6 +4,8 @@ The Nav2 Controller is a Task Server in Nav2 that implements the `nav2_msgs::act An execution module implementing the `nav2_msgs::action::FollowPath` action server is responsible for generating command velocities for the robot, given the computed path from the planner module in `nav2_planner`. The nav2_controller package is designed to be loaded with multiple plugins for path execution. The plugins need to implement functions in the virtual base class defined in the `controller` header file in `nav2_core` package. It also contains progress checkers and goal checker plugins to abstract out that logic from specific controller implementations. -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available controller plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available controller plugins. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-controller-server.html) for additional parameter descriptions and a [tutorial about writing controller plugins](https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html). +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-controller-server.html) for additional parameter descriptions and a [tutorial about writing controller plugins](https://docs.nav2.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html). + +The `ControllerServer` makes use of a [nav2_util::TwistPublisher](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities). diff --git a/nav2_controller/include/nav2_controller/controller_server.hpp b/nav2_controller/include/nav2_controller/controller_server.hpp index d2e70d67d32..0f250dee148 100644 --- a/nav2_controller/include/nav2_controller/controller_server.hpp +++ b/nav2_controller/include/nav2_controller/controller_server.hpp @@ -33,6 +33,7 @@ #include "nav2_util/lifecycle_node.hpp" #include "nav2_util/simple_action_server.hpp" #include "nav2_util/robot_utils.hpp" +#include "nav2_util/twist_publisher.hpp" #include "pluginlib/class_loader.hpp" #include "pluginlib/class_list_macros.hpp" @@ -50,6 +51,7 @@ class ControllerServer : public nav2_util::LifecycleNode public: using ControllerMap = std::unordered_map; using GoalCheckerMap = std::unordered_map; + using ProgressCheckerMap = std::unordered_map; /** * @brief Constructor for nav2_controller::ControllerServer @@ -142,6 +144,15 @@ class ControllerServer : public nav2_util::LifecycleNode */ bool findGoalCheckerId(const std::string & c_name, std::string & name); + /** + * @brief Find the valid progress checker ID name for the specified parameter + * + * @param c_name The progress checker name + * @param name Reference to the name to use for progress checking if any valid available + * @return bool Whether it found a valid progress checker to use + */ + bool findProgressCheckerId(const std::string & c_name, std::string & name); + /** * @brief Assigns path to controller * @param path Path received from action server @@ -219,16 +230,17 @@ class ControllerServer : public nav2_util::LifecycleNode // Publishers and subscribers std::unique_ptr odom_sub_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr vel_publisher_; + std::unique_ptr vel_publisher_; rclcpp::Subscription::SharedPtr speed_limit_sub_; // Progress Checker Plugin pluginlib::ClassLoader progress_checker_loader_; - nav2_core::ProgressChecker::Ptr progress_checker_; - std::string default_progress_checker_id_; - std::string default_progress_checker_type_; - std::string progress_checker_id_; - std::string progress_checker_type_; + ProgressCheckerMap progress_checkers_; + std::vector default_progress_checker_ids_; + std::vector default_progress_checker_types_; + std::vector progress_checker_ids_; + std::vector progress_checker_types_; + std::string progress_checker_ids_concat_, current_progress_checker_; // Goal Checker Plugin pluginlib::ClassLoader goal_checker_loader_; @@ -254,6 +266,7 @@ class ControllerServer : public nav2_util::LifecycleNode double min_theta_velocity_threshold_; double failure_tolerance_; + bool use_realtime_priority_; // Whether we've published the single controller warning yet geometry_msgs::msg::PoseStamped end_pose_; diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml index d8ed5aec78b..9afa812b56e 100644 --- a/nav2_controller/package.xml +++ b/nav2_controller/package.xml @@ -2,7 +2,7 @@ nav2_controller - 1.1.0 + 1.2.0 Controller action interface Carl Delsey Apache-2.0 diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp index 05bd9da04b5..16c3db43a8a 100644 --- a/nav2_controller/src/controller_server.cpp +++ b/nav2_controller/src/controller_server.cpp @@ -37,8 +37,8 @@ namespace nav2_controller ControllerServer::ControllerServer(const rclcpp::NodeOptions & options) : nav2_util::LifecycleNode("controller_server", "", options), progress_checker_loader_("nav2_core", "nav2_core::ProgressChecker"), - default_progress_checker_id_{"progress_checker"}, - default_progress_checker_type_{"nav2_controller::SimpleProgressChecker"}, + default_progress_checker_ids_{"progress_checker"}, + default_progress_checker_types_{"nav2_controller::SimpleProgressChecker"}, goal_checker_loader_("nav2_core", "nav2_core::GoalChecker"), default_goal_checker_ids_{"goal_checker"}, default_goal_checker_types_{"nav2_controller::SimpleGoalChecker"}, @@ -50,7 +50,9 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options) declare_parameter("controller_frequency", 20.0); - declare_parameter("progress_checker_plugin", default_progress_checker_id_); + declare_parameter("action_server_result_timeout", 10.0); + + declare_parameter("progress_checker_plugins", default_progress_checker_ids_); declare_parameter("goal_checker_plugins", default_goal_checker_ids_); declare_parameter("controller_plugins", default_ids_); declare_parameter("min_x_velocity_threshold", rclcpp::ParameterValue(0.0001)); @@ -60,18 +62,17 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options) declare_parameter("speed_limit_topic", rclcpp::ParameterValue("speed_limit")); declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0)); + declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false)); // The costmap node is used in the implementation of the controller costmap_ros_ = std::make_shared( "local_costmap", std::string{get_namespace()}, "local_costmap", get_parameter("use_sim_time").as_bool()); - // Launch a thread to run the costmap node - costmap_thread_ = std::make_unique(costmap_ros_); } ControllerServer::~ControllerServer() { - progress_checker_.reset(); + progress_checkers_.clear(); goal_checkers_.clear(); controllers_.clear(); costmap_thread_.reset(); @@ -84,11 +85,14 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) RCLCPP_INFO(get_logger(), "Configuring controller interface"); - get_parameter("progress_checker_plugin", progress_checker_id_); - if (progress_checker_id_ == default_progress_checker_id_) { - nav2_util::declare_parameter_if_not_declared( - node, default_progress_checker_id_ + ".plugin", - rclcpp::ParameterValue(default_progress_checker_type_)); + RCLCPP_INFO(get_logger(), "getting progress checker plugins.."); + get_parameter("progress_checker_plugins", progress_checker_ids_); + if (progress_checker_ids_ == default_progress_checker_ids_) { + for (size_t i = 0; i < default_progress_checker_ids_.size(); ++i) { + nav2_util::declare_parameter_if_not_declared( + node, default_progress_checker_ids_[i] + ".plugin", + rclcpp::ParameterValue(default_progress_checker_types_[i])); + } } RCLCPP_INFO(get_logger(), "getting goal checker plugins.."); @@ -112,6 +116,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) controller_types_.resize(controller_ids_.size()); goal_checker_types_.resize(goal_checker_ids_.size()); + progress_checker_types_.resize(progress_checker_ids_.size()); get_parameter("controller_frequency", controller_frequency_); get_parameter("min_x_velocity_threshold", min_x_velocity_threshold_); @@ -122,23 +127,39 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) std::string speed_limit_topic; get_parameter("speed_limit_topic", speed_limit_topic); get_parameter("failure_tolerance", failure_tolerance_); + get_parameter("use_realtime_priority", use_realtime_priority_); costmap_ros_->configure(); + // Launch a thread to run the costmap node + costmap_thread_ = std::make_unique(costmap_ros_); - try { - progress_checker_type_ = nav2_util::get_plugin_type_param(node, progress_checker_id_); - progress_checker_ = progress_checker_loader_.createUniqueInstance(progress_checker_type_); - RCLCPP_INFO( - get_logger(), "Created progress_checker : %s of type %s", - progress_checker_id_.c_str(), progress_checker_type_.c_str()); - progress_checker_->initialize(node, progress_checker_id_); - } catch (const pluginlib::PluginlibException & ex) { - RCLCPP_FATAL( - get_logger(), - "Failed to create progress_checker. Exception: %s", ex.what()); - return nav2_util::CallbackReturn::FAILURE; + for (size_t i = 0; i != progress_checker_ids_.size(); i++) { + try { + progress_checker_types_[i] = nav2_util::get_plugin_type_param( + node, progress_checker_ids_[i]); + nav2_core::ProgressChecker::Ptr progress_checker = + progress_checker_loader_.createUniqueInstance(progress_checker_types_[i]); + RCLCPP_INFO( + get_logger(), "Created progress_checker : %s of type %s", + progress_checker_ids_[i].c_str(), progress_checker_types_[i].c_str()); + progress_checker->initialize(node, progress_checker_ids_[i]); + progress_checkers_.insert({progress_checker_ids_[i], progress_checker}); + } catch (const std::exception & ex) { + RCLCPP_FATAL( + get_logger(), + "Failed to create progress_checker. Exception: %s", ex.what()); + return nav2_util::CallbackReturn::FAILURE; + } + } + + for (size_t i = 0; i != progress_checker_ids_.size(); i++) { + progress_checker_ids_concat_ += progress_checker_ids_[i] + std::string(" "); } + RCLCPP_INFO( + get_logger(), + "Controller Server has %s progress checkers available.", progress_checker_ids_concat_.c_str()); + for (size_t i = 0; i != goal_checker_ids_.size(); i++) { try { goal_checker_types_[i] = nav2_util::get_plugin_type_param(node, goal_checker_ids_[i]); @@ -194,16 +215,27 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) "Controller Server has %s controllers available.", controller_ids_concat_.c_str()); odom_sub_ = std::make_unique(node); - vel_publisher_ = create_publisher("cmd_vel", 1); + vel_publisher_ = std::make_unique(node, "cmd_vel", 1); + + double action_server_result_timeout; + get_parameter("action_server_result_timeout", action_server_result_timeout); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); // Create the action server that we implement with our followPath method - action_server_ = std::make_unique( - shared_from_this(), - "follow_path", - std::bind(&ControllerServer::computeControl, this), - nullptr, - std::chrono::milliseconds(500), - true); + // This may throw due to real-time prioritzation if user doesn't have real-time permissions + try { + action_server_ = std::make_unique( + shared_from_this(), + "follow_path", + std::bind(&ControllerServer::computeControl, this), + nullptr, + std::chrono::milliseconds(500), + true /*spin thread*/, server_options, use_realtime_priority_ /*soft realtime*/); + } catch (const std::runtime_error & e) { + RCLCPP_ERROR(get_logger(), "Error creating action server! %s", e.what()); + return nav2_util::CallbackReturn::FAILURE; + } // Set subscribtion to the speed limiting topic speed_limit_sub_ = create_subscription( @@ -218,7 +250,10 @@ ControllerServer::on_activate(const rclcpp_lifecycle::State & /*state*/) { RCLCPP_INFO(get_logger(), "Activating"); - costmap_ros_->activate(); + const auto costmap_ros_state = costmap_ros_->activate(); + if (costmap_ros_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { + return nav2_util::CallbackReturn::FAILURE; + } ControllerMap::iterator it; for (it = controllers_.begin(); it != controllers_.end(); ++it) { it->second->activate(); @@ -255,11 +290,7 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/) * unordered_set iteration. Once this issue is resolved, we can maybe make a stronger * ordering assumption: https://github.com/ros2/rclcpp/issues/2096 */ - if (costmap_ros_->get_current_state().id() == - lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) - { - costmap_ros_->deactivate(); - } + costmap_ros_->deactivate(); publishZeroVelocity(); vel_publisher_->on_deactivate(); @@ -284,11 +315,10 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/) controllers_.clear(); goal_checkers_.clear(); - if (costmap_ros_->get_current_state().id() == - lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) - { - costmap_ros_->cleanup(); - } + progress_checkers_.clear(); + + costmap_ros_->cleanup(); + // Release any allocated resources action_server_.reset(); @@ -359,6 +389,32 @@ bool ControllerServer::findGoalCheckerId( return true; } +bool ControllerServer::findProgressCheckerId( + const std::string & c_name, + std::string & current_progress_checker) +{ + if (progress_checkers_.find(c_name) == progress_checkers_.end()) { + if (progress_checkers_.size() == 1 && c_name.empty()) { + RCLCPP_WARN_ONCE( + get_logger(), "No progress checker was specified in parameter 'current_progress_checker'." + " Server will use only plugin loaded %s. " + "This warning will appear once.", progress_checker_ids_concat_.c_str()); + current_progress_checker = progress_checkers_.begin()->first; + } else { + RCLCPP_ERROR( + get_logger(), "FollowPath called with progress_checker name %s in parameter" + " 'current_progress_checker', which does not exist. Available progress checkers are: %s.", + c_name.c_str(), progress_checker_ids_concat_.c_str()); + return false; + } + } else { + RCLCPP_DEBUG(get_logger(), "Selected progress checker: %s.", c_name.c_str()); + current_progress_checker = c_name; + } + + return true; +} + void ControllerServer::computeControl() { std::lock_guard lock(dynamic_params_lock_); @@ -382,22 +438,37 @@ void ControllerServer::computeControl() throw nav2_core::ControllerException("Failed to find goal checker name: " + gc_name); } + std::string pc_name = action_server_->get_current_goal()->progress_checker_id; + std::string current_progress_checker; + if (findProgressCheckerId(pc_name, current_progress_checker)) { + current_progress_checker_ = current_progress_checker; + } else { + throw nav2_core::ControllerException("Failed to find progress checker name: " + pc_name); + } + setPlannerPath(action_server_->get_current_goal()->path); - progress_checker_->reset(); + progress_checkers_[current_progress_checker_]->reset(); last_valid_cmd_time_ = now(); rclcpp::WallRate loop_rate(controller_frequency_); while (rclcpp::ok()) { + auto start_time = this->now(); + if (action_server_ == nullptr || !action_server_->is_server_active()) { RCLCPP_DEBUG(get_logger(), "Action server unavailable or inactive. Stopping."); return; } if (action_server_->is_cancel_requested()) { - RCLCPP_INFO(get_logger(), "Goal was canceled. Stopping the robot."); - action_server_->terminate_all(); - publishZeroVelocity(); - return; + if (controllers_[current_controller_]->cancel()) { + RCLCPP_INFO(get_logger(), "Cancellation was successful. Stopping the robot."); + action_server_->terminate_all(); + publishZeroVelocity(); + return; + } else { + RCLCPP_INFO_THROTTLE( + get_logger(), *get_clock(), 1000, "Waiting for the controller to finish cancellation"); + } } // Don't compute a trajectory until costmap is valid (after clear costmap) @@ -415,66 +486,68 @@ void ControllerServer::computeControl() break; } + auto cycle_duration = this->now() - start_time; if (!loop_rate.sleep()) { RCLCPP_WARN( - get_logger(), "Control loop missed its desired rate of %.4fHz", - controller_frequency_); + get_logger(), + "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.", + controller_frequency_, 1 / cycle_duration.seconds()); } } } catch (nav2_core::InvalidController & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::INVALID_CONTROLLER; + result->error_code = Action::Result::INVALID_CONTROLLER; action_server_->terminate_current(result); return; } catch (nav2_core::ControllerTFError & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::TF_ERROR; + result->error_code = Action::Result::TF_ERROR; action_server_->terminate_current(result); return; } catch (nav2_core::NoValidControl & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::NO_VALID_CONTROL; + result->error_code = Action::Result::NO_VALID_CONTROL; action_server_->terminate_current(result); return; } catch (nav2_core::FailedToMakeProgress & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::FAILED_TO_MAKE_PROGRESS; + result->error_code = Action::Result::FAILED_TO_MAKE_PROGRESS; action_server_->terminate_current(result); return; } catch (nav2_core::PatienceExceeded & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::PATIENCE_EXCEEDED; + result->error_code = Action::Result::PATIENCE_EXCEEDED; action_server_->terminate_current(result); return; } catch (nav2_core::InvalidPath & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::INVALID_PATH; + result->error_code = Action::Result::INVALID_PATH; action_server_->terminate_current(result); return; } catch (nav2_core::ControllerException & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::UNKNOWN; + result->error_code = Action::Result::UNKNOWN; action_server_->terminate_current(result); return; } catch (std::exception & e) { RCLCPP_ERROR(this->get_logger(), "%s", e.what()); publishZeroVelocity(); std::shared_ptr result = std::make_shared(); - result->error_code = Action::Goal::UNKNOWN; + result->error_code = Action::Result::UNKNOWN; action_server_->terminate_current(result); return; } @@ -516,7 +589,7 @@ void ControllerServer::computeAndPublishVelocity() throw nav2_core::ControllerTFError("Failed to obtain robot pose"); } - if (!progress_checker_->check(pose)) { + if (!progress_checkers_[current_progress_checker_]->check(pose)) { throw nav2_core::FailedToMakeProgress("Failed to make progress"); } @@ -531,11 +604,13 @@ void ControllerServer::computeAndPublishVelocity() nav_2d_utils::twist2Dto3D(twist), goal_checkers_[current_goal_checker_].get()); last_valid_cmd_time_ = now(); + cmd_vel_2d.header.frame_id = costmap_ros_->getBaseFrameID(); + cmd_vel_2d.header.stamp = last_valid_cmd_time_; // Only no valid control exception types are valid to attempt to have control patience, as // other types will not be resolved with more attempts } catch (nav2_core::NoValidControl & e) { if (failure_tolerance_ > 0 || failure_tolerance_ == -1.0) { - RCLCPP_WARN(this->get_logger(), e.what()); + RCLCPP_WARN(this->get_logger(), "%s", e.what()); cmd_vel_2d.twist.angular.x = 0; cmd_vel_2d.twist.angular.y = 0; cmd_vel_2d.twist.angular.z = 0; @@ -607,13 +682,29 @@ void ControllerServer::updateGlobalPath() action_server_->terminate_current(); return; } + std::string current_progress_checker; + if (findProgressCheckerId(goal->progress_checker_id, current_progress_checker)) { + if (current_progress_checker_ != current_progress_checker) { + RCLCPP_INFO( + get_logger(), "Change of progress checker %s requested, resetting it", + goal->progress_checker_id.c_str()); + current_progress_checker_ = current_progress_checker; + progress_checkers_[current_progress_checker_]->reset(); + } + } else { + RCLCPP_INFO( + get_logger(), "Terminating action, invalid progress checker %s requested.", + goal->progress_checker_id.c_str()); + action_server_->terminate_current(); + return; + } setPlannerPath(goal->path); } } void ControllerServer::publishVelocity(const geometry_msgs::msg::TwistStamped & velocity) { - auto cmd_vel = std::make_unique(velocity.twist); + auto cmd_vel = std::make_unique(velocity); if (vel_publisher_->is_activated() && vel_publisher_->get_subscription_count() > 0) { vel_publisher_->publish(std::move(cmd_vel)); } diff --git a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp index 9a101f20ef5..f6b8ecd62a4 100644 --- a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp +++ b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp @@ -117,7 +117,7 @@ class NavigatorBase { public: NavigatorBase() = default; - ~NavigatorBase() = default; + virtual ~NavigatorBase() = default; /** * @brief Configuration of the navigator's backend BT and actions @@ -220,10 +220,10 @@ class BehaviorTreeNavigator : public NavigatorBase } BT::Blackboard::Ptr blackboard = bt_action_server_->getBlackboard(); - blackboard->set>("tf_buffer", feedback_utils.tf); // NOLINT - blackboard->set("initial_pose_received", false); // NOLINT - blackboard->set("number_recoveries", 0); // NOLINT - blackboard->set>("odom_smoother", odom_smoother); // NOLINT + blackboard->set("tf_buffer", feedback_utils.tf); // NOLINT + blackboard->set("initial_pose_received", false); // NOLINT + blackboard->set("number_recoveries", 0); // NOLINT + blackboard->set("odom_smoother", odom_smoother); // NOLINT return configure(parent_node, odom_smoother) && ok; } diff --git a/nav2_core/include/nav2_core/controller.hpp b/nav2_core/include/nav2_core/controller.hpp index dab79176e94..b01381a0414 100644 --- a/nav2_core/include/nav2_core/controller.hpp +++ b/nav2_core/include/nav2_core/controller.hpp @@ -116,6 +116,16 @@ class Controller const geometry_msgs::msg::Twist & velocity, nav2_core::GoalChecker * goal_checker) = 0; + /** + * @brief Cancel the current control action + * @return True if the cancellation was successful. If false is returned, computeVelocityCommands + * will be called until cancel returns true. + */ + virtual bool cancel() + { + return true; + } + /** * @brief Limits the maximum linear speed of the robot. * @param speed_limit expressed in absolute value (in m/s) diff --git a/nav2_core/include/nav2_core/global_planner.hpp b/nav2_core/include/nav2_core/global_planner.hpp index dff1207b88f..0eff064a5d2 100644 --- a/nav2_core/include/nav2_core/global_planner.hpp +++ b/nav2_core/include/nav2_core/global_planner.hpp @@ -71,11 +71,13 @@ class GlobalPlanner * @brief Method create the plan from a starting and ending goal. * @param start The starting pose of the robot * @param goal The goal pose of the robot + * @param cancel_checker Function to check if the action has been canceled * @return The sequence of poses to get from start to goal, if any */ virtual nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) = 0; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) = 0; }; } // namespace nav2_core diff --git a/nav2_core/include/nav2_core/planner_exceptions.hpp b/nav2_core/include/nav2_core/planner_exceptions.hpp index 2680b3c6695..c16c1c10967 100644 --- a/nav2_core/include/nav2_core/planner_exceptions.hpp +++ b/nav2_core/include/nav2_core/planner_exceptions.hpp @@ -113,6 +113,13 @@ class NoViapointsGiven : public PlannerException : PlannerException(description) {} }; +class PlannerCancelled : public PlannerException +{ +public: + explicit PlannerCancelled(const std::string & description) + : PlannerException(description) {} +}; + } // namespace nav2_core #endif // NAV2_CORE__PLANNER_EXCEPTIONS_HPP_ diff --git a/nav2_core/package.xml b/nav2_core/package.xml index 27ff602ad82..849f7a92c74 100644 --- a/nav2_core/package.xml +++ b/nav2_core/package.xml @@ -2,7 +2,7 @@ nav2_core - 1.1.0 + 1.2.0 A set of headers for plugins core to the Nav2 stack Steve Macenski Carl Delsey diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt index 683cb04fdd2..723f81f0f9b 100644 --- a/nav2_costmap_2d/CMakeLists.txt +++ b/nav2_costmap_2d/CMakeLists.txt @@ -26,19 +26,11 @@ find_package(visualization_msgs REQUIRED) find_package(angles REQUIRED) remove_definitions(-DDISABLE_LIBUSB-1.0) -find_package(Eigen3 REQUIRED) +find_package(Eigen3 3.3 REQUIRED) nav2_package() -include_directories( - include - ${EIGEN3_INCLUDE_DIRS} -) - -add_definitions(${EIGEN3_DEFINITIONS}) - add_library(nav2_costmap_2d_core SHARED - src/array_parser.cpp src/costmap_2d.cpp src/layer.cpp src/layered_costmap.cpp @@ -52,6 +44,13 @@ add_library(nav2_costmap_2d_core SHARED src/footprint_collision_checker.cpp plugins/costmap_filters/costmap_filter.cpp ) +add_library(${PROJECT_NAME}::nav2_costmap_2d_core ALIAS nav2_costmap_2d_core) + +target_include_directories(nav2_costmap_2d_core + PUBLIC + "$" + "$" +) set(dependencies geometry_msgs @@ -79,6 +78,7 @@ set(dependencies ament_target_dependencies(nav2_costmap_2d_core ${dependencies} ) +target_link_libraries(nav2_costmap_2d_core Eigen3::Eigen) add_library(layers SHARED plugins/inflation_layer.cpp @@ -87,12 +87,14 @@ add_library(layers SHARED src/observation_buffer.cpp plugins/voxel_layer.cpp plugins/range_sensor_layer.cpp + plugins/denoise_layer.cpp ) +add_library(${PROJECT_NAME}::layers ALIAS layers) ament_target_dependencies(layers ${dependencies} ) target_link_libraries(layers - nav2_costmap_2d_core + ${PROJECT_NAME}::nav2_costmap_2d_core ) add_library(filters SHARED @@ -100,11 +102,14 @@ add_library(filters SHARED plugins/costmap_filters/speed_filter.cpp plugins/costmap_filters/binary_filter.cpp ) +add_library(${PROJECT_NAME}::filters ALIAS filters) + + ament_target_dependencies(filters ${dependencies} ) target_link_libraries(filters - nav2_costmap_2d_core + ${PROJECT_NAME}::nav2_costmap_2d_core ) add_library(nav2_costmap_2d_client SHARED @@ -112,18 +117,19 @@ add_library(nav2_costmap_2d_client SHARED src/costmap_subscriber.cpp src/costmap_topic_collision_checker.cpp ) +add_library(${PROJECT_NAME}::nav2_costmap_2d_client ALIAS nav2_costmap_2d_client) ament_target_dependencies(nav2_costmap_2d_client ${dependencies} ) target_link_libraries(nav2_costmap_2d_client - nav2_costmap_2d_core + ${PROJECT_NAME}::nav2_costmap_2d_core ) add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp) target_link_libraries(nav2_costmap_2d_markers - nav2_costmap_2d_core + ${PROJECT_NAME}::nav2_costmap_2d_core ) ament_target_dependencies(nav2_costmap_2d_markers @@ -132,7 +138,7 @@ ament_target_dependencies(nav2_costmap_2d_markers add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp) target_link_libraries(nav2_costmap_2d_cloud - nav2_costmap_2d_core + ${PROJECT_NAME}::nav2_costmap_2d_core ) add_executable(nav2_costmap_2d src/costmap_2d_node.cpp) @@ -141,26 +147,24 @@ ament_target_dependencies(nav2_costmap_2d ) target_link_libraries(nav2_costmap_2d - nav2_costmap_2d_core - layers - filters + ${PROJECT_NAME}::nav2_costmap_2d_core + ${PROJECT_NAME}::layers + ${PROJECT_NAME}::filters ) install(TARGETS - nav2_costmap_2d_core layers filters + nav2_costmap_2d_core nav2_costmap_2d_client + EXPORT export_${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) -install(TARGETS - nav2_costmap_2d - nav2_costmap_2d_markers - nav2_costmap_2d_cloud - RUNTIME DESTINATION lib/${PROJECT_NAME} +install(TARGETS nav2_costmap_2d_markers nav2_costmap_2d_cloud nav2_costmap_2d + DESTINATION lib/${PROJECT_NAME} ) install(FILES costmap_plugins.xml @@ -168,7 +172,7 @@ install(FILES costmap_plugins.xml ) install(DIRECTORY include/ - DESTINATION include/ + DESTINATION include/${PROJECT_NAME} ) if(BUILD_TESTING) @@ -183,8 +187,7 @@ if(BUILD_TESTING) pluginlib_export_plugin_description_file(nav2_costmap_2d test/regression/order_layer.xml) endif() -ament_export_include_directories(include) -ament_export_libraries(layers filters nav2_costmap_2d_core nav2_costmap_2d_client) +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies(${dependencies}) pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml) ament_package() diff --git a/nav2_costmap_2d/README.md b/nav2_costmap_2d/README.md index b2eb9a2b94a..d6c60ea915f 100644 --- a/nav2_costmap_2d/README.md +++ b/nav2_costmap_2d/README.md @@ -2,9 +2,9 @@ The costmap_2d package is responsible for building a 2D costmap of the environment, consisting of several "layers" of data about the environment. It can be initialized via the map server or a local rolling window and updates the layers by taking observations from sensors. A plugin interface allows for the layers to be combined into the costmap and finally inflated via an inflation radius based on the robot footprint. The nav2 version of the costmap_2d package is mostly a direct ROS2 port of the ROS1 navigation stack version, with minimal noteable changes necessary due to support in ROS2. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-costmaps.html) for additional parameter descriptions for the costmap and its included plugins. The [tutorials](https://navigation.ros.org/tutorials/index.html) and [first-time setup guides](https://navigation.ros.org/setup_guides/index.html) also provide helpful context for working with the costmap 2D package and its layers. A [tutorial](https://navigation.ros.org/plugin_tutorials/docs/writing_new_costmap2d_plugin.html) is also provided to explain how to create costmap plugins. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-costmaps.html) for additional parameter descriptions for the costmap and its included plugins. The [tutorials](https://docs.nav2.org/tutorials/index.html) and [first-time setup guides](https://docs.nav2.org/setup_guides/index.html) also provide helpful context for working with the costmap 2D package and its layers. A [tutorial](https://docs.nav2.org/plugin_tutorials/docs/writing_new_costmap2d_plugin.html) is also provided to explain how to create costmap plugins. -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. ## To visualize the voxels in RVIZ: - Make sure `publish_voxel_map` in `voxel_layer` param's scope is set to `True`. @@ -24,4 +24,4 @@ See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) ### Overview -Costmap Filters - is a costmap layer-based instrument which provides an ability to apply to map spatial-dependent raster features named as filter-masks. These features are used in plugin algorithms when filling costmaps in order to allow robots to change their trajectory, behavior or speed when a robot enters/leaves an area marked in a filter masks. Examples of costmap filters include keep-out/safety zones where robots will never enter, speed restriction areas, preferred lanes for robots moving in industries and warehouses. More information about design, architecture of the feature and how it works could be found on Nav2 website: https://navigation.ros.org. +Costmap Filters - is a costmap layer-based instrument which provides an ability to apply to map spatial-dependent raster features named as filter-masks. These features are used in plugin algorithms when filling costmaps in order to allow robots to change their trajectory, behavior or speed when a robot enters/leaves an area marked in a filter masks. Examples of costmap filters include keep-out/safety zones where robots will never enter, speed restriction areas, preferred lanes for robots moving in industries and warehouses. More information about design, architecture of the feature and how it works could be found on Nav2 website: https://docs.nav2.org. diff --git a/nav2_costmap_2d/costmap_plugins.xml b/nav2_costmap_2d/costmap_plugins.xml index e5867d51089..6748cd5fcae 100644 --- a/nav2_costmap_2d/costmap_plugins.xml +++ b/nav2_costmap_2d/costmap_plugins.xml @@ -15,6 +15,9 @@ A range-sensor (sonar, IR) based obstacle layer for costmap_2d + + Filters noise-induced freestanding obstacles or small obstacles groups + diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp index 46d79bd9df5..2d74530b436 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp @@ -67,7 +67,6 @@ class ClearCostmapService // Clearing parameters unsigned char reset_value_; - std::vector clearable_layers_; // Server for clearing the costmap rclcpp::Service::SharedPtr clear_except_service_; diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp index dca22c9f7ff..7ae3f4d1c76 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp @@ -39,10 +39,38 @@ /** Provides a mapping for often used cost values */ namespace nav2_costmap_2d { + +/** + * @enum nav2_costmap_2d::CombinationMethod + * @brief Describes the method used to add data to master costmap, default to maximum. + */ +enum class CombinationMethod : int +{ + /** + * Overwrite means every valid value from this layer + * is written into the master grid (does not copy NO_INFORMATION) + */ + Overwrite = 0, + /** + * Sets the new value to the maximum of the master_grid's value + * and this layer's value. If the master value is NO_INFORMATION, + * it is overwritten. If the layer's value is NO_INFORMATION, + * the master value does not change + */ + Max = 1, + /** + * Sets the new value to the maximum of the master_grid's value + * and this layer's value. If the master value is NO_INFORMATION, + * it is NOT overwritten. If the layer's value is NO_INFORMATION, + * the master value does not change. + */ + MaxWithoutUnknownOverwrite = 2 +}; + static constexpr unsigned char NO_INFORMATION = 255; static constexpr unsigned char LETHAL_OBSTACLE = 254; static constexpr unsigned char INSCRIBED_INFLATED_OBSTACLE = 253; static constexpr unsigned char MAX_NON_OBSTACLE = 252; static constexpr unsigned char FREE_SPACE = 0; -} +} // namespace nav2_costmap_2d #endif // NAV2_COSTMAP_2D__COST_VALUES_HPP_ diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp index 04b9f4daa43..005dd205d80 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp @@ -183,6 +183,16 @@ class Costmap2D */ bool worldToMap(double wx, double wy, unsigned int & mx, unsigned int & my) const; + /** + * @brief Convert from world coordinates to map coordinates + * @param wx The x world coordinate + * @param wy The y world coordinate + * @param mx Will be set to the associated map x coordinate + * @param my Will be set to the associated map y coordinate + * @return True if the conversion was successful (legal bounds) false otherwise + */ + bool worldToMapContinuous(double wx, double wy, float & mx, float & my) const; + /** * @brief Convert from world coordinates to map coordinates without checking for legal bounds * @param wx The x world coordinate diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp index 2074ad5ea60..08b09504e52 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp @@ -48,6 +48,7 @@ #include "nav_msgs/msg/occupancy_grid.hpp" #include "map_msgs/msg/occupancy_grid_update.hpp" #include "nav2_msgs/msg/costmap.hpp" +#include "nav2_msgs/msg/costmap_update.hpp" #include "nav2_msgs/srv/get_costmap.hpp" #include "tf2/transform_datatypes.h" #include "nav2_util/lifecycle_node.hpp" @@ -91,6 +92,7 @@ class Costmap2DPublisher costmap_pub_->on_activate(); costmap_update_pub_->on_activate(); costmap_raw_pub_->on_activate(); + costmap_raw_update_pub_->on_activate(); } /** @@ -101,6 +103,7 @@ class Costmap2DPublisher costmap_pub_->on_deactivate(); costmap_update_pub_->on_deactivate(); costmap_raw_pub_->on_deactivate(); + costmap_raw_update_pub_->on_deactivate(); } /** @@ -136,9 +139,16 @@ class Costmap2DPublisher void prepareGrid(); void prepareCostmap(); + /** @brief Prepare OccupancyGridUpdate msg for publication. */ + std::unique_ptr createGridUpdateMsg(); + /** @brief Prepare CostmapUpdate msg for publication. */ + std::unique_ptr createCostmapUpdateMsg(); + /** @brief Publish the latest full costmap to the new subscriber. */ // void onNewSubscription(const ros::SingleSubscriberPublisher& pub); + void updateGridParams(); + /** @brief GetCostmap callback service */ void costmap_service_callback( const std::shared_ptr request_header, @@ -164,12 +174,14 @@ class Costmap2DPublisher // Publisher for raw costmap values as msg::Costmap from layered costmap rclcpp_lifecycle::LifecyclePublisher::SharedPtr costmap_raw_pub_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + costmap_raw_update_pub_; // Service for getting the costmaps rclcpp::Service::SharedPtr costmap_service_; - float grid_resolution; - unsigned int grid_width, grid_height; + float grid_resolution_; + unsigned int grid_width_, grid_height_; std::unique_ptr grid_; std::unique_ptr costmap_raw_; // Translate from 0-255 values in costmap to -1 to 100 values in message. diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp index 46a71c8e76d..69f2cfefa15 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp @@ -75,8 +75,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode public: /** * @brief Constructor for the wrapper + * @param options Additional options to control creation of the node. */ - Costmap2DROS(); + explicit Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); /** * @brief Constructor for the wrapper, the node will @@ -134,6 +135,28 @@ class Costmap2DROS : public nav2_util::LifecycleNode */ nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override; + /** + * @brief as a child-LifecycleNode : + * Costmap2DROS may be launched by another Lifecycle Node as a composed module + * If composed, its parents will handle the shutdown, which includes this module + */ + void on_rcl_preshutdown() override + { + if (is_lifecycle_follower_) { + // Transitioning handled by parent node + return; + } + + // Else, if this is an independent node, this node needs to handle itself. + RCLCPP_INFO( + get_logger(), "Running Nav2 LifecycleNode rcl preshutdown (%s)", + this->get_name()); + + runCleanups(); + + destroyBond(); + } + /** * @brief Subscribes to sensor topics if necessary and starts costmap * updates, can be called to restart the costmap after calls to either @@ -360,7 +383,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode bool always_send_full_costmap_{false}; std::string footprint_; float footprint_padding_{0}; - std::string global_frame_; ///< The global frame for the costmap + std::string global_frame_; ///< The global frame for the costmap int map_height_meters_{0}; double map_publish_frequency_{0}; double map_update_frequency_{0}; @@ -374,11 +397,14 @@ class Costmap2DROS : public nav2_util::LifecycleNode std::vector filter_names_; std::vector filter_types_; double resolution_{0}; - std::string robot_base_frame_; ///< The frame_id of the robot base + std::string robot_base_frame_; ///< The frame_id of the robot base double robot_radius_; - bool rolling_window_{false}; ///< Whether to use a rolling window version of the costmap + bool rolling_window_{false}; ///< Whether to use a rolling window version of the costmap bool track_unknown_space_{false}; - double transform_tolerance_{0}; ///< The timeout before transform errors + double transform_tolerance_{0}; ///< The timeout before transform errors + double initial_transform_timeout_{0}; ///< The timeout before activation of the node errors + + bool is_lifecycle_follower_{true}; ///< whether is a child-LifecycleNode or an independent node // Derived parameters bool use_radius_{false}; diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/binary_filter.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/binary_filter.hpp index 0a813607836..e50287b3f88 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/binary_filter.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/binary_filter.hpp @@ -40,11 +40,13 @@ #include #include +#include #include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp" #include "std_msgs/msg/bool.hpp" #include "nav2_msgs/msg/costmap_filter_info.hpp" +#include "rcl_interfaces/srv/set_parameters.hpp" namespace nav2_costmap_2d { @@ -101,6 +103,12 @@ class BinaryFilter : public CostmapFilter */ void changeState(const bool state); + /** + * @brief Changes binary parameters of filter. Call async service for each parameter. + * @param state New binary state + */ + void changeParameters(const bool state); + // Working with filter info and mask rclcpp::Subscription::SharedPtr filter_info_sub_; rclcpp::Subscription::SharedPtr mask_sub_; @@ -118,6 +126,24 @@ class BinaryFilter : public CostmapFilter bool default_state_; // Default Binary Filter state bool binary_state_; // Current Binary Filter state + + // Parameter information + struct BinaryParameter + { + std::string node_name; // Node to which the parameter belongs + std::string param_name; // Name of parameter + bool default_state; // Parameter default state + bool is_critical; // Whether any fail on changing this should lead to an error + }; + + // List of params with info + std::vector binary_parameters_info_; + // List of clients for changing parameters + std::vector::SharedPtr> + change_parameters_clients_; + + // Timeout for waiting set_parameters service in ms + int64_t change_parameter_timeout_; }; } // namespace nav2_costmap_2d diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp index 15285df5fe2..43a82e0cde1 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp @@ -128,6 +128,19 @@ class CostmapLayer : public Layer, public Costmap2D nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i, int max_j); + /* + * Updates the master_grid within the specified + * bounding box using this layer's values. + * + * Sets the new value to the maximum of the master_grid's value + * and this layer's value. If the master value is NO_INFORMATION, + * it is NOT overwritten. If the layer's value is NO_INFORMATION, + * the master value does not change. + */ + void updateWithMaxWithoutUnknownOverwrite( + nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i, + int max_j); + /* * Updates the master_grid within the specified * bounding box using this layer's values. @@ -172,6 +185,13 @@ class CostmapLayer : public Layer, public Costmap2D void useExtraBounds(double * min_x, double * min_y, double * max_x, double * max_y); bool has_extra_bounds_; + /** + * @brief Converts an integer to a CombinationMethod enum and logs on failure + * @param value The integer to convert + * @param function_name The name of the function calling this conversion (for logging) + */ + CombinationMethod combination_method_from_int(const int value); + private: double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_; }; diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp index e4ea745015d..4f50614876c 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp @@ -21,6 +21,7 @@ #include "rclcpp/rclcpp.hpp" #include "nav2_costmap_2d/costmap_2d.hpp" #include "nav2_msgs/msg/costmap.hpp" +#include "nav2_msgs/msg/costmap_update.hpp" #include "nav2_util/lifecycle_node.hpp" namespace nav2_costmap_2d @@ -52,25 +53,36 @@ class CostmapSubscriber ~CostmapSubscriber() {} /** - * @brief A Get the costmap from topic + * @brief Get current costmap */ std::shared_ptr getCostmap(); - - /** - * @brief Convert an occ grid message into a costmap object - */ - void toCostmap2D(); /** * @brief Callback for the costmap topic */ void costmapCallback(const nav2_msgs::msg::Costmap::SharedPtr msg); + /** + * @brief Callback for the costmap's update topic + */ + void costmapUpdateCallback(const nav2_msgs::msg::CostmapUpdate::SharedPtr update_msg); protected: + bool isCostmapReceived() {return costmap_ != nullptr;} + void processCurrentCostmapMsg(); + + bool haveCostmapParametersChanged(); + bool hasCostmapSizeChanged(); + bool hasCostmapResolutionChanged(); + bool hasCostmapOriginPositionChanged(); + + rclcpp::Subscription::SharedPtr costmap_sub_; + rclcpp::Subscription::SharedPtr costmap_update_sub_; + std::shared_ptr costmap_; nav2_msgs::msg::Costmap::SharedPtr costmap_msg_; + std::string topic_name_; - bool costmap_received_{false}; - rclcpp::Subscription::SharedPtr costmap_sub_; + std::mutex costmap_msg_mutex_; + rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")}; }; } // namespace nav2_costmap_2d diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp new file mode 100644 index 00000000000..888455168d3 --- /dev/null +++ b/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp @@ -0,0 +1,207 @@ +// Copyright (c) 2023 Andrey Ryzhikov +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_COSTMAP_2D__DENOISE__IMAGE_HPP_ +#define NAV2_COSTMAP_2D__DENOISE__IMAGE_HPP_ + +#include +#include + +namespace nav2_costmap_2d +{ + +/** + * @brief Image with pixels of type T + * Сan own data, be a wrapper over some memory buffer, or refer to a fragment of another image + * Pixels of one row are stored continuity. But rows continuity is not guaranteed. + * The distance (number of elements of type T) from row(i) to row(i + 1) is equal to step() + * @tparam T type of pixel + */ +template +class Image +{ +public: + /// @brief Create empty image + Image() = default; + + /** + * @brief Create image referencing to a third-party buffer + * @param rows number of image rows + * @param columns number of image columns + * @param data existing memory buffer with size at least rows * columns + * @param step offset from row(i) to row(i + 1) in memory buffer (number of elements of type T). + * offset = columns if rows are stored continuity + */ + Image(size_t rows, size_t columns, T * data, size_t step); + + /** + * @brief Create image referencing to the other + * Share image data between new and old object. + * Changing data in a new object will affect the given one and vice versa + */ + Image(const Image & other); + + /** + * @brief Create image from the other (move constructor) + */ + Image(Image && other) noexcept; + + /// @return number of image rows + size_t rows() const {return rows_;} + + /// @return number of image columns + size_t columns() const {return columns_;} + + /// @return true if image empty + bool empty() const {return rows_ == 0 || columns_ == 0;} + + /// @return offset (number of elements of type T) from row(i) to row(i + 1) + size_t step() const {return step_;} + + /** + * @return pointer to first pixel of row + * @warning If row >= rows(), the behavior is undefined + */ + T * row(size_t row); + + /// @overload + const T * row(size_t row) const; + + /** + * @brief Read (and modify, if need) each pixel sequentially + * @tparam Functor function object. + * Signature should be equivalent to the following: + * void fn(T& pixel) or void fn(const T& pixel) + * @param fn a function that will be applied to each pixel in the image. Can modify image data + */ + template + void forEach(Functor && fn); + + /** + * @brief Read each pixel sequentially + * @tparam Functor function object. + * Signature should be equivalent to the following: + * void fn(const T& pixel) + * @param fn a function that will be applied to each pixel in the image + */ + template + void forEach(Functor && fn) const; + /** + * @brief Convert each pixel to corresponding pixel of target using a custom function + * + * The source and target must be the same size. + * For calculation of new target value the operation can use source value and + * an optionally current target value. + * This function call operation(this[i, j], target[i, j]) for each pixel + * where target[i, j] is mutable + * @tparam TargetElement type of target pixel + * @tparam Converter function object. + * Signature should be equivalent to the following: + * void fn(const T& src, TargetElement& trg) + * @param target output image with TargetElement-type pixels + * @param operation the binary operation op is applied to pairs of pixels: + * first (const) from source and second (mutable) from target + * @throw std::logic_error if the source and target of different sizes + */ + template + void convert(Image & target, Converter && converter) const; + +private: + T * data_start_{}; + size_t rows_{}; + size_t columns_{}; + size_t step_{}; +}; + +template +Image::Image(size_t rows, size_t columns, T * data, size_t step) +: rows_{rows}, columns_{columns}, step_{step} +{ + data_start_ = data; +} + +template +Image::Image(const Image & other) +: data_start_{other.data_start_}, + rows_{other.rows_}, columns_{other.columns_}, step_{other.step_} {} + +template +Image::Image(Image && other) noexcept +: data_start_{other.data_start_}, + rows_{other.rows_}, columns_{other.columns_}, step_{other.step_} {} + +template +T * Image::row(size_t row) +{ + return const_cast( static_cast &>(*this).row(row) ); +} + +template +const T * Image::row(size_t row) const +{ + return data_start_ + row * step_; +} + +template +template +void Image::forEach(Functor && fn) +{ + static_cast &>(*this).forEach( + [&](const T & pixel) { + fn(const_cast(pixel)); + }); +} + +template +template +void Image::forEach(Functor && fn) const +{ + const T * rowPtr = row(0); + + for (size_t row = 0; row < rows(); ++row) { + const T * rowEnd = rowPtr + columns(); + + for (const T * pixel = rowPtr; pixel != rowEnd; ++pixel) { + fn(*pixel); + } + rowPtr += step(); + } +} + +template +template +void Image::convert(Image & target, Converter && converter) const +{ + if (rows() != target.rows() || columns() != target.columns()) { + throw std::logic_error("Image::convert. The source and target images size are different"); + } + const T * source_row = row(0); + TargetElement * target_row = target.row(0); + + for (size_t row = 0; row < rows(); ++row) { + const T * rowInEnd = source_row + columns(); + const T * src = source_row; + TargetElement * trg = target_row; + + for (; src != rowInEnd; ++src, ++trg) { + converter(*src, *trg); + } + source_row += step(); + target_row += target.step(); + } +} + +} // namespace nav2_costmap_2d + +#endif // NAV2_COSTMAP_2D__DENOISE__IMAGE_HPP_ diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp new file mode 100644 index 00000000000..3a2f6a77d25 --- /dev/null +++ b/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp @@ -0,0 +1,1062 @@ +// Copyright (c) 2023 Andrey Ryzhikov +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_COSTMAP_2D__DENOISE__IMAGE_PROCESSING_HPP_ +#define NAV2_COSTMAP_2D__DENOISE__IMAGE_PROCESSING_HPP_ + +#include "image.hpp" +#include +#include +#include +#include +#include +#include +#include + +namespace nav2_costmap_2d +{ + +/** + * @enum nav2_costmap_2d::ConnectivityType + * @brief Describes the type of pixel connectivity (is the way in which + * pixels in image relate to their neighbors) + */ +enum class ConnectivityType : int +{ + /// neighbors pixels are connected horizontally and vertically + Way4 = 4, + /// neighbors pixels are connected horizontally, vertically and diagonally + Way8 = 8 +}; + +/** + * @brief A memory buffer that can grow to an upper-bounded capacity + */ +class MemoryBuffer +{ +public: + /// @brief Free memory allocated for the buffer + inline ~MemoryBuffer() {reset();} + /** + * @brief Return a pointer to an uninitialized array of count elements + * Delete the old block of memory and allocates a new one if the size of the old is too small. + * The returned pointer is valid until the next call to get() or destructor. + * @tparam T type of element + * @param count number of elements + * @throw std::bad_alloc or any other exception thrown by allocator + */ + template + T * get(std::size_t count); + +private: + inline void reset(); + inline void allocate(size_t bytes); + +private: + void * data_{}; + size_t size_{}; +}; + +// forward declarations +namespace imgproc_impl +{ +template +class EquivalenceLabelTrees; + +template +void morphologyOperation( + const Image & input, Image & output, + const Image & shape, AggregateFn aggregate); + +using ShapeBuffer3x3 = std::array; // NOLINT +inline Image createShape(ShapeBuffer3x3 & buffer, ConnectivityType connectivity); +} // namespace imgproc_impl + +/** + * @brief Perform morphological dilation + * @tparam Max function object + * @param input input image + * @param output output image + * @param connectivity selector for selecting structuring element (Way4-> cross, Way8-> rect) + * @param max_function takes as input std::initializer_list with three elements. + * Returns the greatest value in list + */ +template +inline void dilate( + const Image & input, Image & output, + ConnectivityType connectivity, Max && max_function) +{ + using namespace imgproc_impl; // NOLINT + ShapeBuffer3x3 shape_buffer; + Image shape = createShape(shape_buffer, connectivity); + morphologyOperation(input, output, shape, max_function); +} + +/** +* @brief Compute the connected components labeled image of binary image +* Implements the SAUF algorithm +* (Two Strategies to Speed up Connected Component Labeling Algorithms +* Kesheng Wu, Ekow Otoo, Kenji Suzuki). +* @tparam connectivity pixels connectivity type +* @tparam Label integer type of label +* @tparam IsBg functor with signature bool (uint8_t) +* @param image input image +* @param buffer memory block that will be used to store the result (labeled image) +* and the internal buffer for labels trees +* @param label_trees union-find data structure +* @param is_background returns true if the passed pixel value is background +* @throw LabelOverflow if all possible values of the Label type are used and +* it is impossible to create a new unique +* @return pair(labeled image, total number of labels) +* Labeled image has the same size as image. Label 0 represents the background label, +* labels [1, - 1] - separate components. +* Total number of labels == 0 for empty image. +* In other cases, label 0 is always counted, +* even if there is no background in the image. +* For example, for an image of one background pixel, the total number of labels == 2. +* Two labels (0, 1) have been counted, although label 0 is not used) +*/ +template +std::pair, Label> connectedComponents( + const Image & image, MemoryBuffer & buffer, + imgproc_impl::EquivalenceLabelTrees diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp index 31965eb1cfc..05adb417911 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp @@ -17,7 +17,13 @@ #include #include + +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_core/goal_checker.hpp" diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp index d8eeb87a3a7..7e09fcf91c3 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp @@ -19,7 +19,13 @@ #include #include #include + +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop #include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" @@ -42,11 +48,18 @@ namespace mppi class CriticManager { public: + typedef std::vector> Critics; /** * @brief Constructor for mppi::CriticManager */ CriticManager() = default; + + /** + * @brief Virtual Destructor for mppi::CriticManager + */ + virtual ~CriticManager() = default; + /** * @brief Configure critic manager on bringup and load plugins * @param parent WeakPtr to node @@ -88,7 +101,7 @@ class CriticManager ParametersHandler * parameters_handler_; std::vector critic_names_; std::unique_ptr> loader_; - std::vector> critics_; + Critics critics_; rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")}; }; diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp new file mode 100644 index 00000000000..7c549ee448e --- /dev/null +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp @@ -0,0 +1,150 @@ +// Copyright (c) 2023 Robocc Brice Renaudeau +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_MPPI_CONTROLLER__CRITICS__COST_CRITIC_HPP_ +#define NAV2_MPPI_CONTROLLER__CRITICS__COST_CRITIC_HPP_ + +#include +#include + +#include "nav2_costmap_2d/footprint_collision_checker.hpp" +#include "nav2_costmap_2d/inflation_layer.hpp" + +#include "nav2_mppi_controller/critic_function.hpp" +#include "nav2_mppi_controller/models/state.hpp" +#include "nav2_mppi_controller/tools/utils.hpp" + +namespace mppi::critics +{ + +/** + * @class mppi::critics::CostCritic + * @brief Critic objective function for avoiding obstacles using costmap's inflated cost + */ +class CostCritic : public CriticFunction +{ +public: + /** + * @brief Initialize critic + */ + void initialize() override; + + /** + * @brief Evaluate cost related to obstacle avoidance + * + * @param costs [out] add obstacle cost values to this tensor + */ + void score(CriticData & data) override; + +protected: + /** + * @brief Checks if cost represents a collision + * @param cost Point cost at pose center + * @param x X of pose + * @param y Y of pose + * @param theta theta of pose + * @return bool if in collision + */ + inline bool inCollision(float cost, float x, float y, float theta) + { + // If consider_footprint_ check footprint scort for collision + float score_cost = cost; + if (consider_footprint_ && + (cost >= possible_collision_cost_ || possible_collision_cost_ < 1.0f)) + { + score_cost = static_cast(collision_checker_.footprintCostAtPose( + static_cast(x), static_cast(y), static_cast(theta), + costmap_ros_->getRobotFootprint())); + } + + switch (static_cast(score_cost)) { + case (nav2_costmap_2d::LETHAL_OBSTACLE): + return true; + case (nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE): + return consider_footprint_ ? false : true; + case (nav2_costmap_2d::NO_INFORMATION): + return is_tracking_unknown_ ? false : true; + } + + return false; + } + + /** + * @brief Find the min cost of the inflation decay function for which the robot MAY be + * in collision in any orientation + * @param costmap Costmap2DROS to get minimum inscribed cost (e.g. 128 in inflation layer documentation) + * @return double circumscribed cost, any higher than this and need to do full footprint collision checking + * since some element of the robot could be in collision + */ + inline float findCircumscribedCost(std::shared_ptr costmap); + + /** + * @brief An implementation of worldToMap fully using floats + * @param wx Float world X coord + * @param wy Float world Y coord + * @param mx unsigned int map X coord + * @param my unsigned into map Y coord + * @return if successsful + */ + inline bool worldToMapFloat(float wx, float wy, unsigned int & mx, unsigned int & my) const + { + if (wx < origin_x_ || wy < origin_y_) { + return false; + } + + mx = static_cast((wx - origin_x_) / resolution_); + my = static_cast((wy - origin_y_) / resolution_); + + if (mx < size_x_ && my < size_y_) { + return true; + } + return false; + } + + /** + * @brief A local implementation of getIndex + * @param mx unsigned int map X coord + * @param my unsigned into map Y coord + * @return Index + */ + inline unsigned int getIndex(unsigned int mx, unsigned int my) const + { + return my * size_x_ + mx; + } + + nav2_costmap_2d::FootprintCollisionChecker + collision_checker_{nullptr}; + float possible_collision_cost_; + + bool consider_footprint_{true}; + bool is_tracking_unknown_{true}; + float circumscribed_radius_{0.0f}; + float circumscribed_cost_{0.0f}; + float collision_cost_{0.0f}; + float critical_cost_{0.0f}; + float weight_{0}; + unsigned int trajectory_point_step_; + + float origin_x_, origin_y_, resolution_; + unsigned int size_x_, size_y_; + + float near_goal_distance_; + std::string inflation_layer_name_; + + unsigned int power_{0}; +}; + +} // namespace mppi::critics + +#endif // NAV2_MPPI_CONTROLLER__CRITICS__COST_CRITIC_HPP_ diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp index 62d6bd10420..8fb8fb688ae 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp index a026b0fb2a9..31b6a3d0df8 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp @@ -16,9 +16,10 @@ #define NAV2_MPPI_CONTROLLER__CRITICS__OBSTACLES_CRITIC_HPP_ #include +#include + #include "nav2_costmap_2d/footprint_collision_checker.hpp" #include "nav2_costmap_2d/inflation_layer.hpp" - #include "nav2_mppi_controller/critic_function.hpp" #include "nav2_mppi_controller/models/state.hpp" #include "nav2_mppi_controller/tools/utils.hpp" @@ -54,7 +55,7 @@ class ObstaclesCritic : public CriticFunction * @param cost Costmap cost * @return bool if in collision */ - bool inCollision(float cost) const; + inline bool inCollision(float cost) const; /** * @brief cost at a robot pose @@ -63,14 +64,14 @@ class ObstaclesCritic : public CriticFunction * @param theta theta of pose * @return Collision information at pose */ - CollisionCost costAtPose(float x, float y, float theta); + inline CollisionCost costAtPose(float x, float y, float theta); /** * @brief Distance to obstacle from cost * @param cost Costmap cost * @return float Distance to the obstacle represented by cost */ - float distanceToObstacle(const CollisionCost & cost); + inline float distanceToObstacle(const CollisionCost & cost); /** * @brief Find the min cost of the inflation decay function for which the robot MAY be @@ -79,22 +80,24 @@ class ObstaclesCritic : public CriticFunction * @return double circumscribed cost, any higher than this and need to do full footprint collision checking * since some element of the robot could be in collision */ - double findCircumscribedCost(std::shared_ptr costmap); + float findCircumscribedCost(std::shared_ptr costmap); protected: nav2_costmap_2d::FootprintCollisionChecker collision_checker_{nullptr}; bool consider_footprint_{true}; - double collision_cost_{0}; + float collision_cost_{0}; float inflation_scale_factor_{0}, inflation_radius_{0}; - float possibly_inscribed_cost_; + float possible_collision_cost_; float collision_margin_distance_; float near_goal_distance_; + float circumscribed_cost_{0}, circumscribed_radius_{0}; unsigned int power_{0}; float repulsion_weight_, critical_weight_{0}; + std::string inflation_layer_name_; }; } // namespace mppi::critics diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp index 7618afb9a4b..f7ad2fda6a9 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_align_critic.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -49,6 +49,7 @@ class PathAlignCritic : public CriticFunction int trajectory_point_step_{0}; float threshold_to_consider_{0}; float max_path_occupancy_ratio_{0}; + bool use_path_orientations_{false}; unsigned int power_{0}; float weight_{0}; }; diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp index 92130dceb36..b137270aba9 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_angle_critic.hpp @@ -15,13 +15,41 @@ #ifndef NAV2_MPPI_CONTROLLER__CRITICS__PATH_ANGLE_CRITIC_HPP_ #define NAV2_MPPI_CONTROLLER__CRITICS__PATH_ANGLE_CRITIC_HPP_ +#include #include "nav2_mppi_controller/critic_function.hpp" #include "nav2_mppi_controller/models/state.hpp" #include "nav2_mppi_controller/tools/utils.hpp" +#include "nav2_core/controller_exceptions.hpp" namespace mppi::critics { +/** + * @brief Enum type for different modes of operation + */ +enum class PathAngleMode +{ + FORWARD_PREFERENCE = 0, + NO_DIRECTIONAL_PREFERENCE = 1, + CONSIDER_FEASIBLE_PATH_ORIENTATIONS = 2 +}; + +/** + * @brief Method to convert mode enum to string for printing + */ +std::string modeToStr(const PathAngleMode & mode) +{ + if (mode == PathAngleMode::FORWARD_PREFERENCE) { + return "Forward Preference"; + } else if (mode == PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS) { + return "Consider Feasible Path Orientations"; + } else if (mode == PathAngleMode::NO_DIRECTIONAL_PREFERENCE) { + return "No Directional Preference"; + } else { + return "Invalid mode!"; + } +} + /** * @class mppi::critics::ConstraintCritic * @brief Critic objective function for aligning to path in cases of extreme misalignment @@ -44,10 +72,12 @@ class PathAngleCritic : public CriticFunction void score(CriticData & data) override; protected: - double max_angle_to_furthest_{0}; + float max_angle_to_furthest_{0}; float threshold_to_consider_{0}; size_t offset_from_furthest_{0}; + bool reversing_allowed_{true}; + PathAngleMode mode_{0}; unsigned int power_{0}; float weight_{0}; diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp index 12317c7b614..c06fba5b896 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/path_follow_critic.hpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp new file mode 100644 index 00000000000..76e1dbd670f --- /dev/null +++ b/nav2_mppi_controller/include/nav2_mppi_controller/critics/velocity_deadband_critic.hpp @@ -0,0 +1,54 @@ +// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ +#define NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ + +#include + +#include "nav2_mppi_controller/critic_function.hpp" +#include "nav2_mppi_controller/models/state.hpp" +#include "nav2_mppi_controller/tools/utils.hpp" + +namespace mppi::critics +{ + +/** + * @class mppi::critics::VelocityDeadbandCritic + * @brief Critic objective function for enforcing feasible constraints + */ +class VelocityDeadbandCritic : public CriticFunction +{ +public: + /** + * @brief Initialize critic + */ + void initialize() override; + + /** + * @brief Evaluate cost related to goal following + * + * @param costs [out] add reference cost values to this tensor + */ + void score(CriticData & data) override; + +protected: + unsigned int power_{0}; + float weight_{0}; + std::vector deadband_velocities_{0.0f, 0.0f, 0.0f}; +}; + +} // namespace mppi::critics + +#endif // NAV2_MPPI_CONTROLLER__CRITICS__VELOCITY_DEADBAND_CRITIC_HPP_ diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp index b7f9b6f3ccb..5e1885c271f 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/constraints.hpp @@ -24,10 +24,10 @@ namespace mppi::models */ struct ControlConstraints { - double vx_max; - double vx_min; - double vy; - double wz; + float vx_max; + float vx_min; + float vy; + float wz; }; /** @@ -36,9 +36,9 @@ struct ControlConstraints */ struct SamplingStd { - double vx; - double vy; - double wz; + float vx; + float vy; + float wz; }; } // namespace mppi::models diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp index 7a96ad1c94e..ad797e9afaa 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp @@ -15,7 +15,12 @@ #ifndef NAV2_MPPI_CONTROLLER__MODELS__CONTROL_SEQUENCE_HPP_ #define NAV2_MPPI_CONTROLLER__MODELS__CONTROL_SEQUENCE_HPP_ +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop namespace mppi::models { diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp index 61d7da74ec5..2b093db0199 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp @@ -27,15 +27,15 @@ namespace mppi::models */ struct OptimizerSettings { - models::ControlConstraints base_constraints{0, 0, 0, 0}; - models::ControlConstraints constraints{0, 0, 0, 0}; - models::SamplingStd sampling_std{0, 0, 0}; - float model_dt{0}; - float temperature{0}; - float gamma{0}; - unsigned int batch_size{0}; - unsigned int time_steps{0}; - unsigned int iteration_count{0}; + models::ControlConstraints base_constraints{0.0f, 0.0f, 0.0f, 0.0f}; + models::ControlConstraints constraints{0.0f, 0.0f, 0.0f, 0.0f}; + models::SamplingStd sampling_std{0.0f, 0.0f, 0.0f}; + float model_dt{0.0f}; + float temperature{0.0f}; + float gamma{0.0f}; + unsigned int batch_size{0u}; + unsigned int time_steps{0u}; + unsigned int iteration_count{0u}; bool shift_control_sequence{false}; size_t retry_attempt_limit{0}; }; diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp index 241a6928bab..f1bab3f8032 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp @@ -15,7 +15,12 @@ #ifndef NAV2_MPPI_CONTROLLER__MODELS__PATH_HPP_ #define NAV2_MPPI_CONTROLLER__MODELS__PATH_HPP_ +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop namespace mppi::models { diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp index 7dd19eaff39..75f8c7521a2 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp @@ -15,7 +15,12 @@ #ifndef NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_ #define NAV2_MPPI_CONTROLLER__MODELS__STATE_HPP_ +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop #include #include diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp index fa2c0181204..0862c2caedc 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp @@ -15,8 +15,13 @@ #ifndef NAV2_MPPI_CONTROLLER__MODELS__TRAJECTORIES_HPP_ #define NAV2_MPPI_CONTROLLER__MODELS__TRAJECTORIES_HPP_ +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include #include +#pragma GCC diagnostic pop namespace mppi::models { diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp index af7c0bb6124..713c3d2a22a 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp @@ -19,10 +19,16 @@ #include "nav2_mppi_controller/models/control_sequence.hpp" #include "nav2_mppi_controller/models/state.hpp" + +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include #include #include #include +#pragma GCC diagnostic pop #include "nav2_mppi_controller/tools/parameters_handler.hpp" @@ -52,16 +58,26 @@ class MotionModel */ virtual void predict(models::State & state) { - using namespace xt::placeholders; // NOLINT - xt::noalias(xt::view(state.vx, xt::all(), xt::range(1, _))) = - xt::view(state.cvx, xt::all(), xt::range(0, -1)); - - xt::noalias(xt::view(state.wz, xt::all(), xt::range(1, _))) = - xt::view(state.cwz, xt::all(), xt::range(0, -1)); - - if (isHolonomic()) { - xt::noalias(xt::view(state.vy, xt::all(), xt::range(1, _))) = - xt::view(state.cvy, xt::all(), xt::range(0, -1)); + // Previously completed via tensor views, but found to be 10x slower + // using namespace xt::placeholders; // NOLINT + // xt::noalias(xt::view(state.vx, xt::all(), xt::range(1, _))) = + // xt::noalias(xt::view(state.cvx, xt::all(), xt::range(0, -1))); + // xt::noalias(xt::view(state.wz, xt::all(), xt::range(1, _))) = + // xt::noalias(xt::view(state.cwz, xt::all(), xt::range(0, -1))); + // if (isHolonomic()) { + // xt::noalias(xt::view(state.vy, xt::all(), xt::range(1, _))) = + // xt::noalias(xt::view(state.cvy, xt::all(), xt::range(0, -1))); + // } + + const bool is_holo = isHolonomic(); + for (unsigned int i = 0; i != state.vx.shape(0); i++) { + for (unsigned int j = 1; j != state.vx.shape(1); j++) { + state.vx(i, j) = state.cvx(i, j - 1); + state.wz(i, j) = state.cwz(i, j - 1); + if (is_holo) { + state.vy(i, j) = state.cvy(i, j - 1); + } + } } } @@ -112,7 +128,7 @@ class AckermannMotionModel : public MotionModel auto & vx = control_sequence.vx; auto & wz = control_sequence.wz; - auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) > min_turning_r_); + auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); view = xt::sign(wz) * vx / min_turning_r_; } diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp index 061654aa659..6e1c271d94d 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp @@ -18,8 +18,13 @@ #include #include +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include #include +#pragma GCC diagnostic pop #include "rclcpp_lifecycle/lifecycle_node.hpp" diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp index 6eb1b36384c..f16bb909531 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp @@ -21,12 +21,18 @@ #include #include +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include #include +#pragma GCC diagnostic pop #include "nav2_mppi_controller/models/optimizer_settings.hpp" -#include -#include +#include "nav2_mppi_controller/tools/parameters_handler.hpp" +#include "nav2_mppi_controller/models/control_sequence.hpp" +#include "nav2_mppi_controller/models/state.hpp" namespace mppi { @@ -47,8 +53,12 @@ class NoiseGenerator * @brief Initialize noise generator with settings and model types * @param settings Settings of controller * @param is_holonomic If base is holonomic + * @param name Namespace for configs + * @param param_handler Get parameters util */ - void initialize(mppi::models::OptimizerSettings & settings, bool is_holonomic); + void initialize( + mppi::models::OptimizerSettings & settings, + bool is_holonomic, const std::string & name, ParametersHandler * param_handler); /** * @brief Shutdown noise generator thread @@ -99,7 +109,7 @@ class NoiseGenerator std::thread noise_thread_; std::condition_variable noise_cond_; std::mutex noise_lock_; - bool active_{false}, ready_{false}; + bool active_{false}, ready_{false}, regenerate_noises_{false}; }; } // namespace mppi diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp index c66d32257e7..eeb28fa01b3 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp @@ -1,4 +1,6 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Dexory +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -124,10 +126,18 @@ class PathHandler const geometry_msgs::msg::PoseStamped & global_pose); /** - * @brief Prune global path to only interesting portions + * @brief Prune a path to only interesting portions + * @param plan Plan to prune * @param end Final path iterator */ - void pruneGlobalPlan(const PathIterator end); + void prunePlan(nav_msgs::msg::Path & plan, const PathIterator end); + + /** + * @brief Check if the robot pose is within the set inversion tolerances + * @param robot_pose Robot's current pose to check + * @return bool If the robot pose is within the set inversion tolerances + */ + bool isWithinInversionTolerances(const geometry_msgs::msg::PoseStamped & robot_pose); std::string name_; std::shared_ptr costmap_; @@ -135,11 +145,16 @@ class PathHandler ParametersHandler * parameters_handler_; nav_msgs::msg::Path global_plan_; + nav_msgs::msg::Path global_plan_up_to_inversion_; rclcpp::Logger logger_{rclcpp::get_logger("MPPIController")}; double max_robot_pose_search_dist_{0}; double prune_distance_{0}; double transform_tolerance_{0}; + float inversion_xy_tolerance_{0.2}; + float inversion_yaw_tolerance{0.4}; + bool enforce_path_inversion_{false}; + unsigned int inversion_locale_{0u}; }; } // namespace mppi diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp index 6ecdbdcb8dc..d9cdc95ce98 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp @@ -17,7 +17,13 @@ #include #include + +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include +#pragma GCC diagnostic pop #include "nav_msgs/msg/path.hpp" #include "rclcpp/rclcpp.hpp" diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp index 7319e318f0d..fae3328f066 100644 --- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp +++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -22,10 +23,15 @@ #include #include +// xtensor creates warnings that needs to be ignored as we are building with -Werror +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Warray-bounds" +#pragma GCC diagnostic ignored "-Wstringop-overflow" #include #include #include #include +#pragma GCC diagnostic pop #include "angles/angles.h" @@ -48,6 +54,9 @@ #include "builtin_interfaces/msg/time.hpp" #include "nav2_mppi_controller/critic_data.hpp" +#define M_PIF 3.141592653589793238462643383279502884e+00F +#define M_PIF_2 1.5707963267948966e+00F + namespace mppi::utils { using xt::evaluation_strategy::immediate; @@ -239,15 +248,15 @@ inline bool withinPositionGoalTolerance( const models::Path & path) { const auto goal_idx = path.x.shape(0) - 1; - const auto goal_x = path.x(goal_idx); - const auto goal_y = path.y(goal_idx); + const float goal_x = path.x(goal_idx); + const float goal_y = path.y(goal_idx); - const auto pose_tolerance_sq = pose_tolerance * pose_tolerance; + const float pose_tolerance_sq = pose_tolerance * pose_tolerance; - auto dx = robot.position.x - goal_x; - auto dy = robot.position.y - goal_y; + const float dx = static_cast(robot.position.x) - goal_x; + const float dy = static_cast(robot.position.y) - goal_y; - auto dist_sq = dx * dx + dy * dy; + float dist_sq = dx * dx + dy * dy; if (dist_sq < pose_tolerance_sq) { return true; @@ -258,7 +267,7 @@ inline bool withinPositionGoalTolerance( /** * @brief normalize - * Normalizes the angle to be -M_PI circle to +M_PI circle + * Normalizes the angle to be -M_PIF circle to +M_PIF circle * It takes and returns radians. * @param angles Angles to normalize * @return normalized angles @@ -266,8 +275,8 @@ inline bool withinPositionGoalTolerance( template auto normalize_angles(const T & angles) { - auto && theta = xt::eval(xt::fmod(angles + M_PI, 2.0 * M_PI)); - return xt::eval(xt::where(theta <= 0.0, theta + M_PI, theta - M_PI)); + auto theta = xt::eval(xt::fmod(angles + M_PIF, 2.0f * M_PIF)); + return xt::eval(xt::where(theta < 0.0f, theta + M_PIF, theta - M_PIF)); } /** @@ -307,14 +316,16 @@ inline size_t findPathFurthestReachedPoint(const CriticData & data) const auto dists = dx * dx + dy * dy; - size_t max_id_by_trajectories = 0; - double min_distance_by_path = std::numeric_limits::max(); + size_t max_id_by_trajectories = 0, min_id_by_path = 0; + float min_distance_by_path = std::numeric_limits::max(); for (size_t i = 0; i < dists.shape(0); i++) { - size_t min_id_by_path = 0; - for (size_t j = 0; j < dists.shape(1); j++) { - if (dists(i, j) < min_distance_by_path) { - min_distance_by_path = dists(i, j); + min_id_by_path = 0; + min_distance_by_path = std::numeric_limits::max(); + for (size_t j = max_id_by_trajectories; j < dists.shape(1); j++) { + const float cur_dist = dists(i, j); + if (cur_dist < min_distance_by_path) { + min_distance_by_path = cur_dist; min_id_by_path = j; } } @@ -323,31 +334,6 @@ inline size_t findPathFurthestReachedPoint(const CriticData & data) return max_id_by_trajectories; } -/** - * @brief Evaluate closest point idx of data.path which is - * nearset to the start of the trajectory in data.trajectories - * @param data Data to use - * @return Idx of closest path point at start of the trajectories - */ -inline size_t findPathTrajectoryInitialPoint(const CriticData & data) -{ - // First point should be the same for all trajectories from initial conditions - const auto dx = data.path.x - data.trajectories.x(0, 0); - const auto dy = data.path.y - data.trajectories.y(0, 0); - const auto dists = dx * dx + dy * dy; - - double min_distance_by_path = std::numeric_limits::max(); - size_t min_id = 0; - for (size_t j = 0; j < dists.shape(0); j++) { - if (dists(j) < min_distance_by_path) { - min_distance_by_path = dists(j); - min_id = j; - } - } - - return min_id; -} - /** * @brief evaluate path furthest point if it is not set * @param data Data to use @@ -371,26 +357,22 @@ inline void findPathCosts( unsigned int map_x, map_y; const size_t path_segments_count = data.path.x.shape(0) - 1; data.path_pts_valid = std::vector(path_segments_count, false); + const bool tracking_unknown = costmap_ros->getLayeredCostmap()->isTrackingUnknown(); for (unsigned int idx = 0; idx < path_segments_count; idx++) { - const auto path_x = data.path.x(idx); - const auto path_y = data.path.y(idx); - if (!costmap->worldToMap(path_x, path_y, map_x, map_y)) { + if (!costmap->worldToMap(data.path.x(idx), data.path.y(idx), map_x, map_y)) { (*data.path_pts_valid)[idx] = false; continue; } switch (costmap->getCost(map_x, map_y)) { - using namespace nav2_costmap_2d; // NOLINT - case (LETHAL_OBSTACLE): + case (nav2_costmap_2d::LETHAL_OBSTACLE): (*data.path_pts_valid)[idx] = false; continue; - case (INSCRIBED_INFLATED_OBSTACLE): + case (nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE): (*data.path_pts_valid)[idx] = false; continue; - case (NO_INFORMATION): - const bool is_tracking_unknown = - costmap_ros->getLayeredCostmap()->isTrackingUnknown(); - (*data.path_pts_valid)[idx] = is_tracking_unknown ? true : false; + case (nav2_costmap_2d::NO_INFORMATION): + (*data.path_pts_valid)[idx] = tracking_unknown ? true : false; continue; } @@ -416,16 +398,51 @@ inline void setPathCostsIfNotSet( * @param pose pose * @param point_x Point to find angle relative to X axis * @param point_y Point to find angle relative to Y axis + * @param forward_preference If reversing direction is valid * @return Angle between two points */ -inline double posePointAngle(const geometry_msgs::msg::Pose & pose, double point_x, double point_y) +inline float posePointAngle( + const geometry_msgs::msg::Pose & pose, double point_x, double point_y, bool forward_preference) { - double pose_x = pose.position.x; - double pose_y = pose.position.y; - double pose_yaw = tf2::getYaw(pose.orientation); + float pose_x = pose.position.x; + float pose_y = pose.position.y; + float pose_yaw = tf2::getYaw(pose.orientation); + + float yaw = atan2f(point_y - pose_y, point_x - pose_x); + + // If no preference for forward, return smallest angle either in heading or 180 of heading + if (!forward_preference) { + return std::min( + fabs(angles::shortest_angular_distance(yaw, pose_yaw)), + fabs(angles::shortest_angular_distance(yaw, angles::normalize_angle(pose_yaw + M_PIF)))); + } + + return fabs(angles::shortest_angular_distance(yaw, pose_yaw)); +} + +/** + * @brief evaluate angle from pose (have angle) to point (no angle) + * @param pose pose + * @param point_x Point to find angle relative to X axis + * @param point_y Point to find angle relative to Y axis + * @param point_yaw Yaw of the point to consider along Z axis + * @return Angle between two points + */ +inline float posePointAngle( + const geometry_msgs::msg::Pose & pose, + double point_x, double point_y, double point_yaw) +{ + float pose_x = static_cast(pose.position.x); + float pose_y = static_cast(pose.position.y); + float pose_yaw = static_cast(tf2::getYaw(pose.orientation)); + + float yaw = atan2f(static_cast(point_y) - pose_y, static_cast(point_x) - pose_x); - double yaw = atan2(point_y - pose_y, point_x - pose_x); - return abs(angles::shortest_angular_distance(yaw, pose_yaw)); + if (fabs(angles::shortest_angular_distance(yaw, static_cast(point_yaw))) > M_PIF_2) { + yaw = angles::normalize_angle(yaw + M_PIF); + } + + return fabs(angles::shortest_angular_distance(yaw, pose_yaw)); } /** @@ -599,6 +616,90 @@ inline void savitskyGolayFilter( control_sequence.wz(offset)}; } +/** + * @brief Find the iterator of the first pose at which there is an inversion on the path, + * @param path to check for inversion + * @return the first point after the inversion found in the path + */ +inline unsigned int findFirstPathInversion(nav_msgs::msg::Path & path) +{ + // At least 3 poses for a possible inversion + if (path.poses.size() < 3) { + return path.poses.size(); + } + + // Iterating through the path to determine the position of the path inversion + for (unsigned int idx = 1; idx < path.poses.size() - 1; ++idx) { + // We have two vectors for the dot product OA and AB. Determining the vectors. + float oa_x = path.poses[idx].pose.position.x - + path.poses[idx - 1].pose.position.x; + float oa_y = path.poses[idx].pose.position.y - + path.poses[idx - 1].pose.position.y; + float ab_x = path.poses[idx + 1].pose.position.x - + path.poses[idx].pose.position.x; + float ab_y = path.poses[idx + 1].pose.position.y - + path.poses[idx].pose.position.y; + + // Checking for the existance of cusp, in the path, using the dot product. + float dot_product = (oa_x * ab_x) + (oa_y * ab_y); + if (dot_product < 0.0f) { + return idx + 1; + } + } + + return path.poses.size(); +} + +/** + * @brief Find and remove poses after the first inversion in the path + * @param path to check for inversion + * @return The location of the inversion, return 0 if none exist + */ +inline unsigned int removePosesAfterFirstInversion(nav_msgs::msg::Path & path) +{ + nav_msgs::msg::Path cropped_path = path; + const unsigned int first_after_inversion = findFirstPathInversion(cropped_path); + if (first_after_inversion == path.poses.size()) { + return 0u; + } + + cropped_path.poses.erase( + cropped_path.poses.begin() + first_after_inversion, cropped_path.poses.end()); + path = cropped_path; + return first_after_inversion; +} + +/** + * @brief Compare to trajectory points to find closest path point along integrated distances + * @param vec Vect to check + * @return dist Distance to look for + * @return init Starting index to indec from + */ +inline unsigned int findClosestPathPt( + const std::vector & vec, const float dist, const unsigned int init = 0u) +{ + float distim1 = init != 0u ? vec[init] : 0.0f; // First is 0, no accumulated distance yet + float disti = 0.0f; + const unsigned int size = vec.size(); + for (unsigned int i = init + 1; i != size; i++) { + disti = vec[i]; + if (disti > dist) { + if (i > 0 && dist - distim1 < disti - dist) { + return i - 1; + } + return i; + } + distim1 = disti; + } + return size - 1; +} + +// A struct to hold pose data in floating point resolution +struct Pose2D +{ + float x, y, theta; +}; + } // namespace mppi::utils #endif // NAV2_MPPI_CONTROLLER__TOOLS__UTILS_HPP_ diff --git a/nav2_mppi_controller/package.xml b/nav2_mppi_controller/package.xml index 27c4e8b6dcb..2bfdfd945e7 100644 --- a/nav2_mppi_controller/package.xml +++ b/nav2_mppi_controller/package.xml @@ -2,10 +2,10 @@ nav2_mppi_controller - 0.2.1 + 1.2.0 nav2_mppi_controller - Aleksei Budyakov Steve Macenski + Aleksei Budyakov MIT ament_cmake diff --git a/nav2_mppi_controller/src/controller.cpp b/nav2_mppi_controller/src/controller.cpp index 5f8dcffd261..6c831312633 100644 --- a/nav2_mppi_controller/src/controller.cpp +++ b/nav2_mppi_controller/src/controller.cpp @@ -83,9 +83,12 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands( auto start = std::chrono::system_clock::now(); #endif - std::lock_guard lock(*parameters_handler_->getLock()); + std::lock_guard param_lock(*parameters_handler_->getLock()); nav_msgs::msg::Path transformed_plan = path_handler_.transformPath(robot_pose); + nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap(); + std::unique_lock costmap_lock(*(costmap->getMutex())); + geometry_msgs::msg::TwistStamped cmd = optimizer_.evalControl(robot_pose, robot_speed, transformed_plan, goal_checker); diff --git a/nav2_mppi_controller/src/critic_manager.cpp b/nav2_mppi_controller/src/critic_manager.cpp index 2a7a77a2346..2065c5b241b 100644 --- a/nav2_mppi_controller/src/critic_manager.cpp +++ b/nav2_mppi_controller/src/critic_manager.cpp @@ -67,11 +67,11 @@ std::string CriticManager::getFullName(const std::string & name) void CriticManager::evalTrajectoriesScores( CriticData & data) const { - for (size_t q = 0; q < critics_.size(); q++) { + for (const auto & critic : critics_) { if (data.fail_flag) { break; } - critics_[q]->score(data); + critic->score(data); } } diff --git a/nav2_mppi_controller/src/critics/constraint_critic.cpp b/nav2_mppi_controller/src/critics/constraint_critic.cpp index fc26f89d118..c359be2b34d 100644 --- a/nav2_mppi_controller/src/critics/constraint_critic.cpp +++ b/nav2_mppi_controller/src/critics/constraint_critic.cpp @@ -23,20 +23,19 @@ void ConstraintCritic::initialize() auto getParentParam = parameters_handler_->getParamGetter(parent_name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 4.0); + getParam(weight_, "cost_weight", 4.0f); RCLCPP_INFO( logger_, "ConstraintCritic instantiated with %d power and %f weight.", power_, weight_); - float vx_max, vy_max, vx_min, vy_min; - getParentParam(vx_max, "vx_max", 0.5); - getParentParam(vy_max, "vy_max", 0.0); - getParentParam(vx_min, "vx_min", -0.35); - getParentParam(vy_min, "vy_min", 0.0); + float vx_max, vy_max, vx_min; + getParentParam(vx_max, "vx_max", 0.5f); + getParentParam(vy_max, "vy_max", 0.0f); + getParentParam(vx_min, "vx_min", -0.35f); - const float min_sgn = vx_min > 0.0 ? 1.0 : -1.0; - max_vel_ = std::sqrt(vx_max * vx_max + vy_max * vy_max); - min_vel_ = min_sgn * std::sqrt(vx_min * vx_min + vy_min * vy_min); + const float min_sgn = vx_min > 0.0f ? 1.0f : -1.0f; + max_vel_ = sqrtf(vx_max * vx_max + vy_max * vy_max); + min_vel_ = min_sgn * sqrtf(vx_min * vx_min + vy_max * vy_max); } void ConstraintCritic::score(CriticData & data) @@ -47,32 +46,71 @@ void ConstraintCritic::score(CriticData & data) return; } - auto sgn = xt::where(data.state.vx > 0.0, 1.0, -1.0); - auto vel_total = sgn * xt::sqrt(data.state.vx * data.state.vx + data.state.vy * data.state.vy); - auto out_of_max_bounds_motion = xt::maximum(vel_total - max_vel_, 0); - auto out_of_min_bounds_motion = xt::maximum(min_vel_ - vel_total, 0); + // Differential motion model + auto diff = dynamic_cast(data.motion_model.get()); + if (diff != nullptr) { + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + (std::move( + xt::maximum(data.state.vx - max_vel_, 0.0f) + + xt::maximum(min_vel_ - data.state.vx, 0.0f))) * + data.model_dt, {1}, immediate) * weight_, power_); + } else { + data.costs += xt::sum( + (std::move( + xt::maximum(data.state.vx - max_vel_, 0.0f) + + xt::maximum(min_vel_ - data.state.vx, 0.0f))) * + data.model_dt, {1}, immediate) * weight_; + } + return; + } + // Omnidirectional motion model + auto omni = dynamic_cast(data.motion_model.get()); + if (omni != nullptr) { + auto sgn = xt::eval(xt::where(data.state.vx > 0.0f, 1.0f, -1.0f)); + auto vel_total = sgn * xt::hypot(data.state.vx, data.state.vy); + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + (std::move( + xt::maximum(vel_total - max_vel_, 0.0f) + + xt::maximum(min_vel_ - vel_total, 0.0f))) * + data.model_dt, {1}, immediate) * weight_, power_); + } else { + data.costs += xt::sum( + (std::move( + xt::maximum(vel_total - max_vel_, 0.0f) + + xt::maximum(min_vel_ - vel_total, 0.0f))) * + data.model_dt, {1}, immediate) * weight_; + } + return; + } + + // Ackermann motion model auto acker = dynamic_cast(data.motion_model.get()); if (acker != nullptr) { auto & vx = data.state.vx; auto & wz = data.state.wz; auto out_of_turning_rad_motion = xt::maximum( - acker->getMinTurningRadius() - (xt::fabs(vx) / xt::fabs(wz)), 0.0); - - data.costs += xt::pow( - xt::sum( - (std::move(out_of_max_bounds_motion) + - std::move(out_of_min_bounds_motion) + - std::move(out_of_turning_rad_motion)) * - data.model_dt, {1}, immediate) * weight_, power_); + acker->getMinTurningRadius() - (xt::fabs(vx) / xt::fabs(wz)), 0.0f); + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + (std::move( + xt::maximum(data.state.vx - max_vel_, 0.0f) + + xt::maximum(min_vel_ - data.state.vx, 0.0f) + out_of_turning_rad_motion)) * + data.model_dt, {1}, immediate) * weight_, power_); + } else { + data.costs += xt::sum( + (std::move( + xt::maximum(data.state.vx - max_vel_, 0.0f) + + xt::maximum(min_vel_ - data.state.vx, 0.0f) + out_of_turning_rad_motion)) * + data.model_dt, {1}, immediate) * weight_; + } return; } - - data.costs += xt::pow( - xt::sum( - (std::move(out_of_max_bounds_motion) + - std::move(out_of_min_bounds_motion)) * - data.model_dt, {1}, immediate) * weight_, power_); } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/cost_critic.cpp b/nav2_mppi_controller/src/critics/cost_critic.cpp new file mode 100644 index 00000000000..f348d7780a1 --- /dev/null +++ b/nav2_mppi_controller/src/critics/cost_critic.cpp @@ -0,0 +1,200 @@ +// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include "nav2_mppi_controller/critics/cost_critic.hpp" + +namespace mppi::critics +{ + +void CostCritic::initialize() +{ + auto getParam = parameters_handler_->getParamGetter(name_); + getParam(consider_footprint_, "consider_footprint", false); + getParam(power_, "cost_power", 1); + getParam(weight_, "cost_weight", 3.81f); + getParam(critical_cost_, "critical_cost", 300.0f); + getParam(collision_cost_, "collision_cost", 1000000.0f); + getParam(near_goal_distance_, "near_goal_distance", 0.5f); + getParam(inflation_layer_name_, "inflation_layer_name", std::string("")); + getParam(trajectory_point_step_, "trajectory_point_step", 2); + + // Normalized by cost value to put in same regime as other weights + weight_ /= 254.0f; + + // Normalize weight when parameter is changed dynamically as well + auto weightDynamicCb = [&](const rclcpp::Parameter & weight) { + weight_ = weight.as_double() / 254.0f; + }; + parameters_handler_->addDynamicParamCallback(name_ + ".cost_weight", weightDynamicCb); + + collision_checker_.setCostmap(costmap_); + possible_collision_cost_ = findCircumscribedCost(costmap_ros_); + + if (possible_collision_cost_ < 1.0f) { + RCLCPP_ERROR( + logger_, + "Inflation layer either not found or inflation is not set sufficiently for " + "optimized non-circular collision checking capabilities. It is HIGHLY recommended to set" + " the inflation radius to be at MINIMUM half of the robot's largest cross-section. See " + "github.com/ros-planning/navigation2/tree/main/nav2_smac_planner#potential-fields" + " for full instructions. This will substantially impact run-time performance."); + } + + RCLCPP_INFO( + logger_, + "InflationCostCritic instantiated with %d power and %f / %f weights. " + "Critic will collision check based on %s cost.", + power_, critical_cost_, weight_, consider_footprint_ ? + "footprint" : "circular"); +} + +float CostCritic::findCircumscribedCost( + std::shared_ptr costmap) +{ + double result = -1.0; + const double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius(); + if (static_cast(circum_radius) == circumscribed_radius_) { + // early return if footprint size is unchanged + return circumscribed_cost_; + } + + // check if the costmap has an inflation layer + const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer( + costmap, + inflation_layer_name_); + if (inflation_layer != nullptr) { + const double resolution = costmap->getCostmap()->getResolution(); + result = inflation_layer->computeCost(circum_radius / resolution); + } else { + RCLCPP_WARN( + logger_, + "No inflation layer found in costmap configuration. " + "If this is an SE2-collision checking plugin, it cannot use costmap potential " + "field to speed up collision checking by only checking the full footprint " + "when robot is within possibly-inscribed radius of an obstacle. This may " + "significantly slow down planning times and not avoid anything but absolute collisions!"); + } + + circumscribed_radius_ = static_cast(circum_radius); + circumscribed_cost_ = static_cast(result); + + return circumscribed_cost_; +} + +void CostCritic::score(CriticData & data) +{ + using xt::evaluation_strategy::immediate; + using xt::placeholders::_; + if (!enabled_) { + return; + } + + // Setup cost information for various parts of the critic + is_tracking_unknown_ = costmap_ros_->getLayeredCostmap()->isTrackingUnknown(); + auto * costmap = collision_checker_.getCostmap(); + origin_x_ = static_cast(costmap->getOriginX()); + origin_y_ = static_cast(costmap->getOriginY()); + resolution_ = static_cast(costmap->getResolution()); + size_x_ = costmap->getSizeInCellsX(); + size_y_ = costmap->getSizeInCellsY(); + + if (consider_footprint_) { + // footprint may have changed since initialization if user has dynamic footprints + possible_collision_cost_ = findCircumscribedCost(costmap_ros_); + } + + // If near the goal, don't apply the preferential term since the goal is near obstacles + bool near_goal = false; + if (utils::withinPositionGoalTolerance(near_goal_distance_, data.state.pose.pose, data.path)) { + near_goal = true; + } + + auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); + bool all_trajectories_collide = true; + + const size_t traj_len = floor(data.trajectories.x.shape(1) / trajectory_point_step_); + const auto traj_x = + xt::view(data.trajectories.x, xt::all(), xt::range(0, _, trajectory_point_step_)); + const auto traj_y = + xt::view(data.trajectories.y, xt::all(), xt::range(0, _, trajectory_point_step_)); + const auto traj_yaw = xt::view( + data.trajectories.yaws, xt::all(), xt::range(0, _, trajectory_point_step_)); + + for (size_t i = 0; i < data.trajectories.x.shape(0); ++i) { + bool trajectory_collide = false; + float pose_cost = 0.0f; + float & traj_cost = repulsive_cost[i]; + traj_cost = 0.0f; + + for (size_t j = 0; j < traj_len; j++) { + float Tx = traj_x(i, j); + float Ty = traj_y(i, j); + unsigned int x_i = 0u, y_i = 0u; + + // The getCost doesn't use orientation + // The footprintCostAtPose will always return "INSCRIBED" if footprint is over it + // So the center point has more information than the footprint + if (!worldToMapFloat(Tx, Ty, x_i, y_i)) { + if (!is_tracking_unknown_) { + traj_cost = collision_cost_; + trajectory_collide = true; + break; + } + pose_cost = 255.0f; // NO_INFORMATION in float + } else { + pose_cost = static_cast(costmap->getCost(getIndex(x_i, y_i))); + if (pose_cost < 1.0f) { + continue; // In free space + } + if (inCollision(pose_cost, Tx, Ty, traj_yaw(i, j))) { + traj_cost = collision_cost_; + trajectory_collide = true; + break; + } + } + + // Let near-collision trajectory points be punished severely + // Note that we collision check based on the footprint actual, + // but score based on the center-point cost regardless + if (pose_cost >= 253.0f /*INSCRIBED_INFLATED_OBSTACLE in float*/) { + traj_cost += critical_cost_; + } else if (!near_goal) { // Generally prefer trajectories further from obstacles + traj_cost += pose_cost; + } + } + + if (!trajectory_collide) { + all_trajectories_collide = false; + } + } + + if (power_ > 1u) { + data.costs += xt::pow( + (std::move(repulsive_cost) * (weight_ / static_cast(traj_len))), power_); + } else { + data.costs += std::move(repulsive_cost) * (weight_ / static_cast(traj_len)); + } + + data.fail_flag = all_trajectories_collide; +} + +} // namespace mppi::critics + +#include + +PLUGINLIB_EXPORT_CLASS( + mppi::critics::CostCritic, + mppi::critics::CriticFunction) diff --git a/nav2_mppi_controller/src/critics/goal_angle_critic.cpp b/nav2_mppi_controller/src/critics/goal_angle_critic.cpp index c196871327c..99ad3950de1 100644 --- a/nav2_mppi_controller/src/critics/goal_angle_critic.cpp +++ b/nav2_mppi_controller/src/critics/goal_angle_critic.cpp @@ -22,9 +22,9 @@ void GoalAngleCritic::initialize() auto getParam = parameters_handler_->getParamGetter(name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 3.0); + getParam(weight_, "cost_weight", 3.0f); - getParam(threshold_to_consider_, "threshold_to_consider", 0.40); + getParam(threshold_to_consider_, "threshold_to_consider", 0.5f); RCLCPP_INFO( logger_, @@ -35,11 +35,7 @@ void GoalAngleCritic::initialize() void GoalAngleCritic::score(CriticData & data) { - if (!enabled_) { - return; - } - - if (!utils::withinPositionGoalTolerance( + if (!enabled_ || !utils::withinPositionGoalTolerance( threshold_to_consider_, data.state.pose.pose, data.path)) { return; @@ -48,9 +44,14 @@ void GoalAngleCritic::score(CriticData & data) const auto goal_idx = data.path.x.shape(0) - 1; const float goal_yaw = data.path.yaws(goal_idx); - data.costs += xt::pow( - xt::mean(xt::abs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) * - weight_, power_); + if (power_ > 1u) { + data.costs += xt::pow( + xt::mean(xt::fabs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) * + weight_, power_); + } else { + data.costs += xt::mean( + xt::fabs(utils::shortest_angular_distance(data.trajectories.yaws, goal_yaw)), {1}) * weight_; + } } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/goal_critic.cpp b/nav2_mppi_controller/src/critics/goal_critic.cpp index 859a9c3f5c3..4dbaf063f35 100644 --- a/nav2_mppi_controller/src/critics/goal_critic.cpp +++ b/nav2_mppi_controller/src/critics/goal_critic.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -17,13 +18,15 @@ namespace mppi::critics { +using xt::evaluation_strategy::immediate; + void GoalCritic::initialize() { auto getParam = parameters_handler_->getParamGetter(name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 5.0); - getParam(threshold_to_consider_, "threshold_to_consider", 1.0); + getParam(weight_, "cost_weight", 5.0f); + getParam(threshold_to_consider_, "threshold_to_consider", 1.4f); RCLCPP_INFO( logger_, "GoalCritic instantiated with %d power and %f weight.", @@ -32,11 +35,7 @@ void GoalCritic::initialize() void GoalCritic::score(CriticData & data) { - if (!enabled_) { - return; - } - - if (!utils::withinPositionGoalTolerance( + if (!enabled_ || !utils::withinPositionGoalTolerance( threshold_to_consider_, data.state.pose.pose, data.path)) { return; @@ -47,14 +46,19 @@ void GoalCritic::score(CriticData & data) const auto goal_x = data.path.x(goal_idx); const auto goal_y = data.path.y(goal_idx); - const auto last_x = xt::view(data.trajectories.x, xt::all(), -1); - const auto last_y = xt::view(data.trajectories.y, xt::all(), -1); - - auto dists = xt::sqrt( - xt::pow(last_x - goal_x, 2) + - xt::pow(last_y - goal_y, 2)); + const auto traj_x = xt::view(data.trajectories.x, xt::all(), xt::all()); + const auto traj_y = xt::view(data.trajectories.y, xt::all(), xt::all()); - data.costs += xt::pow(std::move(dists) * weight_, power_); + if (power_ > 1u) { + data.costs += xt::pow( + xt::mean( + xt::hypot(traj_x - goal_x, traj_y - goal_y), + {1}, immediate) * weight_, power_); + } else { + data.costs += xt::mean( + xt::hypot(traj_x - goal_x, traj_y - goal_y), + {1}, immediate) * weight_; + } } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/obstacles_critic.cpp b/nav2_mppi_controller/src/critics/obstacles_critic.cpp index f45ce72116f..4386ec1dc12 100644 --- a/nav2_mppi_controller/src/critics/obstacles_critic.cpp +++ b/nav2_mppi_controller/src/critics/obstacles_critic.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -14,7 +15,7 @@ #include #include "nav2_mppi_controller/critics/obstacles_critic.hpp" - +#include "nav2_costmap_2d/inflation_layer.hpp" namespace mppi::critics { @@ -23,14 +24,26 @@ void ObstaclesCritic::initialize() auto getParam = parameters_handler_->getParamGetter(name_); getParam(consider_footprint_, "consider_footprint", false); getParam(power_, "cost_power", 1); - getParam(repulsion_weight_, "repulsion_weight", 1.5); - getParam(critical_weight_, "critical_weight", 20.0); - getParam(collision_cost_, "collision_cost", 10000.0); - getParam(collision_margin_distance_, "collision_margin_distance", 0.10); - getParam(near_goal_distance_, "near_goal_distance", 0.5); + getParam(repulsion_weight_, "repulsion_weight", 1.5f); + getParam(critical_weight_, "critical_weight", 20.0f); + getParam(collision_cost_, "collision_cost", 100000.0f); + getParam(collision_margin_distance_, "collision_margin_distance", 0.10f); + getParam(near_goal_distance_, "near_goal_distance", 0.5f); + getParam(inflation_layer_name_, "inflation_layer_name", std::string("")); collision_checker_.setCostmap(costmap_); - possibly_inscribed_cost_ = findCircumscribedCost(costmap_ros_); + possible_collision_cost_ = findCircumscribedCost(costmap_ros_); + + if (possible_collision_cost_ < 1.0f) { + RCLCPP_ERROR( + logger_, + "Inflation layer either not found or inflation is not set sufficiently for " + "optimized non-circular collision checking capabilities. It is HIGHLY recommended to set" + " the inflation radius to be at MINIMUM half of the robot's largest cross-section. See " + "github.com/ros-planning/navigation2/tree/main/nav2_smac_planner#potential-fields" + " for full instructions. This will substantially impact run-time performance."); + } + RCLCPP_INFO( logger_, "ObstaclesCritic instantiated with %d power and %f / %f weights. " @@ -39,32 +52,28 @@ void ObstaclesCritic::initialize() "footprint" : "circular"); } -double ObstaclesCritic::findCircumscribedCost( +float ObstaclesCritic::findCircumscribedCost( std::shared_ptr costmap) { double result = -1.0; - bool inflation_layer_found = false; - // check if the costmap has an inflation layer - for (auto layer = costmap->getLayeredCostmap()->getPlugins()->begin(); - layer != costmap->getLayeredCostmap()->getPlugins()->end(); - ++layer) - { - auto inflation_layer = std::dynamic_pointer_cast(*layer); - if (!inflation_layer) { - continue; - } + const double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius(); + if (static_cast(circum_radius) == circumscribed_radius_) { + // early return if footprint size is unchanged + return circumscribed_cost_; + } - inflation_layer_found = true; - const double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius(); + // check if the costmap has an inflation layer + const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer( + costmap, + inflation_layer_name_); + if (inflation_layer != nullptr) { const double resolution = costmap->getCostmap()->getResolution(); result = inflation_layer->computeCost(circum_radius / resolution); inflation_scale_factor_ = static_cast(inflation_layer->getCostScalingFactor()); inflation_radius_ = static_cast(inflation_layer->getInflationRadius()); - } - - if (!inflation_layer_found) { + } else { RCLCPP_WARN( - rclcpp::get_logger("computeCircumscribedCost"), + logger_, "No inflation layer found in costmap configuration. " "If this is an SE2-collision checking plugin, it cannot use costmap potential " "field to speed up collision checking by only checking the full footprint " @@ -72,7 +81,10 @@ double ObstaclesCritic::findCircumscribedCost( "significantly slow down planning times and not avoid anything but absolute collisions!"); } - return result; + circumscribed_radius_ = static_cast(circum_radius); + circumscribed_cost_ = static_cast(result); + + return circumscribed_cost_; } float ObstaclesCritic::distanceToObstacle(const CollisionCost & cost) @@ -97,6 +109,11 @@ void ObstaclesCritic::score(CriticData & data) return; } + if (consider_footprint_) { + // footprint may have changed since initialization if user has dynamic footprints + possible_collision_cost_ = findCircumscribedCost(costmap_ros_); + } + // If near the goal, don't apply the preferential term since the goal is near obstacles bool near_goal = false; if (utils::withinPositionGoalTolerance(near_goal_distance_, data.state.pose.pose, data.path)) { @@ -104,21 +121,21 @@ void ObstaclesCritic::score(CriticData & data) } auto && raw_cost = xt::xtensor::from_shape({data.costs.shape(0)}); - raw_cost.fill(0.0); auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); - repulsive_cost.fill(0.0); const size_t traj_len = data.trajectories.x.shape(1); bool all_trajectories_collide = true; for (size_t i = 0; i < data.trajectories.x.shape(0); ++i) { bool trajectory_collide = false; - float traj_cost = 0.0; + float traj_cost = 0.0f; const auto & traj = data.trajectories; CollisionCost pose_cost; + raw_cost[i] = 0.0f; + repulsive_cost[i] = 0.0f; for (size_t j = 0; j < traj_len; j++) { pose_cost = costAtPose(traj.x(i, j), traj.y(i, j), traj.yaws(i, j)); - if (pose_cost.cost < 1) {continue;} // In free space + if (pose_cost.cost < 1.0f) {continue;} // In free space if (inCollision(pose_cost.cost)) { trajectory_collide = true; @@ -126,7 +143,7 @@ void ObstaclesCritic::score(CriticData & data) } // Cannot process repulsion if inflation layer does not exist - if (inflation_radius_ == 0 || inflation_scale_factor_ == 0) { + if (inflation_radius_ == 0.0f || inflation_scale_factor_ == 0.0f) { continue; } @@ -135,19 +152,33 @@ void ObstaclesCritic::score(CriticData & data) // Let near-collision trajectory points be punished severely if (dist_to_obj < collision_margin_distance_) { traj_cost += (collision_margin_distance_ - dist_to_obj); - } else if (!near_goal) { // Generally prefer trajectories further from obstacles - repulsive_cost[i] += (inflation_radius_ - dist_to_obj); + } + + // Generally prefer trajectories further from obstacles + if (!near_goal) { + repulsive_cost[i] += inflation_radius_ - dist_to_obj; } } if (!trajectory_collide) {all_trajectories_collide = false;} - raw_cost[i] = static_cast(trajectory_collide ? collision_cost_ : traj_cost); + raw_cost[i] = trajectory_collide ? collision_cost_ : traj_cost; + } + + // Normalize repulsive cost by trajectory length & lowest score to not overweight importance + // This is a preferential cost, not collision cost, to be tuned relative to desired behaviors + auto && repulsive_cost_normalized = + (repulsive_cost - xt::amin(repulsive_cost, immediate)) / traj_len; + + if (power_ > 1u) { + data.costs += xt::pow( + (critical_weight_ * raw_cost) + + (repulsion_weight_ * repulsive_cost_normalized), + power_); + } else { + data.costs += (critical_weight_ * raw_cost) + + (repulsion_weight_ * repulsive_cost_normalized); } - data.costs += xt::pow( - (critical_weight_ * raw_cost) + - (repulsion_weight_ * repulsive_cost / traj_len), - power_); data.fail_flag = all_trajectories_collide; } @@ -180,10 +211,15 @@ CollisionCost ObstaclesCritic::costAtPose(float x, float y, float theta) float & cost = collision_cost.cost; collision_cost.using_footprint = false; unsigned int x_i, y_i; - collision_checker_.worldToMap(x, y, x_i, y_i); + if (!collision_checker_.worldToMap(x, y, x_i, y_i)) { + cost = nav2_costmap_2d::NO_INFORMATION; + return collision_cost; + } cost = collision_checker_.pointCost(x_i, y_i); - if (consider_footprint_ && cost >= possibly_inscribed_cost_) { + if (consider_footprint_ && + (cost >= possible_collision_cost_ || possible_collision_cost_ < 1.0f)) + { cost = static_cast(collision_checker_.footprintCostAtPose( x, y, theta, costmap_ros_->getRobotFootprint())); collision_cost.using_footprint = true; diff --git a/nav2_mppi_controller/src/critics/path_align_critic.cpp b/nav2_mppi_controller/src/critics/path_align_critic.cpp index b95b96a04a6..bd0245f824b 100644 --- a/nav2_mppi_controller/src/critics/path_align_critic.cpp +++ b/nav2_mppi_controller/src/critics/path_align_critic.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -14,9 +14,6 @@ #include "nav2_mppi_controller/critics/path_align_critic.hpp" -#include -#include - namespace mppi::critics { @@ -27,14 +24,15 @@ void PathAlignCritic::initialize() { auto getParam = parameters_handler_->getParamGetter(name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 10.0); + getParam(weight_, "cost_weight", 10.0f); - getParam(max_path_occupancy_ratio_, "max_path_occupancy_ratio", 0.07); + getParam(max_path_occupancy_ratio_, "max_path_occupancy_ratio", 0.07f); getParam(offset_from_furthest_, "offset_from_furthest", 20); getParam(trajectory_point_step_, "trajectory_point_step", 4); getParam( threshold_to_consider_, - "threshold_to_consider", 0.40f); + "threshold_to_consider", 0.5f); + getParam(use_path_orientations_, "use_path_orientations", false); RCLCPP_INFO( logger_, @@ -53,67 +51,110 @@ void PathAlignCritic::score(CriticData & data) // Don't apply when first getting bearing w.r.t. the path utils::setPathFurthestPointIfNotSet(data); - if (*data.furthest_reached_path_point < offset_from_furthest_) { + // Up to furthest only, closest path point is always 0 from path handler + const size_t path_segments_count = *data.furthest_reached_path_point; + float path_segments_flt = static_cast(path_segments_count); + if (path_segments_count < offset_from_furthest_) { return; } // Don't apply when dynamic obstacles are blocking significant proportions of the local path utils::setPathCostsIfNotSet(data, costmap_ros_); - const size_t closest_initial_path_point = utils::findPathTrajectoryInitialPoint(data); - unsigned int invalid_ctr = 0; - const float range = *data.furthest_reached_path_point - closest_initial_path_point; - for (size_t i = closest_initial_path_point; i < *data.furthest_reached_path_point; i++) { - if (!(*data.path_pts_valid)[i]) {invalid_ctr++;} - if (static_cast(invalid_ctr) / range > max_path_occupancy_ratio_ && invalid_ctr > 2) { + std::vector & path_pts_valid = *data.path_pts_valid; + float invalid_ctr = 0.0f; + for (size_t i = 0; i < path_segments_count; i++) { + if (!path_pts_valid[i]) {invalid_ctr += 1.0f;} + if (invalid_ctr / path_segments_flt > max_path_occupancy_ratio_ && invalid_ctr > 2.0f) { return; } } - const auto & T_x = data.trajectories.x; - const auto & T_y = data.trajectories.y; - - const auto P_x = xt::view(data.path.x, xt::range(_, -1)); // path points - const auto P_y = xt::view(data.path.y, xt::range(_, -1)); // path points - - const size_t batch_size = T_x.shape(0); - const size_t time_steps = T_x.shape(1); - const size_t traj_pts_eval = floor(time_steps / trajectory_point_step_); - const size_t path_segments_count = data.path.x.shape(0) - 1; + const size_t batch_size = data.trajectories.x.shape(0); auto && cost = xt::xtensor::from_shape({data.costs.shape(0)}); - if (path_segments_count < 1) { - return; + // Find integrated distance in the path + std::vector path_integrated_distances(path_segments_count, 0.0f); + std::vector path(path_segments_count); + float dx = 0.0f, dy = 0.0f; + for (unsigned int i = 1; i != path_segments_count; i++) { + auto & pose = path[i - 1]; + pose.x = data.path.x(i - 1); + pose.y = data.path.y(i - 1); + pose.theta = data.path.yaws(i - 1); + + dx = data.path.x(i) - pose.x; + dy = data.path.y(i) - pose.y; + path_integrated_distances[i] = path_integrated_distances[i - 1] + sqrtf(dx * dx + dy * dy); } + // Finish populating the path vector + auto & final_pose = path[path_segments_count - 1]; + final_pose.x = data.path.x(path_segments_count - 1); + final_pose.y = data.path.y(path_segments_count - 1); + final_pose.theta = data.path.yaws(path_segments_count - 1); + + float summed_path_dist = 0.0f, dyaw = 0.0f; + unsigned int num_samples = 0u; + unsigned int path_pt = 0u; + float traj_integrated_distance = 0.0f; + + // Get strided trajectory information + const auto T_x = xt::view( + data.trajectories.x, xt::all(), + xt::range(0, _, trajectory_point_step_)); + const auto T_y = xt::view( + data.trajectories.y, xt::all(), + xt::range(0, _, trajectory_point_step_)); + const auto T_yaw = xt::view( + data.trajectories.yaws, xt::all(), + xt::range(0, _, trajectory_point_step_)); + const auto traj_sampled_size = T_x.shape(1); + for (size_t t = 0; t < batch_size; ++t) { - float summed_dist = 0; - for (size_t p = trajectory_point_step_; p < time_steps; p += trajectory_point_step_) { - double min_dist_sq = std::numeric_limits::max(); - size_t min_s = 0; - - // Find closest path segment to the trajectory point - for (size_t s = 0; s < path_segments_count - 1; s++) { - xt::xtensor_fixed> P; - float dx = P_x(s) - T_x(t, p); - float dy = P_y(s) - T_y(t, p); - float dist_sq = dx * dx + dy * dy; - if (dist_sq < min_dist_sq) { - min_dist_sq = dist_sq; - min_s = s; - } - } + summed_path_dist = 0.0f; + num_samples = 0u; + traj_integrated_distance = 0.0f; + path_pt = 0u; + float Tx_m1 = T_x(t, 0); + float Ty_m1 = T_y(t, 0); + for (size_t p = 1; p < traj_sampled_size; p++) { + const float Tx = T_x(t, p); + const float Ty = T_y(t, p); + dx = Tx - Tx_m1; + dy = Ty - Ty_m1; + Tx_m1 = Tx; + Ty_m1 = Ty; + traj_integrated_distance += sqrtf(dx * dx + dy * dy); + path_pt = utils::findClosestPathPt( + path_integrated_distances, traj_integrated_distance, path_pt); // The nearest path point to align to needs to be not in collision, else // let the obstacle critic take over in this region due to dynamic obstacles - if (min_s != 0 && (*data.path_pts_valid)[min_s]) { - summed_dist += std::sqrt(min_dist_sq); + if (path_pts_valid[path_pt]) { + const auto & pose = path[path_pt]; + dx = pose.x - Tx; + dy = pose.y - Ty; + num_samples++; + if (use_path_orientations_) { + dyaw = angles::shortest_angular_distance(pose.theta, T_yaw(t, p)); + summed_path_dist += sqrtf(dx * dx + dy * dy + dyaw * dyaw); + } else { + summed_path_dist += sqrtf(dx * dx + dy * dy); + } } } - - cost[t] = summed_dist / traj_pts_eval; + if (num_samples > 0u) { + cost[t] = summed_path_dist / static_cast(num_samples); + } else { + cost[t] = 0.0f; + } } - data.costs += xt::pow(std::move(cost) * weight_, power_); + if (power_ > 1u) { + data.costs += xt::pow(std::move(cost) * weight_, power_); + } else { + data.costs += std::move(cost) * weight_; + } } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/path_angle_critic.cpp b/nav2_mppi_controller/src/critics/path_angle_critic.cpp index a588bbe2913..eee54a6be32 100644 --- a/nav2_mppi_controller/src/critics/path_angle_critic.cpp +++ b/nav2_mppi_controller/src/critics/path_angle_critic.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -19,56 +20,137 @@ namespace mppi::critics { +using xt::evaluation_strategy::immediate; + void PathAngleCritic::initialize() { + auto getParentParam = parameters_handler_->getParamGetter(parent_name_); + float vx_min; + getParentParam(vx_min, "vx_min", -0.35); + if (fabs(vx_min) < 1e-6f) { // zero + reversing_allowed_ = false; + } else if (vx_min < 0.0f) { // reversing possible + reversing_allowed_ = true; + } + auto getParam = parameters_handler_->getParamGetter(name_); getParam(offset_from_furthest_, "offset_from_furthest", 4); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 2.0); + getParam(weight_, "cost_weight", 2.2f); getParam( threshold_to_consider_, - "threshold_to_consider", 0.40f); + "threshold_to_consider", 0.5f); getParam( max_angle_to_furthest_, - "max_angle_to_furthest", 1.2); - + "max_angle_to_furthest", 0.785398f); + + int mode = 0; + getParam(mode, "mode", mode); + mode_ = static_cast(mode); + if (!reversing_allowed_ && mode_ == PathAngleMode::NO_DIRECTIONAL_PREFERENCE) { + mode_ = PathAngleMode::FORWARD_PREFERENCE; + RCLCPP_WARN( + logger_, + "Path angle mode set to no directional preference, but controller's settings " + "don't allow for reversing! Setting mode to forward preference."); + } RCLCPP_INFO( logger_, - "PathAngleCritic instantiated with %d power and %f weight.", - power_, weight_); + "PathAngleCritic instantiated with %d power and %f weight. Mode set to: %s", + power_, weight_, modeToStr(mode_).c_str()); } void PathAngleCritic::score(CriticData & data) { - using xt::evaluation_strategy::immediate; - if (!enabled_) { - return; - } - - if (utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path)) { + if (!enabled_ || + utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path)) + { return; } utils::setPathFurthestPointIfNotSet(data); - auto offseted_idx = std::min( *data.furthest_reached_path_point + offset_from_furthest_, data.path.x.shape(0) - 1); - const float goal_x = xt::view(data.path.x, offseted_idx); - const float goal_y = xt::view(data.path.y, offseted_idx); - - if (utils::posePointAngle(data.state.pose.pose, goal_x, goal_y) < max_angle_to_furthest_) { - return; + const float goal_x = data.path.x(offseted_idx); + const float goal_y = data.path.y(offseted_idx); + const float goal_yaw = data.path.yaws(offseted_idx); + const geometry_msgs::msg::Pose & pose = data.state.pose.pose; + + switch (mode_) { + case PathAngleMode::FORWARD_PREFERENCE: + if (utils::posePointAngle(pose, goal_x, goal_y, true) < max_angle_to_furthest_) { + return; + } + break; + case PathAngleMode::NO_DIRECTIONAL_PREFERENCE: + if (utils::posePointAngle(pose, goal_x, goal_y, false) < max_angle_to_furthest_) { + return; + } + break; + case PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS: + if (utils::posePointAngle(pose, goal_x, goal_y, goal_yaw) < max_angle_to_furthest_) { + return; + } + break; + default: + throw nav2_core::ControllerException("Invalid path angle mode!"); } - const auto yaws_between_points = xt::atan2( - goal_y - data.trajectories.y, - goal_x - data.trajectories.x); - const auto yaws = - xt::abs(utils::shortest_angular_distance(data.trajectories.yaws, yaws_between_points)); - - data.costs += xt::pow(xt::mean(yaws, {1}, immediate) * weight_, power_); + auto yaws_between_points = xt::atan2( + goal_y - xt::view(data.trajectories.y, xt::all(), -1), + goal_x - xt::view(data.trajectories.x, xt::all(), -1)); + + switch (mode_) { + case PathAngleMode::FORWARD_PREFERENCE: + { + auto yaws = + xt::fabs( + utils::shortest_angular_distance( + xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points)); + if (power_ > 1u) { + data.costs += xt::pow(std::move(yaws) * weight_, power_); + } else { + data.costs += std::move(yaws) * weight_; + } + return; + } + case PathAngleMode::NO_DIRECTIONAL_PREFERENCE: + { + auto yaws = + xt::fabs( + utils::shortest_angular_distance( + xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points)); + const auto yaws_between_points_corrected = xt::where( + yaws < M_PIF_2, yaws_between_points, + utils::normalize_angles(yaws_between_points + M_PIF)); + const auto corrected_yaws = xt::fabs( + utils::shortest_angular_distance( + xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points_corrected)); + if (power_ > 1u) { + data.costs += xt::pow(std::move(corrected_yaws) * weight_, power_); + } else { + data.costs += std::move(corrected_yaws) * weight_; + } + return; + } + case PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS: + { + const auto yaws_between_points_corrected = xt::where( + xt::fabs(utils::shortest_angular_distance(yaws_between_points, goal_yaw)) < M_PIF_2, + yaws_between_points, utils::normalize_angles(yaws_between_points + M_PIF)); + const auto corrected_yaws = xt::fabs( + utils::shortest_angular_distance( + xt::view(data.trajectories.yaws, xt::all(), -1), yaws_between_points_corrected)); + if (power_ > 1u) { + data.costs += xt::pow(std::move(corrected_yaws) * weight_, power_); + } else { + data.costs += std::move(corrected_yaws) * weight_; + } + return; + } + } } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/path_follow_critic.cpp b/nav2_mppi_controller/src/critics/path_follow_critic.cpp index 40b8c4aa9f3..fc8f0ff7f64 100644 --- a/nav2_mppi_controller/src/critics/path_follow_critic.cpp +++ b/nav2_mppi_controller/src/critics/path_follow_critic.cpp @@ -26,17 +26,15 @@ void PathFollowCritic::initialize() getParam( threshold_to_consider_, - "threshold_to_consider", 0.40f); + "threshold_to_consider", 1.4f); getParam(offset_from_furthest_, "offset_from_furthest", 6); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 5.0); + getParam(weight_, "cost_weight", 5.0f); } void PathFollowCritic::score(CriticData & data) { - const size_t path_size = data.path.x.shape(0) - 1; - - if (!enabled_ || path_size == 0 || + if (!enabled_ || data.path.x.shape(0) < 2 || utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path)) { return; @@ -44,6 +42,7 @@ void PathFollowCritic::score(CriticData & data) utils::setPathFurthestPointIfNotSet(data); utils::setPathCostsIfNotSet(data, costmap_ros_); + const size_t path_size = data.path.x.shape(0) - 1; auto offseted_idx = std::min( *data.furthest_reached_path_point + offset_from_furthest_, path_size); @@ -64,11 +63,11 @@ void PathFollowCritic::score(CriticData & data) const auto last_x = xt::view(data.trajectories.x, xt::all(), -1); const auto last_y = xt::view(data.trajectories.y, xt::all(), -1); - auto dists = xt::sqrt( - xt::pow(last_x - path_x, 2) + - xt::pow(last_y - path_y, 2)); - - data.costs += xt::pow(weight_ * std::move(dists), power_); + if (power_ > 1u) { + data.costs += xt::pow(weight_ * std::move(xt::hypot(last_x - path_x, last_y - path_y)), power_); + } else { + data.costs += weight_ * std::move(xt::hypot(last_x - path_x, last_y - path_y)); + } } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp b/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp index 5cea014bbc2..885d1fadc95 100644 --- a/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp +++ b/nav2_mppi_controller/src/critics/prefer_forward_critic.cpp @@ -21,10 +21,10 @@ void PreferForwardCritic::initialize() { auto getParam = parameters_handler_->getParamGetter(name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 5.0); + getParam(weight_, "cost_weight", 5.0f); getParam( threshold_to_consider_, - "threshold_to_consider", 0.40f); + "threshold_to_consider", 0.5f); RCLCPP_INFO( logger_, "PreferForwardCritic instantiated with %d power and %f weight.", power_, weight_); @@ -33,20 +33,21 @@ void PreferForwardCritic::initialize() void PreferForwardCritic::score(CriticData & data) { using xt::evaluation_strategy::immediate; - - if (!enabled_) { + if (!enabled_ || + utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path)) + { return; } - if (utils::withinPositionGoalTolerance(threshold_to_consider_, data.state.pose.pose, data.path)) { - return; + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + std::move( + xt::maximum(-data.state.vx, 0)) * data.model_dt, {1}, immediate) * weight_, power_); + } else { + data.costs += xt::sum( + std::move(xt::maximum(-data.state.vx, 0)) * data.model_dt, {1}, immediate) * weight_; } - - auto backward_motion = xt::maximum(-data.state.vx, 0); - data.costs += xt::pow( - xt::sum( - std::move( - backward_motion) * data.model_dt, {1}, immediate) * weight_, power_); } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/twirling_critic.cpp b/nav2_mppi_controller/src/critics/twirling_critic.cpp index 28eb71b48b6..f4ae970dc63 100644 --- a/nav2_mppi_controller/src/critics/twirling_critic.cpp +++ b/nav2_mppi_controller/src/critics/twirling_critic.cpp @@ -22,7 +22,7 @@ void TwirlingCritic::initialize() auto getParam = parameters_handler_->getParamGetter(name_); getParam(power_, "cost_power", 1); - getParam(weight_, "cost_weight", 10.0); + getParam(weight_, "cost_weight", 10.0f); RCLCPP_INFO( logger_, "TwirlingCritic instantiated with %d power and %f weight.", power_, weight_); @@ -31,16 +31,17 @@ void TwirlingCritic::initialize() void TwirlingCritic::score(CriticData & data) { using xt::evaluation_strategy::immediate; - if (!enabled_) { + if (!enabled_ || + utils::withinPositionGoalTolerance(data.goal_checker, data.state.pose.pose, data.path)) + { return; } - if (utils::withinPositionGoalTolerance(data.goal_checker, data.state.pose.pose, data.path)) { - return; + if (power_ > 1u) { + data.costs += xt::pow(xt::mean(xt::fabs(data.state.wz), {1}, immediate) * weight_, power_); + } else { + data.costs += xt::mean(xt::fabs(data.state.wz), {1}, immediate) * weight_; } - - const auto wz = xt::abs(data.state.wz); - data.costs += xt::pow(xt::mean(wz, {1}, immediate) * weight_, power_); } } // namespace mppi::critics diff --git a/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp b/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp new file mode 100644 index 00000000000..84d3aba303b --- /dev/null +++ b/nav2_mppi_controller/src/critics/velocity_deadband_critic.cpp @@ -0,0 +1,104 @@ +// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "nav2_mppi_controller/critics/velocity_deadband_critic.hpp" + +namespace mppi::critics +{ + +void VelocityDeadbandCritic::initialize() +{ + auto getParam = parameters_handler_->getParamGetter(name_); + + getParam(power_, "cost_power", 1); + getParam(weight_, "cost_weight", 35.0); + + // Recast double to float + std::vector deadband_velocities{0.0, 0.0, 0.0}; + getParam(deadband_velocities, "deadband_velocities", std::vector{0.0, 0.0, 0.0}); + std::transform( + deadband_velocities.begin(), deadband_velocities.end(), deadband_velocities_.begin(), + [](double d) {return static_cast(d);}); + + RCLCPP_INFO_STREAM( + logger_, "VelocityDeadbandCritic instantiated with " + << power_ << " power, " << weight_ << " weight, deadband_velocity [" + << deadband_velocities_.at(0) << "," << deadband_velocities_.at(1) << "," + << deadband_velocities_.at(2) << "]"); +} + +void VelocityDeadbandCritic::score(CriticData & data) +{ + using xt::evaluation_strategy::immediate; + + if (!enabled_) { + return; + } + + auto & vx = data.state.vx; + auto & wz = data.state.wz; + + if (data.motion_model->isHolonomic()) { + auto & vy = data.state.vy; + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + std::move( + xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + + xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) + + xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) * + data.model_dt, + {1}, immediate) * + weight_, + power_); + } else { + data.costs += xt::sum( + (std::move( + xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + + xt::maximum(fabs(deadband_velocities_.at(1)) - xt::fabs(vy), 0) + + xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) * + data.model_dt, + {1}, immediate) * + weight_; + } + return; + } + + if (power_ > 1u) { + data.costs += xt::pow( + xt::sum( + std::move( + xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + + xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0)) * + data.model_dt, + {1}, immediate) * + weight_, + power_); + } else { + data.costs += xt::sum( + (std::move( + xt::maximum(fabs(deadband_velocities_.at(0)) - xt::fabs(vx), 0) + + xt::maximum(fabs(deadband_velocities_.at(2)) - xt::fabs(wz), 0))) * + data.model_dt, + {1}, immediate) * + weight_; + } + return; +} + +} // namespace mppi::critics + +#include + +PLUGINLIB_EXPORT_CLASS(mppi::critics::VelocityDeadbandCritic, mppi::critics::CriticFunction) diff --git a/nav2_mppi_controller/src/noise_generator.cpp b/nav2_mppi_controller/src/noise_generator.cpp index 60173789f0d..b7c452aa6a4 100644 --- a/nav2_mppi_controller/src/noise_generator.cpp +++ b/nav2_mppi_controller/src/noise_generator.cpp @@ -23,12 +23,22 @@ namespace mppi { -void NoiseGenerator::initialize(mppi::models::OptimizerSettings & settings, bool is_holonomic) +void NoiseGenerator::initialize( + mppi::models::OptimizerSettings & settings, bool is_holonomic, + const std::string & name, ParametersHandler * param_handler) { settings_ = settings; is_holonomic_ = is_holonomic; active_ = true; - noise_thread_ = std::thread(std::bind(&NoiseGenerator::noiseThread, this)); + + auto getParam = param_handler->getParamGetter(name); + getParam(regenerate_noises_, "regenerate_noises", false); + + if (regenerate_noises_) { + noise_thread_ = std::thread(std::bind(&NoiseGenerator::noiseThread, this)); + } else { + generateNoisedControls(); + } } void NoiseGenerator::shutdown() @@ -44,7 +54,7 @@ void NoiseGenerator::shutdown() void NoiseGenerator::generateNextNoises() { // Trigger the thread to run in parallel to this iteration - // to generate the next iteration's noises. + // to generate the next iteration's noises (if applicable). { std::unique_lock guard(noise_lock_); ready_ = true; @@ -76,7 +86,12 @@ void NoiseGenerator::reset(mppi::models::OptimizerSettings & settings, bool is_h xt::noalias(noises_wz_) = xt::zeros({settings_.batch_size, settings_.time_steps}); ready_ = true; } - noise_cond_.notify_all(); + + if (regenerate_noises_) { + noise_cond_.notify_all(); + } else { + generateNoisedControls(); + } } void NoiseGenerator::noiseThread() @@ -94,14 +109,14 @@ void NoiseGenerator::generateNoisedControls() auto & s = settings_; xt::noalias(noises_vx_) = xt::random::randn( - {s.batch_size, s.time_steps}, 0.0, + {s.batch_size, s.time_steps}, 0.0f, s.sampling_std.vx); xt::noalias(noises_wz_) = xt::random::randn( - {s.batch_size, s.time_steps}, 0.0, + {s.batch_size, s.time_steps}, 0.0f, s.sampling_std.wz); if (is_holonomic_) { xt::noalias(noises_vy_) = xt::random::randn( - {s.batch_size, s.time_steps}, 0.0, + {s.batch_size, s.time_steps}, 0.0f, s.sampling_std.vy); } } diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp index 55362fd7a8a..1c31787afef 100644 --- a/nav2_mppi_controller/src/optimizer.cpp +++ b/nav2_mppi_controller/src/optimizer.cpp @@ -19,6 +19,7 @@ #include #include #include +#include #include #include #include @@ -49,7 +50,7 @@ void Optimizer::initialize( getParams(); critic_manager_.on_configure(parent_, name_, costmap_ros_, parameters_handler_); - noise_generator_.initialize(settings_, isHolonomic()); + noise_generator_.initialize(settings_, isHolonomic(), name_, parameters_handler_); reset(); } @@ -72,13 +73,13 @@ void Optimizer::getParams() getParam(s.iteration_count, "iteration_count", 1); getParam(s.temperature, "temperature", 0.3f); getParam(s.gamma, "gamma", 0.015f); - getParam(s.base_constraints.vx_max, "vx_max", 0.5); - getParam(s.base_constraints.vx_min, "vx_min", -0.35); - getParam(s.base_constraints.vy, "vy_max", 0.5); - getParam(s.base_constraints.wz, "wz_max", 1.9); - getParam(s.sampling_std.vx, "vx_std", 0.2); - getParam(s.sampling_std.vy, "vy_std", 0.2); - getParam(s.sampling_std.wz, "wz_std", 0.4); + getParam(s.base_constraints.vx_max, "vx_max", 0.5f); + getParam(s.base_constraints.vx_min, "vx_min", -0.35f); + getParam(s.base_constraints.vy, "vy_max", 0.5f); + getParam(s.base_constraints.wz, "wz_max", 1.9f); + getParam(s.sampling_std.vx, "vx_std", 0.2f); + getParam(s.sampling_std.vy, "vy_std", 0.2f); + getParam(s.sampling_std.wz, "wz_std", 0.4f); getParam(s.retry_attempt_limit, "retry_attempt_limit", 1); getParam(motion_model_name, "motion_model", std::string("DiffDrive")); @@ -117,10 +118,12 @@ void Optimizer::reset() { state_.reset(settings_.batch_size, settings_.time_steps); control_sequence_.reset(settings_.time_steps); - control_history_[0] = {0.0, 0.0, 0.0}; - control_history_[1] = {0.0, 0.0, 0.0}; - control_history_[2] = {0.0, 0.0, 0.0}; - control_history_[3] = {0.0, 0.0, 0.0}; + control_history_[0] = {0.0f, 0.0f, 0.0f}; + control_history_[1] = {0.0f, 0.0f, 0.0f}; + control_history_[2] = {0.0f, 0.0f, 0.0f}; + control_history_[3] = {0.0f, 0.0f, 0.0f}; + + settings_.constraints = settings_.base_constraints; costs_ = xt::zeros({settings_.batch_size}); generated_trajectories_.reset(settings_.batch_size, settings_.time_steps); @@ -129,6 +132,11 @@ void Optimizer::reset() RCLCPP_INFO(logger_, "Optimizer reset"); } +bool Optimizer::isHolonomic() const +{ + return motion_model_->isHolonomic(); +} + geometry_msgs::msg::TwistStamped Optimizer::evalControl( const geometry_msgs::msg::PoseStamped & robot_pose, const geometry_msgs::msg::Twist & robot_speed, @@ -186,7 +194,7 @@ void Optimizer::prepare( state_.pose = robot_pose; state_.speed = robot_speed; path_ = utils::toTensor(plan); - costs_.fill(0); + costs_.fill(0.0f); critics_data_.fail_flag = false; critics_data_.goal_checker = goal_checker; @@ -224,8 +232,6 @@ void Optimizer::generateNoisedTrajectories() integrateStateVelocities(generated_trajectories_, state_); } -bool Optimizer::isHolonomic() const {return motion_model_->isHolonomic();} - void Optimizer::applyControlSequenceConstraints() { auto & s = settings_; @@ -250,11 +256,11 @@ void Optimizer::updateStateVelocities( void Optimizer::updateInitialStateVelocities( models::State & state) const { - xt::noalias(xt::view(state.vx, xt::all(), 0)) = state.speed.linear.x; - xt::noalias(xt::view(state.wz, xt::all(), 0)) = state.speed.angular.z; + xt::noalias(xt::view(state.vx, xt::all(), 0)) = static_cast(state.speed.linear.x); + xt::noalias(xt::view(state.wz, xt::all(), 0)) = static_cast(state.speed.angular.z); if (isHolonomic()) { - xt::noalias(xt::view(state.vy, xt::all(), 0)) = state.speed.linear.y; + xt::noalias(xt::view(state.vy, xt::all(), 0)) = static_cast(state.speed.linear.y); } } @@ -268,33 +274,27 @@ void Optimizer::integrateStateVelocities( xt::xtensor & trajectory, const xt::xtensor & sequence) const { - double initial_yaw = tf2::getYaw(state_.pose.pose.orientation); + float initial_yaw = static_cast(tf2::getYaw(state_.pose.pose.orientation)); const auto vx = xt::view(sequence, xt::all(), 0); - const auto vy = xt::view(sequence, xt::all(), 2); const auto wz = xt::view(sequence, xt::all(), 1); auto traj_x = xt::view(trajectory, xt::all(), 0); auto traj_y = xt::view(trajectory, xt::all(), 1); auto traj_yaws = xt::view(trajectory, xt::all(), 2); - xt::noalias(traj_yaws) = - utils::normalize_angles(xt::cumsum(wz * settings_.model_dt, 0) + initial_yaw); - - auto && yaw_cos = xt::xtensor::from_shape(traj_yaws.shape()); - auto && yaw_sin = xt::xtensor::from_shape(traj_yaws.shape()); + xt::noalias(traj_yaws) = xt::cumsum(wz * settings_.model_dt, 0) + initial_yaw; - const auto yaw_offseted = xt::view(traj_yaws, xt::range(1, _)); - - xt::noalias(xt::view(yaw_cos, 0)) = std::cos(initial_yaw); - xt::noalias(xt::view(yaw_sin, 0)) = std::sin(initial_yaw); - xt::noalias(xt::view(yaw_cos, xt::range(1, _))) = xt::cos(yaw_offseted); - xt::noalias(xt::view(yaw_sin, xt::range(1, _))) = xt::sin(yaw_offseted); + auto yaw_cos = xt::roll(xt::eval(xt::cos(traj_yaws)), 1); + auto yaw_sin = xt::roll(xt::eval(xt::sin(traj_yaws)), 1); + xt::view(yaw_cos, 0) = cosf(initial_yaw); + xt::view(yaw_sin, 0) = sinf(initial_yaw); auto && dx = xt::eval(vx * yaw_cos); auto && dy = xt::eval(vx * yaw_sin); if (isHolonomic()) { + const auto vy = xt::view(sequence, xt::all(), 2); dx = dx - vy * yaw_sin; dy = dy + vy * yaw_cos; } @@ -307,19 +307,15 @@ void Optimizer::integrateStateVelocities( models::Trajectories & trajectories, const models::State & state) const { - const double initial_yaw = tf2::getYaw(state.pose.pose.orientation); + const float initial_yaw = static_cast(tf2::getYaw(state.pose.pose.orientation)); xt::noalias(trajectories.yaws) = - utils::normalize_angles(xt::cumsum(state.wz * settings_.model_dt, 1) + initial_yaw); - - const auto yaws_cutted = xt::view(trajectories.yaws, xt::all(), xt::range(0, -1)); + xt::cumsum(state.wz * settings_.model_dt, {1}) + initial_yaw; - auto && yaw_cos = xt::xtensor::from_shape(trajectories.yaws.shape()); - auto && yaw_sin = xt::xtensor::from_shape(trajectories.yaws.shape()); - xt::noalias(xt::view(yaw_cos, xt::all(), 0)) = std::cos(initial_yaw); - xt::noalias(xt::view(yaw_sin, xt::all(), 0)) = std::sin(initial_yaw); - xt::noalias(xt::view(yaw_cos, xt::all(), xt::range(1, _))) = xt::cos(yaws_cutted); - xt::noalias(xt::view(yaw_sin, xt::all(), xt::range(1, _))) = xt::sin(yaws_cutted); + auto yaw_cos = xt::roll(xt::eval(xt::cos(trajectories.yaws)), 1, 1); + auto yaw_sin = xt::roll(xt::eval(xt::sin(trajectories.yaws)), 1, 1); + xt::view(yaw_cos, xt::all(), 0) = cosf(initial_yaw); + xt::view(yaw_sin, xt::all(), 0) = sinf(initial_yaw); auto && dx = xt::eval(state.vx * yaw_cos); auto && dy = xt::eval(state.vx * yaw_sin); @@ -330,21 +326,22 @@ void Optimizer::integrateStateVelocities( } xt::noalias(trajectories.x) = state.pose.pose.position.x + - xt::cumsum(dx * settings_.model_dt, 1); + xt::cumsum(dx * settings_.model_dt, {1}); xt::noalias(trajectories.y) = state.pose.pose.position.y + - xt::cumsum(dy * settings_.model_dt, 1); + xt::cumsum(dy * settings_.model_dt, {1}); } xt::xtensor Optimizer::getOptimizedTrajectory() { + const bool is_holo = isHolonomic(); auto && sequence = - xt::xtensor::from_shape({settings_.time_steps, isHolonomic() ? 3u : 2u}); + xt::xtensor::from_shape({settings_.time_steps, is_holo ? 3u : 2u}); auto && trajectories = xt::xtensor::from_shape({settings_.time_steps, 3}); xt::noalias(xt::view(sequence, xt::all(), 0)) = control_sequence_.vx; xt::noalias(xt::view(sequence, xt::all(), 1)) = control_sequence_.wz; - if (isHolonomic()) { + if (is_holo) { xt::noalias(xt::view(sequence, xt::all(), 2)) = control_sequence_.vy; } @@ -354,20 +351,21 @@ xt::xtensor Optimizer::getOptimizedTrajectory() void Optimizer::updateControlSequence() { + const bool is_holo = isHolonomic(); auto & s = settings_; auto bounded_noises_vx = state_.cvx - control_sequence_.vx; auto bounded_noises_wz = state_.cwz - control_sequence_.wz; xt::noalias(costs_) += - s.gamma / std::pow(s.sampling_std.vx, 2) * xt::sum( + s.gamma / powf(s.sampling_std.vx, 2) * xt::sum( xt::view(control_sequence_.vx, xt::newaxis(), xt::all()) * bounded_noises_vx, 1, immediate); xt::noalias(costs_) += - s.gamma / std::pow(s.sampling_std.wz, 2) * xt::sum( + s.gamma / powf(s.sampling_std.wz, 2) * xt::sum( xt::view(control_sequence_.wz, xt::newaxis(), xt::all()) * bounded_noises_wz, 1, immediate); - if (isHolonomic()) { + if (is_holo) { auto bounded_noises_vy = state_.cvy - control_sequence_.vy; xt::noalias(costs_) += - s.gamma / std::pow(s.sampling_std.vy, 2) * xt::sum( + s.gamma / powf(s.sampling_std.vy, 2) * xt::sum( xt::view(control_sequence_.vy, xt::newaxis(), xt::all()) * bounded_noises_vy, 1, immediate); } @@ -378,8 +376,10 @@ void Optimizer::updateControlSequence() auto && softmaxes_extened = xt::eval(xt::view(softmaxes, xt::all(), xt::newaxis())); xt::noalias(control_sequence_.vx) = xt::sum(state_.cvx * softmaxes_extened, 0, immediate); - xt::noalias(control_sequence_.vy) = xt::sum(state_.cvy * softmaxes_extened, 0, immediate); xt::noalias(control_sequence_.wz) = xt::sum(state_.cwz * softmaxes_extened, 0, immediate); + if (is_holo) { + xt::noalias(control_sequence_.vy) = xt::sum(state_.cvy * softmaxes_extened, 0, immediate); + } applyControlSequenceConstraints(); } diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp index 6fe71eada55..ddf2b403b68 100644 --- a/nav2_mppi_controller/src/path_handler.cpp +++ b/nav2_mppi_controller/src/path_handler.cpp @@ -1,4 +1,6 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Dexory +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -35,6 +37,12 @@ void PathHandler::initialize( getParam(max_robot_pose_search_dist_, "max_robot_pose_search_dist", getMaxCostmapDist()); getParam(prune_distance_, "prune_distance", 1.5); getParam(transform_tolerance_, "transform_tolerance", 0.1); + getParam(enforce_path_inversion_, "enforce_path_inversion", false); + if (enforce_path_inversion_) { + getParam(inversion_xy_tolerance_, "inversion_xy_tolerance", 0.2); + getParam(inversion_yaw_tolerance, "inversion_yaw_tolerance", 0.4); + inversion_locale_ = 0u; + } } std::pair @@ -43,12 +51,13 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame( { using nav2_util::geometry_utils::euclidean_distance; - auto begin = global_plan_.poses.begin(); + auto begin = global_plan_up_to_inversion_.poses.begin(); // Limit the search for the closest pose up to max_robot_pose_search_dist on the path auto closest_pose_upper_bound = nav2_util::geometry_utils::first_after_integrated_distance( - global_plan_.poses.begin(), global_plan_.poses.end(), max_robot_pose_search_dist_); + global_plan_up_to_inversion_.poses.begin(), global_plan_up_to_inversion_.poses.end(), + max_robot_pose_search_dist_); // Find closest point to the robot auto closest_point = nav2_util::geometry_utils::min_by( @@ -63,7 +72,7 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame( auto pruned_plan_end = nav2_util::geometry_utils::first_after_integrated_distance( - closest_point, global_plan_.poses.end(), prune_distance_); + closest_point, global_plan_up_to_inversion_.poses.end(), prune_distance_); unsigned int mx, my; // Find the furthest relevent pose on the path to consider within costmap @@ -95,12 +104,12 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame( geometry_msgs::msg::PoseStamped PathHandler::transformToGlobalPlanFrame( const geometry_msgs::msg::PoseStamped & pose) { - if (global_plan_.poses.empty()) { + if (global_plan_up_to_inversion_.poses.empty()) { throw nav2_core::InvalidPath("Received plan with zero length"); } geometry_msgs::msg::PoseStamped robot_pose; - if (!transformPose(global_plan_.header.frame_id, pose, robot_pose)) { + if (!transformPose(global_plan_up_to_inversion_.header.frame_id, pose, robot_pose)) { throw nav2_core::ControllerTFError( "Unable to transform robot pose into global plan's frame"); } @@ -116,7 +125,15 @@ nav_msgs::msg::Path PathHandler::transformPath( transformToGlobalPlanFrame(robot_pose); auto [transformed_plan, lower_bound] = getGlobalPlanConsideringBoundsInCostmapFrame(global_pose); - pruneGlobalPlan(lower_bound); + prunePlan(global_plan_up_to_inversion_, lower_bound); + + if (enforce_path_inversion_ && inversion_locale_ != 0u) { + if (isWithinInversionTolerances(global_pose)) { + prunePlan(global_plan_, global_plan_.poses.begin() + inversion_locale_); + global_plan_up_to_inversion_ = global_plan_; + inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_); + } + } if (transformed_plan.poses.empty()) { throw nav2_core::InvalidPath("Resulting plan has 0 poses in it."); @@ -149,20 +166,39 @@ bool PathHandler::transformPose( double PathHandler::getMaxCostmapDist() { const auto & costmap = costmap_->getCostmap(); - return std::max(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()) * - costmap->getResolution() / 2.0; + return static_cast(std::max(costmap->getSizeInCellsX(), costmap->getSizeInCellsY())) * + costmap->getResolution() * 0.50; } void PathHandler::setPath(const nav_msgs::msg::Path & plan) { global_plan_ = plan; + global_plan_up_to_inversion_ = global_plan_; + if (enforce_path_inversion_) { + inversion_locale_ = utils::removePosesAfterFirstInversion(global_plan_up_to_inversion_); + } } nav_msgs::msg::Path & PathHandler::getPath() {return global_plan_;} -void PathHandler::pruneGlobalPlan(const PathIterator end) +void PathHandler::prunePlan(nav_msgs::msg::Path & plan, const PathIterator end) { - global_plan_.poses.erase(global_plan_.poses.begin(), end); + plan.poses.erase(plan.poses.begin(), end); +} + +bool PathHandler::isWithinInversionTolerances(const geometry_msgs::msg::PoseStamped & robot_pose) +{ + // Keep full path if we are within tolerance of the inversion pose + const auto last_pose = global_plan_up_to_inversion_.poses.back(); + float distance = hypotf( + robot_pose.pose.position.x - last_pose.pose.position.x, + robot_pose.pose.position.y - last_pose.pose.position.y); + + float angle_distance = angles::shortest_angular_distance( + tf2::getYaw(robot_pose.pose.orientation), + tf2::getYaw(last_pose.pose.orientation)); + + return distance <= inversion_xy_tolerance_ && fabs(angle_distance) <= inversion_yaw_tolerance; } } // namespace mppi diff --git a/nav2_mppi_controller/test/critic_manager_test.cpp b/nav2_mppi_controller/test/critic_manager_test.cpp index 0ed1fc811f3..f24d205bfbe 100644 --- a/nav2_mppi_controller/test/critic_manager_test.cpp +++ b/nav2_mppi_controller/test/critic_manager_test.cpp @@ -46,6 +46,8 @@ class CriticManagerWrapper : public CriticManager CriticManagerWrapper() : CriticManager() {} + virtual ~CriticManagerWrapper() = default; + virtual void loadCritics() { critics_.clear(); @@ -63,12 +65,22 @@ class CriticManagerWrapper : public CriticManager bool getDummyCriticInitialized() { - return dynamic_cast(critics_[0].get())->initialized_; + const auto critic = critics_[0].get(); + if (critic == nullptr) { + return false; + } + const auto dummy_critic = dynamic_cast(critic); + return dummy_critic == nullptr ? false : dummy_critic->initialized_; } bool getDummyCriticScored() { - return dynamic_cast(critics_[0].get())->scored_; + const auto critic = critics_[0].get(); + if (critic == nullptr) { + return false; + } + const auto dummy_critic = dynamic_cast(critic); + return dummy_critic == nullptr ? false : dummy_critic->scored_; } }; @@ -78,6 +90,8 @@ class CriticManagerWrapperEnum : public CriticManager CriticManagerWrapperEnum() : CriticManager() {} + virtual ~CriticManagerWrapperEnum() = default; + unsigned int getCriticNum() { return critics_.size(); diff --git a/nav2_mppi_controller/test/critics_tests.cpp b/nav2_mppi_controller/test/critics_tests.cpp index d574cd769e2..ef85ab293de 100644 --- a/nav2_mppi_controller/test/critics_tests.cpp +++ b/nav2_mppi_controller/test/critics_tests.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -23,11 +24,13 @@ #include "nav2_mppi_controller/critics/goal_angle_critic.hpp" #include "nav2_mppi_controller/critics/goal_critic.hpp" #include "nav2_mppi_controller/critics/obstacles_critic.hpp" +#include "nav2_mppi_controller/critics/cost_critic.hpp" #include "nav2_mppi_controller/critics/path_align_critic.hpp" #include "nav2_mppi_controller/critics/path_angle_critic.hpp" #include "nav2_mppi_controller/critics/path_follow_critic.hpp" #include "nav2_mppi_controller/critics/prefer_forward_critic.hpp" #include "nav2_mppi_controller/critics/twirling_critic.hpp" +#include "nav2_mppi_controller/critics/velocity_deadband_critic.hpp" #include "utils_test.cpp" // NOLINT // Tests the various critic plugin functions @@ -39,6 +42,20 @@ using namespace mppi::critics; // NOLINT using namespace mppi::utils; // NOLINT using xt::evaluation_strategy::immediate; +class PathAngleCriticWrapper : public PathAngleCritic +{ +public: + PathAngleCriticWrapper() + : PathAngleCritic() + { + } + + void setMode(int mode) + { + mode_ = static_cast(mode); + } +}; + TEST(CriticTests, ConstraintsCritic) { // Standard preamble @@ -239,7 +256,7 @@ TEST(CriticTests, PathAngleCritic) // Initialization testing // Make sure initializes correctly - PathAngleCritic critic; + PathAngleCriticWrapper critic; critic.on_configure(node, "mppi", "critic", costmap_ros, ¶m_handler); EXPECT_EQ(critic.getName(), "critic"); @@ -266,7 +283,65 @@ TEST(CriticTests, PathAngleCritic) path.y(6) = 4.0; critic.score(data); EXPECT_GT(xt::sum(costs, immediate)(), 0.0); - EXPECT_NEAR(costs(0), 3.6315, 1e-2); // atan2(4,-1) [1.81] * 2.0 weight + EXPECT_NEAR(costs(0), 3.9947, 1e-2); // atan2(4,-1) [1.81] * 2.2 weight + + // Set mode to no directional preferences + reset costs + critic.setMode(1); + costs = xt::zeros({1000}); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = 1.0; // angle between path point and pose < max_angle_to_furthest_ + path.y(6) = 0.0; + critic.score(data); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = -1.0; // angle between path pt and pose < max_angle_to_furthest_ IF non-directional + path.y(6) = 0.0; + critic.score(data); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = -1.0; // angle between path point and pose < max_angle_to_furthest_ + path.y(6) = 4.0; + critic.score(data); + EXPECT_GT(xt::sum(costs, immediate)(), 0.0); + // should use reverse orientation as the closer angle in no dir preference mode + EXPECT_NEAR(costs(0), 2.9167, 1e-2); + + // Set mode to consider path directionality + reset costs + critic.setMode(2); + costs = xt::zeros({1000}); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = 1.0; // angle between path point and pose < max_angle_to_furthest_ + path.y(6) = 0.0; + critic.score(data); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = -1.0; // angle between path pt and pose < max_angle_to_furthest_ IF non-directional + path.y(6) = 0.0; + critic.score(data); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + + // provide state pose and path close but outside of tol. with more than PI/2 angular diff. + path.x(6) = -1.0; // angle between path point and pose < max_angle_to_furthest_ + path.y(6) = 4.0; + critic.score(data); + EXPECT_GT(xt::sum(costs, immediate)(), 0.0); + // should use reverse orientation as the closer angle in no dir preference mode + EXPECT_NEAR(costs(0), 2.9167, 1e-2); + + PathAngleMode mode; + mode = PathAngleMode::FORWARD_PREFERENCE; + EXPECT_EQ(modeToStr(mode), std::string("Forward Preference")); + mode = PathAngleMode::CONSIDER_FEASIBLE_PATH_ORIENTATIONS; + EXPECT_EQ(modeToStr(mode), std::string("Consider Feasible Path Orientations")); + mode = PathAngleMode::NO_DIRECTIONAL_PREFERENCE; + EXPECT_EQ(modeToStr(mode), std::string("No Directional Preference")); + mode = static_cast(4); + EXPECT_EQ(modeToStr(mode), std::string("Invalid mode!")); } TEST(CriticTests, PreferForwardCritic) @@ -307,19 +382,19 @@ TEST(CriticTests, PreferForwardCritic) path.reset(10); path.x(9) = 10.0; critic.score(data); - EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0f, 1e-6f); // provide state pose and path close to trigger behavior but with all forward motion path.x(9) = 0.15; state.vx = xt::ones({1000, 30}); critic.score(data); - EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0f, 1e-6f); // provide state pose and path close to trigger behavior but with all reverse motion state.vx = -1.0 * xt::ones({1000, 30}); critic.score(data); - EXPECT_GT(xt::sum(costs, immediate)(), 0.0); - EXPECT_NEAR(costs(0), 15.0, 1e-6); // 1.0 * 0.1 model_dt * 5.0 weight * 30 length + EXPECT_GT(xt::sum(costs, immediate)(), 0.0f); + EXPECT_NEAR(costs(0), 15.0f, 1e-3f); // 1.0 * 0.1 model_dt * 5.0 weight * 30 length } TEST(CriticTests, TwirlingCritic) @@ -417,9 +492,9 @@ TEST(CriticTests, PathFollowCritic) // Scoring testing // provide state poses and path close within positional tolerances - state.pose.pose.position.x = 1.0; + state.pose.pose.position.x = 2.0; path.reset(6); - path.x(5) = 0.85; + path.x(5) = 1.7; critic.score(data); EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); @@ -513,8 +588,8 @@ TEST(CriticTests, PathAlignCritic) path.x(21) = 0.9; generated_trajectories.x = 0.66 * xt::ones({1000, 30}); critic.score(data); - // 0.04 * 1000 * 10 weight * 4 num pts eval / 4 normalization term - EXPECT_NEAR(xt::sum(costs, immediate)(), 400.0, 1e-2); + // 0.66 * 1000 * 10 weight * 6 num pts eval / 6 normalization term + EXPECT_NEAR(xt::sum(costs, immediate)(), 6600.0, 1e-2); // provide state pose and path far enough to enable, with data to pass condition // but path is blocked in collision @@ -533,3 +608,52 @@ TEST(CriticTests, PathAlignCritic) critic.score(data); EXPECT_NEAR(xt::sum(costs, immediate)(), 0.0, 1e-6); } + +TEST(CriticTests, VelocityDeadbandCritic) +{ + // Standard preamble + auto node = std::make_shared("my_node"); + auto costmap_ros = std::make_shared( + "dummy_costmap", "", "dummy_costmap", true); + ParametersHandler param_handler(node); + auto getParam = param_handler.getParamGetter("critic"); + std::vector deadband_velocities_; + getParam(deadband_velocities_, "deadband_velocities", std::vector{0.08, 0.08, 0.08}); + rclcpp_lifecycle::State lstate; + costmap_ros->on_configure(lstate); + + models::State state; + models::ControlSequence control_sequence; + models::Trajectories generated_trajectories; + models::Path path; + xt::xtensor costs = xt::zeros({1000}); + float model_dt = 0.1; + CriticData data = + {state, generated_trajectories, path, costs, model_dt, false, nullptr, nullptr, std::nullopt, + std::nullopt}; + data.motion_model = std::make_shared(); + + // Initialization testing + + // Make sure initializes correctly and that defaults are reasonable + VelocityDeadbandCritic critic; + critic.on_configure(node, "mppi", "critic", costmap_ros, ¶m_handler); + EXPECT_EQ(critic.getName(), "critic"); + + // Scoring testing + + // provide velocities out of deadband bounds, should not have any costs + state.vx = 0.80 * xt::ones({1000, 30}); + state.vy = 0.60 * xt::ones({1000, 30}); + state.wz = 0.80 * xt::ones({1000, 30}); + critic.score(data); + EXPECT_NEAR(xt::sum(costs, immediate)(), 0, 1e-6); + + // Test cost value + state.vx = 0.01 * xt::ones({1000, 30}); + state.vy = 0.02 * xt::ones({1000, 30}); + state.wz = 0.021 * xt::ones({1000, 30}); + critic.score(data); + // 35.0 weight * 0.1 model_dt * (0.07 + 0.06 + 0.059) * 30 timesteps = 56.7 + EXPECT_NEAR(costs(1), 19.845, 0.01); +} diff --git a/nav2_mppi_controller/test/motion_model_tests.cpp b/nav2_mppi_controller/test/motion_model_tests.cpp index 8b130e311dd..6085896cfe3 100644 --- a/nav2_mppi_controller/test/motion_model_tests.cpp +++ b/nav2_mppi_controller/test/motion_model_tests.cpp @@ -156,7 +156,7 @@ TEST(MotionModelTests, AckermannTest) // Check that application of constraints are non-empty for Ackermann Drive for (unsigned int i = 0; i != control_sequence.vx.shape(0); i++) { control_sequence.vx(i) = i * i * i; - control_sequence.wz(i) = i * i * i; + control_sequence.wz(i) = i * i * i * i; } models::ControlSequence initial_control_sequence = control_sequence; @@ -168,7 +168,7 @@ TEST(MotionModelTests, AckermannTest) // Now, check the specifics of the minimum curvature constraint EXPECT_NEAR(model->getMinTurningRadius(), 0.2, 1e-6); for (unsigned int i = 1; i != control_sequence.vx.shape(0); i++) { - EXPECT_TRUE(fabs(control_sequence.vx(i)) / fabs(control_sequence.wz(i)) <= 0.2); + EXPECT_TRUE(fabs(control_sequence.vx(i)) / fabs(control_sequence.wz(i)) >= 0.2); } // Check that Ackermann Drive is properly non-holonomic and parameterized diff --git a/nav2_mppi_controller/test/noise_generator_test.cpp b/nav2_mppi_controller/test/noise_generator_test.cpp index 3788f2b8a30..485cc375b09 100644 --- a/nav2_mppi_controller/test/noise_generator_test.cpp +++ b/nav2_mppi_controller/test/noise_generator_test.cpp @@ -17,7 +17,9 @@ #include "gtest/gtest.h" #include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" #include "nav2_mppi_controller/tools/noise_generator.hpp" +#include "nav2_mppi_controller/tools/parameters_handler.hpp" #include "nav2_mppi_controller/models/optimizer_settings.hpp" #include "nav2_mppi_controller/models/state.hpp" #include "nav2_mppi_controller/models/control_sequence.hpp" @@ -42,13 +44,21 @@ TEST(NoiseGeneratorTest, NoiseGeneratorLifecycle) settings.batch_size = 100; settings.time_steps = 25; - generator.initialize(settings, false); + auto node = std::make_shared("node"); + node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(false)); + ParametersHandler handler(node); + + generator.initialize(settings, false, "test_name", &handler); + generator.reset(settings, false); generator.shutdown(); } TEST(NoiseGeneratorTest, NoiseGeneratorMain) { // Tests shuts down internal thread cleanly + auto node = std::make_shared("node"); + node->declare_parameter("test_name.regenerate_noises", rclcpp::ParameterValue(true)); + ParametersHandler handler(node); NoiseGenerator generator; mppi::models::OptimizerSettings settings; settings.batch_size = 100; @@ -70,7 +80,7 @@ TEST(NoiseGeneratorTest, NoiseGeneratorMain) state.reset(settings.batch_size, settings.time_steps); // Request an update with no noise yet generated, should result in identical outputs - generator.initialize(settings, false); + generator.initialize(settings, false, "test_name", &handler); generator.reset(settings, false); // sets initial sizing and zeros out noises generator.setNoisedControls(state, control_sequence); EXPECT_EQ(state.cvx(0), 0); diff --git a/nav2_mppi_controller/test/optimizer_smoke_test.cpp b/nav2_mppi_controller/test/optimizer_smoke_test.cpp index d694496395d..9a77f6d8b06 100644 --- a/nav2_mppi_controller/test/optimizer_smoke_test.cpp +++ b/nav2_mppi_controller/test/optimizer_smoke_test.cpp @@ -103,7 +103,7 @@ INSTANTIATE_TEST_SUITE_P( std::make_tuple( "DiffDrive", std::vector( - {{"GoalCritic"}, {"GoalAngleCritic"}, {"ObstaclesCritic"}, + {{"GoalCritic"}, {"GoalAngleCritic"}, {"CostCritic"}, {"PathAngleCritic"}, {"PathFollowCritic"}, {"PreferForwardCritic"}}), true), std::make_tuple( diff --git a/nav2_mppi_controller/test/optimizer_unit_tests.cpp b/nav2_mppi_controller/test/optimizer_unit_tests.cpp index f27471d28a3..7ef57922e9b 100644 --- a/nav2_mppi_controller/test/optimizer_unit_tests.cpp +++ b/nav2_mppi_controller/test/optimizer_unit_tests.cpp @@ -389,7 +389,7 @@ TEST(OptimizerTests, shiftControlSequenceTests) // Test shiftControlSequence by setting the 2nd value to something unique to neighbors auto & sequence = optimizer_tester.grabControlSequence(); - sequence.reset({100}); + sequence.reset(100); sequence.vx(0) = 9999; sequence.vx(1) = 6; sequence.vx(2) = 888; @@ -432,20 +432,20 @@ TEST(OptimizerTests, SpeedLimitTests) // Test Speed limits API auto [v_min, v_max] = optimizer_tester.getVelLimits(); - EXPECT_EQ(v_max, 0.5); - EXPECT_EQ(v_min, -0.35); + EXPECT_EQ(v_max, 0.5f); + EXPECT_EQ(v_min, -0.35f); optimizer_tester.setSpeedLimit(0, false); auto [v_min2, v_max2] = optimizer_tester.getVelLimits(); - EXPECT_EQ(v_max2, 0.5); - EXPECT_EQ(v_min2, -0.35); + EXPECT_EQ(v_max2, 0.5f); + EXPECT_EQ(v_min2, -0.35f); optimizer_tester.setSpeedLimit(50.0, true); auto [v_min3, v_max3] = optimizer_tester.getVelLimits(); EXPECT_NEAR(v_max3, 0.5 / 2.0, 1e-3); EXPECT_NEAR(v_min3, -0.35 / 2.0, 1e-3); optimizer_tester.setSpeedLimit(0, true); auto [v_min4, v_max4] = optimizer_tester.getVelLimits(); - EXPECT_EQ(v_max4, 0.5); - EXPECT_EQ(v_min4, -0.35); + EXPECT_EQ(v_max4, 0.5f); + EXPECT_EQ(v_min4, -0.35f); optimizer_tester.setSpeedLimit(0.75, false); auto [v_min5, v_max5] = optimizer_tester.getVelLimits(); EXPECT_NEAR(v_max5, 0.75, 1e-3); @@ -627,8 +627,8 @@ TEST(OptimizerTests, integrateStateVelocitiesTests) float y = 0; for (unsigned int i = 1; i != traj.x.shape(1); i++) { std::cout << i << std::endl; - x += (0.1 /*vx*/ * cos(0.2 /*wz*/ * 0.1 /*model_dt*/ * (i - 1))) * 0.1 /*model_dt*/; - y += (0.1 /*vx*/ * sin(0.2 /*wz*/ * 0.1 /*model_dt*/ * (i - 1))) * 0.1 /*model_dt*/; + x += (0.1 /*vx*/ * cosf(0.2 /*wz*/ * 0.1 /*model_dt*/ * (i - 1))) * 0.1 /*model_dt*/; + y += (0.1 /*vx*/ * sinf(0.2 /*wz*/ * 0.1 /*model_dt*/ * (i - 1))) * 0.1 /*model_dt*/; EXPECT_NEAR(traj.x(1, i), x, 1e-6); EXPECT_NEAR(traj.y(1, i), y, 1e-6); diff --git a/nav2_mppi_controller/test/path_handler_test.cpp b/nav2_mppi_controller/test/path_handler_test.cpp index 3eb737ed36a..0bcf5543924 100644 --- a/nav2_mppi_controller/test/path_handler_test.cpp +++ b/nav2_mppi_controller/test/path_handler_test.cpp @@ -38,9 +38,9 @@ class PathHandlerWrapper : public PathHandler PathHandlerWrapper() : PathHandler() {} - void pruneGlobalPlanWrapper(const PathIterator end) + void pruneGlobalPlanWrapper(nav_msgs::msg::Path & path, const PathIterator end) { - return pruneGlobalPlan(end); + return prunePlan(path, end); } double getMaxCostmapDistWrapper() @@ -66,6 +66,21 @@ class PathHandlerWrapper : public PathHandler { return transformToGlobalPlanFrame(pose); } + + void setGlobalPlanUpToInversion(const nav_msgs::msg::Path & path) + { + global_plan_up_to_inversion_ = path; + } + + bool isWithinInversionTolerancesWrapper(const geometry_msgs::msg::PoseStamped & robot_pose) + { + return isWithinInversionTolerances(robot_pose); + } + + nav_msgs::msg::Path & getInvertedPath() + { + return global_plan_up_to_inversion_; + } }; TEST(PathHandlerTests, GetAndPrunePath) @@ -82,7 +97,7 @@ TEST(PathHandlerTests, GetAndPrunePath) EXPECT_EQ(path.poses.size(), rtn_path.poses.size()); PathIterator it = rtn_path.poses.begin() + 5; - handler.pruneGlobalPlanWrapper(it); + handler.pruneGlobalPlanWrapper(rtn_path, it); auto rtn2_path = handler.getPath(); EXPECT_EQ(rtn2_path.poses.size(), 6u); } @@ -131,10 +146,10 @@ TEST(PathHandlerTests, TestBounds) handler.setPath(path); auto [transformed_plan, closest] = handler.getGlobalPlanConsideringBoundsInCostmapFrameWrapper(robot_pose); - auto & path_in = handler.getPath(); - EXPECT_EQ(closest - path_in.poses.begin(), 25); - handler.pruneGlobalPlanWrapper(closest); - auto & path_pruned = handler.getPath(); + auto & path_inverted = handler.getInvertedPath(); + EXPECT_EQ(closest - path_inverted.poses.begin(), 25); + handler.pruneGlobalPlanWrapper(path_inverted, closest); + auto & path_pruned = handler.getInvertedPath(); EXPECT_EQ(path_pruned.poses.size(), 75u); } @@ -189,3 +204,46 @@ TEST(PathHandlerTests, TestTransforms) auto final_path = handler.transformPath(robot_pose); EXPECT_EQ(final_path.poses.size(), path_out.poses.size()); } + +TEST(PathHandlerTests, TestInversionToleranceChecks) +{ + nav_msgs::msg::Path path; + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = static_cast(i); + path.poses.push_back(pose); + } + path.poses.back().pose.orientation.w = 1; + + PathHandlerWrapper handler; + handler.setGlobalPlanUpToInversion(path); + + // Not near (0,0) + geometry_msgs::msg::PoseStamped robot_pose; + EXPECT_FALSE(handler.isWithinInversionTolerancesWrapper(robot_pose)); + + // Exactly on top of it + robot_pose.pose.position.x = 9; + robot_pose.pose.orientation.w = 1.0; + EXPECT_TRUE(handler.isWithinInversionTolerancesWrapper(robot_pose)); + + // Laterally of it + robot_pose.pose.position.y = 9; + EXPECT_FALSE(handler.isWithinInversionTolerancesWrapper(robot_pose)); + + // On top but off angled + robot_pose.pose.position.y = 0; + robot_pose.pose.orientation.z = 0.8509035; + robot_pose.pose.orientation.w = 0.525322; + EXPECT_FALSE(handler.isWithinInversionTolerancesWrapper(robot_pose)); + + // On top but off angled within tolerances + robot_pose.pose.position.y = 0; + robot_pose.pose.orientation.w = 0.9961947; + robot_pose.pose.orientation.z = 0.0871558; + EXPECT_TRUE(handler.isWithinInversionTolerancesWrapper(robot_pose)); + + // Offset spatially + off angled but both within tolerances + robot_pose.pose.position.x = 9.10; + EXPECT_TRUE(handler.isWithinInversionTolerancesWrapper(robot_pose)); +} diff --git a/nav2_mppi_controller/test/utils/factory.hpp b/nav2_mppi_controller/test/utils/factory.hpp index 29404651845..804cecb1519 100644 --- a/nav2_mppi_controller/test/utils/factory.hpp +++ b/nav2_mppi_controller/test/utils/factory.hpp @@ -36,7 +36,9 @@ namespace detail { -auto setHeader(auto && msg, auto node, std::string frame) + +template +void setHeader(TMessage && msg, TNode node, std::string frame) { auto time = node->get_clock()->now(); msg.header.frame_id = frame; @@ -145,9 +147,10 @@ getDummyNode(rclcpp::NodeOptions options, std::string node_name = std::string("d return node; } +template std::shared_ptr getDummyOptimizer( - auto node, auto costmap_ros, - auto * params_handler) + TNode node, TCostMap costmap_ros, + TParamHandler * params_handler) { std::shared_ptr optimizer = std::make_shared(); std::weak_ptr weak_ptr_node{node}; @@ -157,9 +160,10 @@ std::shared_ptr getDummyOptimizer( return optimizer; } +template mppi::PathHandler getDummyPathHandler( - auto node, auto costmap_ros, auto tf_buffer, - auto * params_handler) + TNode node, TCostMap costmap_ros, TFBuffer tf_buffer, + TParamHandler * params_handler) { mppi::PathHandler path_handler; std::weak_ptr weak_ptr_node{node}; @@ -169,9 +173,10 @@ mppi::PathHandler getDummyPathHandler( return path_handler; } +template std::shared_ptr getDummyController( - auto node, auto tf_buffer, - auto costmap_ros) + TNode node, TFBuffer tf_buffer, + TCostMap costmap_ros) { auto controller = std::make_shared(); std::weak_ptr weak_ptr_node{node}; @@ -187,8 +192,9 @@ auto getDummyTwist() return twist; } +template geometry_msgs::msg::PoseStamped -getDummyPointStamped(auto & node, std::string frame = std::string("odom")) +getDummyPointStamped(TNode & node, std::string frame = std::string("odom")) { geometry_msgs::msg::PoseStamped point; detail::setHeader(point, node, frame); @@ -196,7 +202,8 @@ getDummyPointStamped(auto & node, std::string frame = std::string("odom")) return point; } -geometry_msgs::msg::PoseStamped getDummyPointStamped(auto & node, TestPose pose) +template +geometry_msgs::msg::PoseStamped getDummyPointStamped(TNode & node, TestPose pose) { geometry_msgs::msg::PoseStamped point = getDummyPointStamped(node); point.pose.position.x = pose.x; @@ -205,14 +212,16 @@ geometry_msgs::msg::PoseStamped getDummyPointStamped(auto & node, TestPose pose) return point; } -nav_msgs::msg::Path getDummyPath(auto node, std::string frame = std::string("odom")) +template +nav_msgs::msg::Path getDummyPath(TNode node, std::string frame = std::string("odom")) { nav_msgs::msg::Path path; detail::setHeader(path, node, frame); return path; } -auto getDummyPath(size_t points_count, auto node) +template +auto getDummyPath(size_t points_count, TNode node) { auto path = getDummyPath(node); @@ -223,7 +232,8 @@ auto getDummyPath(size_t points_count, auto node) return path; } -nav_msgs::msg::Path getIncrementalDummyPath(auto node, TestPathSettings s) +template +nav_msgs::msg::Path getIncrementalDummyPath(TNode node, TestPathSettings s) { auto path = getDummyPath(node); diff --git a/nav2_mppi_controller/test/utils/utils.hpp b/nav2_mppi_controller/test/utils/utils.hpp index 4c59089ef8e..0093492706f 100644 --- a/nav2_mppi_controller/test/utils/utils.hpp +++ b/nav2_mppi_controller/test/utils/utils.hpp @@ -31,7 +31,8 @@ using namespace std::chrono_literals; // NOLINT -void waitSome(const std::chrono::nanoseconds & duration, auto & node) +template +void waitSome(const std::chrono::nanoseconds & duration, TNode & node) { rclcpp::Time start_time = node->now(); while (rclcpp::ok() && node->now() - start_time <= rclcpp::Duration(duration)) { @@ -86,8 +87,9 @@ void printMap(const nav2_costmap_2d::Costmap2D & costmap) * @param trajectory trajectory container (xt::tensor) to be printed. * @param goal_point goal point to be printed. */ +template void printMapWithTrajectoryAndGoal( - nav2_costmap_2d::Costmap2D & costmap, const auto & trajectory, + nav2_costmap_2d::Costmap2D & costmap, const TTrajectory & trajectory, const geometry_msgs::msg::PoseStamped & goal) { const unsigned int trajectory_cost = 1; @@ -174,7 +176,8 @@ void addObstacle(nav2_costmap_2d::Costmap2D * costmap, TestObstaclesSettings s) * @return true - if the trajectory crosses an obstacle on the map, false - if * not */ -bool inCollision(const auto & trajectory, const nav2_costmap_2d::Costmap2D & costmap) +template +bool inCollision(const TTrajectory & trajectory, const nav2_costmap_2d::Costmap2D & costmap) { unsigned int point_mx = 0; unsigned int point_my = 0; @@ -198,8 +201,9 @@ unsigned char getCost(const nav2_costmap_2d::Costmap2D & costmap, double x, doub return costmap.getCost(point_mx, point_my); } +template bool isGoalReached( - const auto & trajectory, const nav2_costmap_2d::Costmap2D & costmap, + const TTrajectory & trajectory, const nav2_costmap_2d::Costmap2D & costmap, const geometry_msgs::msg::PoseStamped & goal) { unsigned int trajectory_j = 0; diff --git a/nav2_mppi_controller/test/utils_test.cpp b/nav2_mppi_controller/test/utils_test.cpp index 54bcd4b7871..054cbbe4c0e 100644 --- a/nav2_mppi_controller/test/utils_test.cpp +++ b/nav2_mppi_controller/test/utils_test.cpp @@ -195,7 +195,25 @@ TEST(UtilsTests, AnglesTests) pose.position.y = 0.0; pose.orientation.w = 1.0; double point_x = 1.0, point_y = 0.0; - EXPECT_NEAR(posePointAngle(pose, point_x, point_y), 0.0, 1e-6); + bool forward_preference = true; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, forward_preference), 0.0, 1e-6); + forward_preference = false; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, forward_preference), 0.0, 1e-6); + point_x = -1.0; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, forward_preference), 0.0, 1e-6); + forward_preference = true; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, forward_preference), M_PI, 1e-6); + + // Test point-pose angle with goal yaws + point_x = 1.0; + double point_yaw = 0.0; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, point_yaw), 0.0, 1e-6); + point_yaw = M_PI; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, point_yaw), M_PI, 1e-6); + point_yaw = 0.1; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, point_yaw), 0.0, 1e-3); + point_yaw = 3.04159; + EXPECT_NEAR(posePointAngle(pose, point_x, point_y, point_yaw), M_PI, 1e-3); } TEST(UtilsTests, FurthestAndClosestReachedPoint) @@ -239,7 +257,6 @@ TEST(UtilsTests, FurthestAndClosestReachedPoint) {state, generated_trajectories, path, costs, model_dt, false, nullptr, nullptr, std::nullopt, std::nullopt}; /// Caution, keep references EXPECT_EQ(findPathFurthestReachedPoint(data3), 5u); - EXPECT_EQ(findPathTrajectoryInitialPoint(data3), 5u); } TEST(UtilsTests, findPathCosts) @@ -311,7 +328,7 @@ TEST(UtilsTests, SmootherTest) noisey_sequence.vy = 0.0 * xt::ones({30}); noisey_sequence.wz = 0.3 * xt::ones({30}); - // Make the sequence noisey + // Make the sequence noisy auto noises = xt::random::randn({30}, 0.0, 0.2); noisey_sequence.vx += noises; noisey_sequence.vy += noises; @@ -349,8 +366,8 @@ TEST(UtilsTests, SmootherTest) EXPECT_NEAR(history[3].wz, 0.23, 0.02); // Check that path is smoother - float smoothed_val, original_val; - for (unsigned int i = 0; i != noisey_sequence.vx.shape(0); i++) { + float smoothed_val{0}, original_val{0}; + for (unsigned int i = 1; i != noisey_sequence.vx.shape(0) - 1; i++) { smoothed_val += fabs(noisey_sequence.vx(i) - 0.2); smoothed_val += fabs(noisey_sequence.vy(i) - 0.0); smoothed_val += fabs(noisey_sequence.wz(i) - 0.3); @@ -362,3 +379,66 @@ TEST(UtilsTests, SmootherTest) EXPECT_LT(smoothed_val, original_val); } + +TEST(UtilsTests, FindPathInversionTest) +{ + // Straight path, no inversions to be found + nav_msgs::msg::Path path; + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = i; + path.poses.push_back(pose); + } + EXPECT_EQ(utils::findFirstPathInversion(path), 10u); + + // To short to process + path.poses.erase(path.poses.begin(), path.poses.begin() + 7); + EXPECT_EQ(utils::findFirstPathInversion(path), 3u); + + // Has inversion at index 10, so should return 11 for the first point afterwards + // 0 1 2 3 4 5 6 7 8 9 10 **9** 8 7 6 5 4 3 2 1 + path.poses.clear(); + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = i; + path.poses.push_back(pose); + } + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = 10 - i; + path.poses.push_back(pose); + } + EXPECT_EQ(utils::findFirstPathInversion(path), 11u); +} + +TEST(UtilsTests, RemovePosesAfterPathInversionTest) +{ + nav_msgs::msg::Path path; + // straight path + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = i; + path.poses.push_back(pose); + } + EXPECT_EQ(utils::removePosesAfterFirstInversion(path), 0u); + + // try empty path + path.poses.clear(); + EXPECT_EQ(utils::removePosesAfterFirstInversion(path), 0u); + + // cusping path + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = i; + path.poses.push_back(pose); + } + for (unsigned int i = 0; i != 10; i++) { + geometry_msgs::msg::PoseStamped pose; + pose.pose.position.x = 10 - i; + path.poses.push_back(pose); + } + EXPECT_EQ(utils::removePosesAfterFirstInversion(path), 11u); + // Check to see if removed + EXPECT_EQ(path.poses.size(), 11u); + EXPECT_EQ(path.poses.back().pose.position.x, 10); +} diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt index 9779a974531..12637abca6a 100644 --- a/nav2_msgs/CMakeLists.txt +++ b/nav2_msgs/CMakeLists.txt @@ -8,6 +8,7 @@ find_package(nav_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) +find_package(geographic_msgs) find_package(action_msgs REQUIRED) nav2_package() @@ -17,8 +18,10 @@ add_compile_options(-Wno-error=deprecated) rosidl_generate_interfaces(${PROJECT_NAME} "msg/CollisionMonitorState.msg" + "msg/CollisionDetectorState.msg" "msg/Costmap.msg" "msg/CostmapMetaData.msg" + "msg/CostmapUpdate.msg" "msg/CostmapFilterInfo.msg" "msg/SpeedLimit.msg" "msg/VoxelGrid.msg" @@ -35,6 +38,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "srv/ManageLifecycleNodes.srv" "srv/LoadMap.srv" "srv/SaveMap.srv" + "srv/SetInitialPose.srv" "action/AssistedTeleop.action" "action/BackUp.action" "action/ComputePathToPose.action" @@ -48,7 +52,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "action/Spin.action" "action/DummyBehavior.action" "action/FollowWaypoints.action" - DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs + "action/FollowGPSWaypoints.action" + DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs geographic_msgs ) ament_export_dependencies(rosidl_default_runtime) diff --git a/nav2_msgs/action/AssistedTeleop.action b/nav2_msgs/action/AssistedTeleop.action index ba830ebc121..8737bdd0cde 100644 --- a/nav2_msgs/action/AssistedTeleop.action +++ b/nav2_msgs/action/AssistedTeleop.action @@ -2,7 +2,16 @@ builtin_interfaces/Duration time_allowance --- #result definition + +# Error codes +# Note: The expected priority order of the error should match the message order +uint16 NONE=0 +uint16 UNKNOWN=730 +uint16 TIMEOUT=731 +uint16 TF_ERROR=732 + builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback builtin_interfaces/Duration current_teleop_duration diff --git a/nav2_msgs/action/BackUp.action b/nav2_msgs/action/BackUp.action index 9937302578a..28711bfa5d8 100644 --- a/nav2_msgs/action/BackUp.action +++ b/nav2_msgs/action/BackUp.action @@ -1,10 +1,22 @@ + #goal definition geometry_msgs/Point target float32 speed builtin_interfaces/Duration time_allowance --- #result definition + +# Error codes +# Note: The expected priority order of the error should match the message order +uint16 NONE=0 +uint16 UNKNOWN=710 +uint16 TIMEOUT=711 +uint16 TF_ERROR=712 +uint16 INVALID_INPUT=713 +uint16 COLLISION_AHEAD=714 + builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback definition float32 distance_traveled diff --git a/nav2_msgs/action/ComputePathThroughPoses.action b/nav2_msgs/action/ComputePathThroughPoses.action index 38c7f70a5da..8a81f6f954e 100644 --- a/nav2_msgs/action/ComputePathThroughPoses.action +++ b/nav2_msgs/action/ComputePathThroughPoses.action @@ -1,24 +1,25 @@ +#goal definition +geometry_msgs/PoseStamped[] goals +geometry_msgs/PoseStamped start +string planner_id +bool use_start # If false, use current robot pose as path start, if true, use start above instead +--- +#result definition + # Error codes # Note: The expected priority order of the errors should match the message order uint16 NONE=0 uint16 UNKNOWN=300 uint16 INVALID_PLANNER=301 -uint16 TF_ERROR=3002 +uint16 TF_ERROR=302 uint16 START_OUTSIDE_MAP=303 uint16 GOAL_OUTSIDE_MAP=304 uint16 START_OCCUPIED=305 uint16 GOAL_OCCUPIED=306 -uint16 TIMEOUT=3007 +uint16 TIMEOUT=307 uint16 NO_VALID_PATH=308 uint16 NO_VIAPOINTS_GIVEN=309 -#goal definition -geometry_msgs/PoseStamped[] goals -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition nav_msgs/Path path builtin_interfaces/Duration planning_time uint16 error_code diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action index 920bcf5ff24..ef8b20d3077 100644 --- a/nav2_msgs/action/ComputePathToPose.action +++ b/nav2_msgs/action/ComputePathToPose.action @@ -1,3 +1,11 @@ +#goal definition +geometry_msgs/PoseStamped goal +geometry_msgs/PoseStamped start +string planner_id +bool use_start # If false, use current robot pose as path start, if true, use start above instead +--- +#result definition + # Error codes # Note: The expected priority order of the errors should match the message order uint16 NONE=0 @@ -11,13 +19,6 @@ uint16 GOAL_OCCUPIED=206 uint16 TIMEOUT=207 uint16 NO_VALID_PATH=208 -#goal definition -geometry_msgs/PoseStamped goal -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition nav_msgs/Path path builtin_interfaces/Duration planning_time uint16 error_code diff --git a/nav2_msgs/action/DriveOnHeading.action b/nav2_msgs/action/DriveOnHeading.action index 9937302578a..67d2badeef9 100644 --- a/nav2_msgs/action/DriveOnHeading.action +++ b/nav2_msgs/action/DriveOnHeading.action @@ -1,10 +1,22 @@ + #goal definition geometry_msgs/Point target float32 speed builtin_interfaces/Duration time_allowance --- #result definition + +# Error codes +# Note: The expected priority order of the error should match the message order +uint16 NONE=0 +uint16 UNKNOWN=720 +uint16 TIMEOUT=721 +uint16 TF_ERROR=722 +uint16 COLLISION_AHEAD=723 +uint16 INVALID_INPUT=724 + builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback definition float32 distance_traveled diff --git a/nav2_msgs/action/DummyBehavior.action b/nav2_msgs/action/DummyBehavior.action index 4b8db815d2b..2b90ea781a7 100644 --- a/nav2_msgs/action/DummyBehavior.action +++ b/nav2_msgs/action/DummyBehavior.action @@ -3,5 +3,6 @@ std_msgs/String command --- #result definition builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback definition diff --git a/nav2_msgs/action/FollowGPSWaypoints.action b/nav2_msgs/action/FollowGPSWaypoints.action new file mode 100644 index 00000000000..707e9a2b372 --- /dev/null +++ b/nav2_msgs/action/FollowGPSWaypoints.action @@ -0,0 +1,17 @@ +#goal definition +uint32 number_of_loops +uint32 goal_index 0 +geographic_msgs/GeoPose[] gps_poses +--- +#result definition + +# Error codes +# Note: The expected priority order of the errors should match the message order +uint16 NONE=0 +uint16 UNKNOWN=600 +uint16 TASK_EXECUTOR_FAILED=601 + +MissedWaypoint[] missed_waypoints +--- +#feedback +uint32 current_waypoint diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action index c06b918c54a..654e43192ee 100644 --- a/nav2_msgs/action/FollowPath.action +++ b/nav2_msgs/action/FollowPath.action @@ -1,3 +1,11 @@ +#goal definition +nav_msgs/Path path +string controller_id +string goal_checker_id +string progress_checker_id +--- +#result definition + # Error codes # Note: The expected priority order of the errors should match the message order uint16 NONE=0 @@ -9,12 +17,6 @@ uint16 PATIENCE_EXCEEDED=104 uint16 FAILED_TO_MAKE_PROGRESS=105 uint16 NO_VALID_CONTROL=106 -#goal definition -nav_msgs/Path path -string controller_id -string goal_checker_id ---- -#result definition std_msgs/Empty result uint16 error_code --- diff --git a/nav2_msgs/action/FollowWaypoints.action b/nav2_msgs/action/FollowWaypoints.action index 1c5a38e8b1f..a8706cd59cf 100644 --- a/nav2_msgs/action/FollowWaypoints.action +++ b/nav2_msgs/action/FollowWaypoints.action @@ -1,15 +1,16 @@ -# Error codes -# Note: The expected priority order of the errors should match the message order -uint16 NONE=0 -uint16 UNKNOWN=600 -uint16 TASK_EXECUTOR_FAILED=601 - #goal definition uint32 number_of_loops uint32 goal_index 0 geometry_msgs/PoseStamped[] poses --- #result definition + +# Error codes +# Note: The expected priority order of the errors should match the message order +uint16 NONE=0 +uint16 UNKNOWN=600 +uint16 TASK_EXECUTOR_FAILED=601 + MissedWaypoint[] missed_waypoints --- #feedback definition diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action index ed1f8ca5f1f..efc47673064 100644 --- a/nav2_msgs/action/NavigateThroughPoses.action +++ b/nav2_msgs/action/NavigateThroughPoses.action @@ -1,13 +1,14 @@ -# Error codes -# Note: The expected priority order of the errors should match the message order -uint16 NONE=0 #goal definition geometry_msgs/PoseStamped[] poses string behavior_tree --- #result definition -std_msgs/Empty result + +# Error codes +# Note: The expected priority order of the errors should match the message order +uint16 NONE=0 + uint16 error_code --- #feedback definition diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action index b38aa0002cb..c3c25c9fee7 100644 --- a/nav2_msgs/action/NavigateToPose.action +++ b/nav2_msgs/action/NavigateToPose.action @@ -1,13 +1,13 @@ -# Error codes -# Note: The expected priority order of the errors should match the message order -uint16 NONE=0 - #goal definition geometry_msgs/PoseStamped pose string behavior_tree --- #result definition -std_msgs/Empty result + +# Error codes +# Note: The expected priority order of the errors should match the message order +uint16 NONE=0 + uint16 error_code --- #feedback definition diff --git a/nav2_msgs/action/SmoothPath.action b/nav2_msgs/action/SmoothPath.action index d7443fce5aa..8b04d1d1042 100644 --- a/nav2_msgs/action/SmoothPath.action +++ b/nav2_msgs/action/SmoothPath.action @@ -1,3 +1,11 @@ +#goal definition +nav_msgs/Path path +string smoother_id +builtin_interfaces/Duration max_smoothing_duration +bool check_for_collisions +--- +#result definition + # Error codes # Note: The expected priority order of the errors should match the message order uint16 NONE=0 @@ -8,13 +16,6 @@ uint16 SMOOTHED_PATH_IN_COLLISION=503 uint16 FAILED_TO_SMOOTH_PATH=504 uint16 INVALID_PATH=505 -#goal definition -nav_msgs/Path path -string smoother_id -builtin_interfaces/Duration max_smoothing_duration -bool check_for_collisions ---- -#result definition nav_msgs/Path path builtin_interfaces/Duration smoothing_duration bool was_completed diff --git a/nav2_msgs/action/Spin.action b/nav2_msgs/action/Spin.action index 3e1c0aadef0..945a16d3d66 100644 --- a/nav2_msgs/action/Spin.action +++ b/nav2_msgs/action/Spin.action @@ -3,7 +3,17 @@ float32 target_yaw builtin_interfaces/Duration time_allowance --- #result definition + +# Error codes +# Note: The expected priority order of the error should match the message order +uint16 NONE=0 +uint16 UNKNOWN=700 +uint16 TIMEOUT=701 +uint16 TF_ERROR=702 +uint16 COLLISION_AHEAD=703 + builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback definition float32 angular_distance_traveled diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action index 8cf7119431d..4657a7daa20 100644 --- a/nav2_msgs/action/Wait.action +++ b/nav2_msgs/action/Wait.action @@ -3,6 +3,7 @@ builtin_interfaces/Duration time --- #result definition builtin_interfaces/Duration total_elapsed_time +uint16 error_code --- #feedback definition builtin_interfaces/Duration time_left diff --git a/nav2_msgs/msg/BehaviorTreeStatusChange.msg b/nav2_msgs/msg/BehaviorTreeStatusChange.msg index 01cd812c6f7..4fa5076eacb 100644 --- a/nav2_msgs/msg/BehaviorTreeStatusChange.msg +++ b/nav2_msgs/msg/BehaviorTreeStatusChange.msg @@ -1,4 +1,5 @@ -builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time +builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time string node_name +uint16 uid # unique ID for this node string previous_status # IDLE, RUNNING, SUCCESS or FAILURE string current_status # IDLE, RUNNING, SUCCESS or FAILURE diff --git a/nav2_msgs/msg/CollisionDetectorState.msg b/nav2_msgs/msg/CollisionDetectorState.msg new file mode 100644 index 00000000000..9e51b5f507f --- /dev/null +++ b/nav2_msgs/msg/CollisionDetectorState.msg @@ -0,0 +1,4 @@ +# Name of configured polygons +string[] polygons +# List of detections for each polygon +bool[] detections diff --git a/nav2_msgs/msg/CollisionMonitorState.msg b/nav2_msgs/msg/CollisionMonitorState.msg index 493fc3c03d7..7c356e1cd44 100644 --- a/nav2_msgs/msg/CollisionMonitorState.msg +++ b/nav2_msgs/msg/CollisionMonitorState.msg @@ -3,6 +3,7 @@ uint8 DO_NOTHING=0 # No action uint8 STOP=1 # Stop the robot uint8 SLOWDOWN=2 # Slowdown in percentage from current operating speed uint8 APPROACH=3 # Keep constant time interval before collision +uint8 LIMIT=4 # Sets a limit of velocities if pts in range uint8 action_type # Name of triggered polygon diff --git a/nav2_msgs/msg/CostmapUpdate.msg b/nav2_msgs/msg/CostmapUpdate.msg new file mode 100644 index 00000000000..3c865d326ba --- /dev/null +++ b/nav2_msgs/msg/CostmapUpdate.msg @@ -0,0 +1,11 @@ +# Update msg for Costmap containing the modified part of Costmap +std_msgs/Header header + +uint32 x +uint32 y + +uint32 size_x +uint32 size_y + +# The cost data, in row-major order, starting with (x,y) from 0-255 in Costmap format rather than OccupancyGrid 0-100. +uint8[] data diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml index 01db2506e54..48e555532b6 100644 --- a/nav2_msgs/package.xml +++ b/nav2_msgs/package.xml @@ -2,7 +2,7 @@ nav2_msgs - 1.1.0 + 1.2.0 Messages and service files for the Nav2 stack Michael Jeronimo Steve Macenski @@ -19,6 +19,7 @@ geometry_msgs action_msgs nav_msgs + geographic_msgs rosidl_interface_packages diff --git a/nav2_msgs/srv/SetInitialPose.srv b/nav2_msgs/srv/SetInitialPose.srv new file mode 100644 index 00000000000..ec1e50b65f1 --- /dev/null +++ b/nav2_msgs/srv/SetInitialPose.srv @@ -0,0 +1,3 @@ +geometry_msgs/PoseWithCovarianceStamped pose +--- + diff --git a/nav2_navfn_planner/README.md b/nav2_navfn_planner/README.md index ad980d17657..8b4a07e051d 100644 --- a/nav2_navfn_planner/README.md +++ b/nav2_navfn_planner/README.md @@ -4,4 +4,4 @@ The NavfnPlanner is a global planner plugin for the Nav2 Planner server. It impl The `global_planner` package from ROS (1) is a refactor on NavFn to make it more easily understandable, but it lacks in run-time performance and introduces suboptimal behaviors. As NavFn has been extremely stable for about 10 years at the time of porting, the maintainers felt no compelling reason to port over another, largely equivalent (but poorer functioning) planner. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-navfn.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-navfn.html) for additional parameter descriptions. diff --git a/nav2_navfn_planner/global_planner_plugin.xml b/nav2_navfn_planner/global_planner_plugin.xml index 25bb27e09f4..55523dce4c7 100644 --- a/nav2_navfn_planner/global_planner_plugin.xml +++ b/nav2_navfn_planner/global_planner_plugin.xml @@ -1,5 +1,5 @@ - + diff --git a/nav2_navfn_planner/include/nav2_navfn_planner/navfn.hpp b/nav2_navfn_planner/include/nav2_navfn_planner/navfn.hpp index a4ce84404a8..966a8458521 100644 --- a/nav2_navfn_planner/include/nav2_navfn_planner/navfn.hpp +++ b/nav2_navfn_planner/include/nav2_navfn_planner/navfn.hpp @@ -43,6 +43,7 @@ #include #include #include +#include namespace nav2_navfn_planner { @@ -131,14 +132,16 @@ class NavFn /** * @brief Calculates a plan using the A* heuristic, returns true if one is found + * @param cancelChecker Function to check if the task has been canceled * @return True if a plan is found, false otherwise */ - bool calcNavFnAstar(); + bool calcNavFnAstar(std::function cancelChecker); /** - * @brief Caclulates the full navigation function using Dijkstra + * @brief Calculates the full navigation function using Dijkstra + * @param cancelChecker Function to check if the task has been canceled */ - bool calcNavFnDijkstra(bool atStart = false); + bool calcNavFnDijkstra(std::function cancelChecker, bool atStart = false); /** * @brief Accessor for the x-coordinates of a path @@ -179,6 +182,9 @@ class NavFn float curT; /**< current threshold */ float priInc; /**< priority threshold increment */ + /**< number of cycles between checks for cancellation */ + static constexpr int terminal_checking_interval = 5000; + /** goal and start positions */ /** * @brief Sets the goal position for the planner. @@ -229,18 +235,20 @@ class NavFn * @brief Run propagation for iterations, or until start is reached using * breadth-first Dijkstra method * @param cycles The maximum number of iterations to run for + * @param cancelChecker Function to check if the task has been canceled * @param atStart Whether or not to stop when the start point is reached * @return true if the start point is reached */ - bool propNavFnDijkstra(int cycles, bool atStart = false); + bool propNavFnDijkstra(int cycles, std::function cancelChecker, bool atStart = false); /** * @brief Run propagation for iterations, or until start is reached using * the best-first A* method with Euclidean distance heuristic * @param cycles The maximum number of iterations to run for + * @param cancelChecker Function to check if the task has been canceled * @return true if the start point is reached */ - bool propNavFnAstar(int cycles); /**< returns true if start point found */ + bool propNavFnAstar(int cycles, std::function cancelChecker); /** gradient and paths */ float * gradx, * grady; /**< gradient arrays, size of potential array */ diff --git a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp index 2330a5165b9..c1cebb1bef0 100644 --- a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp +++ b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp @@ -81,11 +81,13 @@ class NavfnPlanner : public nav2_core::GlobalPlanner * @brief Creating a plan from start and goal poses * @param start Start pose * @param goal Goal pose + * @param cancel_checker Function to check if the task has been canceled * @return nav_msgs::Path of the generated path */ nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) override; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) override; protected: /** @@ -93,12 +95,14 @@ class NavfnPlanner : public nav2_core::GlobalPlanner * @param start Start pose * @param goal Goal pose * @param tolerance Relaxation constraint in x and y + * @param cancel_checker Function to check if the task has been canceled * @param plan Path to be computed * @return true if can find the path */ bool makePlan( const geometry_msgs::msg::Pose & start, const geometry_msgs::msg::Pose & goal, double tolerance, + std::function cancel_checker, nav_msgs::msg::Path & plan); /** diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml index 6aa6dd8f1fd..942276624ee 100644 --- a/nav2_navfn_planner/package.xml +++ b/nav2_navfn_planner/package.xml @@ -2,7 +2,7 @@ nav2_navfn_planner - 1.1.0 + 1.2.0 TODO Steve Macenski Carlos Orduno diff --git a/nav2_navfn_planner/src/navfn.cpp b/nav2_navfn_planner/src/navfn.cpp index 7cc1002892a..2cce713b0f2 100644 --- a/nav2_navfn_planner/src/navfn.cpp +++ b/nav2_navfn_planner/src/navfn.cpp @@ -44,6 +44,7 @@ #include "nav2_navfn_planner/navfn.hpp" #include +#include "nav2_core/planner_exceptions.hpp" #include "rclcpp/rclcpp.hpp" namespace nav2_navfn_planner @@ -293,12 +294,12 @@ NavFn::setCostmap(const COSTTYPE * cmap, bool isROS, bool allow_unknown) } bool -NavFn::calcNavFnDijkstra(bool atStart) +NavFn::calcNavFnDijkstra(std::function cancelChecker, bool atStart) { setupNavFn(true); // calculate the nav fn and path - return propNavFnDijkstra(std::max(nx * ny / 20, nx + ny), atStart); + return propNavFnDijkstra(std::max(nx * ny / 20, nx + ny), cancelChecker, atStart); } @@ -307,12 +308,12 @@ NavFn::calcNavFnDijkstra(bool atStart) // bool -NavFn::calcNavFnAstar() +NavFn::calcNavFnAstar(std::function cancelChecker) { setupNavFn(true); // calculate the nav fn and path - return propNavFnAstar(std::max(nx * ny / 20, nx + ny)); + return propNavFnAstar(std::max(nx * ny / 20, nx + ny), cancelChecker); } // @@ -421,11 +422,10 @@ inline void NavFn::updateCell(int n) { // get neighbors - float u, d, l, r; - l = potarr[n - 1]; - r = potarr[n + 1]; - u = potarr[n - nx]; - d = potarr[n + nx]; + const float l = potarr[n - 1]; + const float r = potarr[n + 1]; + const float u = potarr[n - nx]; + const float d = potarr[n + nx]; // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", // potarr[n], l, r, u, d); // ROS_INFO("[Update] cost: %d\n", costarr[n]); @@ -452,8 +452,8 @@ NavFn::updateCell(int n) // use quadratic approximation // might speed this up through table lookup, but still have to // do the divide - float d = dc / hf; - float v = -0.2301 * d * d + 0.5307 * d + 0.7040; + const float div = dc / hf; + const float v = -0.2301 * div * div + 0.5307 * div + 0.7040; pot = ta + hf * v; } @@ -496,11 +496,10 @@ inline void NavFn::updateCellAstar(int n) { // get neighbors - float u, d, l, r; - l = potarr[n - 1]; - r = potarr[n + 1]; - u = potarr[n - nx]; - d = potarr[n + nx]; + float l = potarr[n - 1]; + float r = potarr[n + 1]; + float u = potarr[n - nx]; + float d = potarr[n + nx]; // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", // potarr[n], l, r, u, d); // ROS_INFO("[Update] cost of %d: %d\n", n, costarr[n]); @@ -527,8 +526,8 @@ NavFn::updateCellAstar(int n) // use quadratic approximation // might speed this up through table lookup, but still have to // do the divide - float d = dc / hf; - float v = -0.2301 * d * d + 0.5307 * d + 0.7040; + const float div = dc / hf; + const float v = -0.2301 * div * div + 0.5307 * div + 0.7040; pot = ta + hf * v; } @@ -573,7 +572,7 @@ NavFn::updateCellAstar(int n) // bool -NavFn::propNavFnDijkstra(int cycles, bool atStart) +NavFn::propNavFnDijkstra(int cycles, std::function cancelChecker, bool atStart) { int nwv = 0; // max priority block size int nc = 0; // number of cells put into priority blocks @@ -583,6 +582,10 @@ NavFn::propNavFnDijkstra(int cycles, bool atStart) int startCell = start[1] * nx + start[0]; for (; cycle < cycles; cycle++) { // go for this many cycles, unless interrupted + if (cycle % terminal_checking_interval == 0 && cancelChecker()) { + throw nav2_core::PlannerCancelled("Planner was cancelled"); + } + if (curPe == 0 && nextPe == 0) { // priority blocks empty break; } @@ -654,7 +657,7 @@ NavFn::propNavFnDijkstra(int cycles, bool atStart) // bool -NavFn::propNavFnAstar(int cycles) +NavFn::propNavFnAstar(int cycles, std::function cancelChecker) { int nwv = 0; // max priority block size int nc = 0; // number of cells put into priority blocks @@ -669,6 +672,10 @@ NavFn::propNavFnAstar(int cycles) // do main cycle for (; cycle < cycles; cycle++) { // go for this many cycles, unless interrupted + if (cycle % terminal_checking_interval == 0 && cancelChecker()) { + throw nav2_core::PlannerCancelled("Planner was cancelled"); + } + if (curPe == 0 && nextPe == 0) { // priority blocks empty break; } @@ -834,22 +841,22 @@ NavFn::calcPath(int n, int * st) // check eight neighbors to find the lowest int minc = stc; int minp = potarr[stc]; - int st = stcpx - 1; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st++; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st++; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st = stc - 1; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st = stc + 1; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st = stcnx - 1; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st++; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} - st++; - if (potarr[st] < minp) {minp = potarr[st]; minc = st;} + int sti = stcpx - 1; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti++; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti++; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti = stc - 1; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti = stc + 1; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti = stcnx - 1; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti++; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} + sti++; + if (potarr[sti] < minp) {minp = potarr[sti]; minc = sti;} stc = minc; dx = 0; dy = 0; diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp index 53d72760364..9985280159e 100644 --- a/nav2_navfn_planner/src/navfn_planner.cpp +++ b/nav2_navfn_planner/src/navfn_planner.cpp @@ -129,7 +129,8 @@ NavfnPlanner::cleanup() nav_msgs::msg::Path NavfnPlanner::createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) { #ifdef BENCHMARK_TESTING steady_clock::time_point a = steady_clock::now(); @@ -147,12 +148,6 @@ nav_msgs::msg::Path NavfnPlanner::createPlan( std::to_string(goal.pose.position.y) + ") was outside bounds"); } - if (costmap_->getCost(mx_start, my_start) == nav2_costmap_2d::LETHAL_OBSTACLE) { - throw nav2_core::StartOccupied( - "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " + - std::to_string(start.pose.position.y) + ") was in lethal cost"); - } - if (tolerance_ == 0 && costmap_->getCost(mx_goal, my_goal) == nav2_costmap_2d::LETHAL_OBSTACLE) { throw nav2_core::GoalOccupied( "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " + @@ -189,7 +184,7 @@ nav_msgs::msg::Path NavfnPlanner::createPlan( return path; } - if (!makePlan(start.pose, goal.pose, tolerance_, path)) { + if (!makePlan(start.pose, goal.pose, tolerance_, cancel_checker, path)) { throw nav2_core::NoValidPathCouldBeFound( "Failed to create plan with tolerance of: " + std::to_string(tolerance_) ); } @@ -220,6 +215,7 @@ bool NavfnPlanner::makePlan( const geometry_msgs::msg::Pose & start, const geometry_msgs::msg::Pose & goal, double tolerance, + std::function cancel_checker, nav_msgs::msg::Path & plan) { // clear the plan, just in case @@ -228,8 +224,6 @@ NavfnPlanner::makePlan( plan.header.stamp = clock_->now(); plan.header.frame_id = global_frame_; - // TODO(orduno): add checks for start and goal reference frame -- should be in global frame - double wx = start.position.x; double wy = start.position.y; @@ -266,15 +260,12 @@ NavfnPlanner::makePlan( map_goal[0] = mx; map_goal[1] = my; - // TODO(orduno): Explain why we are providing 'map_goal' to setStart(). - // Same for setGoal, seems reversed. Computing backwards? - planner_->setStart(map_goal); planner_->setGoal(map_start); if (use_astar_) { - planner_->calcNavFnAstar(); + planner_->calcNavFnAstar(cancel_checker); } else { - planner_->calcNavFnDijkstra(true); + planner_->calcNavFnDijkstra(cancel_checker, true); } double resolution = costmap_->getResolution(); diff --git a/nav2_planner/README.md b/nav2_planner/README.md index 3a17c825d42..302fed50db1 100644 --- a/nav2_planner/README.md +++ b/nav2_planner/README.md @@ -4,6 +4,6 @@ The Nav2 planner is a Task Server in Nav2 that implements the `nav2_behavior_tre A planning module implementing the `nav2_behavior_tree::ComputePathToPose` interface is responsible for generating a feasible path given start and end robot poses. It loads a map of potential planner plugins to do the path generation in different user-defined situations. -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available planner plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available planner plugins. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-planner-server.html) for additional parameter descriptions and a [tutorial about writing planner plugins](https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2planner_plugin.html). +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-planner-server.html) for additional parameter descriptions and a [tutorial about writing planner plugins](https://docs.nav2.org/plugin_tutorials/docs/writing_new_nav2planner_plugin.html). diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp index fee711f974a..bdffda281a2 100644 --- a/nav2_planner/include/nav2_planner/planner_server.hpp +++ b/nav2_planner/include/nav2_planner/planner_server.hpp @@ -39,6 +39,7 @@ #include "pluginlib/class_list_macros.hpp" #include "nav2_core/global_planner.hpp" #include "nav2_msgs/srv/is_path_valid.hpp" +#include "nav2_costmap_2d/footprint_collision_checker.hpp" #include "nav2_core/planner_exceptions.hpp" namespace nav2_planner @@ -67,12 +68,15 @@ class PlannerServer : public nav2_util::LifecycleNode * @brief Method to get plan from the desired plugin * @param start starting pose * @param goal goal request + * @param planner_id The planner to plan with + * @param cancel_checker A function to check if the action has been canceled * @return Path */ nav_msgs::msg::Path getPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal, - const std::string & planner_id); + const std::string & planner_id, + std::function cancel_checker); protected: /** @@ -107,9 +111,9 @@ class PlannerServer : public nav2_util::LifecycleNode nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override; using ActionToPose = nav2_msgs::action::ComputePathToPose; - using ActionToPoseGoal = ActionToPose::Goal; + using ActionToPoseResult = ActionToPose::Result; using ActionThroughPoses = nav2_msgs::action::ComputePathThroughPoses; - using ActionThroughPosesGoal = ActionThroughPoses::Goal; + using ActionThroughPosesResult = ActionThroughPoses::Result; using ActionServerToPose = nav2_util::SimpleActionServer; using ActionServerThroughPoses = nav2_util::SimpleActionServer; @@ -241,9 +245,6 @@ class PlannerServer : public nav2_util::LifecycleNode double max_planner_duration_; std::string planner_ids_concat_; - // Clock - rclcpp::Clock steady_clock_{RCL_STEADY_TIME}; - // TF buffer std::shared_ptr tf_; @@ -251,6 +252,8 @@ class PlannerServer : public nav2_util::LifecycleNode std::shared_ptr costmap_ros_; std::unique_ptr costmap_thread_; nav2_costmap_2d::Costmap2D * costmap_; + std::unique_ptr> + collision_checker_; // Publishers for the path rclcpp_lifecycle::LifecyclePublisher::SharedPtr plan_publisher_; diff --git a/nav2_planner/package.xml b/nav2_planner/package.xml index d9902074df1..7ac5d633fa8 100644 --- a/nav2_planner/package.xml +++ b/nav2_planner/package.xml @@ -2,7 +2,7 @@ nav2_planner - 1.1.0 + 1.2.0 TODO Steve Macenski Apache-2.0 diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp index 6b1d5481718..6abeddd29bb 100644 --- a/nav2_planner/src/planner_server.cpp +++ b/nav2_planner/src/planner_server.cpp @@ -44,7 +44,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options) : nav2_util::LifecycleNode("planner_server", "", options), gp_loader_("nav2_core", "nav2_core::GlobalPlanner"), default_ids_{"GridBased"}, - default_types_{"nav2_navfn_planner/NavfnPlanner"}, + default_types_{"nav2_navfn_planner::NavfnPlanner"}, costmap_(nullptr) { RCLCPP_INFO(get_logger(), "Creating"); @@ -52,6 +52,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options) // Declare this node's parameters declare_parameter("planner_plugins", default_ids_); declare_parameter("expected_planner_frequency", 1.0); + declare_parameter("action_server_result_timeout", 10.0); get_parameter("planner_plugins", planner_ids_); if (planner_ids_ == default_ids_) { @@ -64,8 +65,6 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options) costmap_ros_ = std::make_shared( "global_costmap", std::string{get_namespace()}, "global_costmap", get_parameter("use_sim_time").as_bool()); - // Launch a thread to run the costmap node - costmap_thread_ = std::make_unique(costmap_ros_); } PlannerServer::~PlannerServer() @@ -86,6 +85,15 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) costmap_ros_->configure(); costmap_ = costmap_ros_->getCostmap(); + if (!costmap_ros_->getUseRadius()) { + collision_checker_ = + std::make_unique>( + costmap_); + } + + // Launch a thread to run the costmap node + costmap_thread_ = std::make_unique(costmap_ros_); + RCLCPP_DEBUG( get_logger(), "Costmap size: %d,%d", costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY()); @@ -107,7 +115,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) planner_ids_[i].c_str(), planner_types_[i].c_str()); planner->configure(node, planner_ids_[i], tf_, costmap_ros_); planners_.insert({planner_ids_[i], planner}); - } catch (const pluginlib::PluginlibException & ex) { + } catch (const std::exception & ex) { RCLCPP_FATAL( get_logger(), "Failed to create global planner. Exception: %s", ex.what()); @@ -138,6 +146,11 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) // Initialize pubs & subs plan_publisher_ = create_publisher("plan", 1); + double action_server_result_timeout; + get_parameter("action_server_result_timeout", action_server_result_timeout); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); + // Create the action servers for path planning to a pose and through poses action_server_pose_ = std::make_unique( shared_from_this(), @@ -145,7 +158,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) std::bind(&PlannerServer::computePlan, this), nullptr, std::chrono::milliseconds(500), - true); + true, server_options); action_server_poses_ = std::make_unique( shared_from_this(), @@ -153,7 +166,7 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/) std::bind(&PlannerServer::computePlanThroughPoses, this), nullptr, std::chrono::milliseconds(500), - true); + true, server_options); return nav2_util::CallbackReturn::SUCCESS; } @@ -166,7 +179,10 @@ PlannerServer::on_activate(const rclcpp_lifecycle::State & /*state*/) plan_publisher_->on_activate(); action_server_pose_->activate(); action_server_poses_->activate(); - costmap_ros_->activate(); + const auto costmap_ros_state = costmap_ros_->activate(); + if (costmap_ros_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) { + return nav2_util::CallbackReturn::FAILURE; + } PlannerMap::iterator it; for (it = planners_.begin(); it != planners_.end(); ++it) { @@ -207,11 +223,7 @@ PlannerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/) * unordered_set iteration. Once this issue is resolved, we can maybe make a stronger * ordering assumption: https://github.com/ros2/rclcpp/issues/2096 */ - if (costmap_ros_->get_current_state().id() == - lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) - { - costmap_ros_->deactivate(); - } + costmap_ros_->deactivate(); PlannerMap::iterator it; for (it = planners_.begin(); it != planners_.end(); ++it) { @@ -236,15 +248,7 @@ PlannerServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/) plan_publisher_.reset(); tf_.reset(); - /* - * Double check whether something else transitioned it to INACTIVE - * already, e.g. the rcl preshutdown callback. - */ - if (costmap_ros_->get_current_state().id() == - lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) - { - costmap_ros_->cleanup(); - } + costmap_ros_->cleanup(); PlannerMap::iterator it; for (it = planners_.begin(); it != planners_.end(); ++it) { @@ -362,7 +366,7 @@ void PlannerServer::computePlanThroughPoses() { std::lock_guard lock(dynamic_params_lock_); - auto start_time = steady_clock_.now(); + auto start_time = this->now(); // Initialize the ComputePathThroughPoses goal and result auto goal = action_server_poses_->get_current_goal(); @@ -390,13 +394,20 @@ void PlannerServer::computePlanThroughPoses() throw nav2_core::PlannerTFError("Unable to get start pose"); } + auto cancel_checker = [this]() { + return action_server_poses_->is_cancel_requested(); + }; + // Get consecutive paths through these points for (unsigned int i = 0; i != goal->goals.size(); i++) { // Get starting point if (i == 0) { curr_start = start; } else { - curr_start = goal->goals[i - 1]; + // pick the end of the last planning task as the start for the next one + // to allow for path tolerance deviations + curr_start = concat_path.poses.back(); + curr_start.header = concat_path.header; } curr_goal = goal->goals[i]; @@ -406,7 +417,9 @@ void PlannerServer::computePlanThroughPoses() } // Get plan from start -> goal - nav_msgs::msg::Path curr_path = getPlan(curr_start, curr_goal, goal->planner_id); + nav_msgs::msg::Path curr_path = getPlan( + curr_start, curr_goal, goal->planner_id, + cancel_checker); if (!validatePath(curr_goal, curr_path, goal->planner_id)) { throw nav2_core::NoValidPathCouldBeFound(goal->planner_id + " generated a empty path"); @@ -422,7 +435,7 @@ void PlannerServer::computePlanThroughPoses() result->path = concat_path; publishPlan(result->path); - auto cycle_duration = steady_clock_.now() - start_time; + auto cycle_duration = this->now() - start_time; result->planning_time = cycle_duration; if (max_planner_duration_ && cycle_duration.seconds() > max_planner_duration_) { @@ -435,43 +448,46 @@ void PlannerServer::computePlanThroughPoses() action_server_poses_->succeeded_current(result); } catch (nav2_core::InvalidPlanner & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::INVALID_PLANNER; + result->error_code = ActionThroughPosesResult::INVALID_PLANNER; action_server_poses_->terminate_current(result); } catch (nav2_core::StartOccupied & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::START_OCCUPIED; + result->error_code = ActionThroughPosesResult::START_OCCUPIED; action_server_poses_->terminate_current(result); } catch (nav2_core::GoalOccupied & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::GOAL_OCCUPIED; + result->error_code = ActionThroughPosesResult::GOAL_OCCUPIED; action_server_poses_->terminate_current(result); } catch (nav2_core::NoValidPathCouldBeFound & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::NO_VALID_PATH; + result->error_code = ActionThroughPosesResult::NO_VALID_PATH; action_server_poses_->terminate_current(result); } catch (nav2_core::PlannerTimedOut & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::TIMEOUT; + result->error_code = ActionThroughPosesResult::TIMEOUT; action_server_poses_->terminate_current(result); } catch (nav2_core::StartOutsideMapBounds & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::START_OUTSIDE_MAP; + result->error_code = ActionThroughPosesResult::START_OUTSIDE_MAP; action_server_poses_->terminate_current(result); } catch (nav2_core::GoalOutsideMapBounds & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::GOAL_OUTSIDE_MAP; + result->error_code = ActionThroughPosesResult::GOAL_OUTSIDE_MAP; action_server_poses_->terminate_current(result); } catch (nav2_core::PlannerTFError & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::TF_ERROR; + result->error_code = ActionThroughPosesResult::TF_ERROR; action_server_poses_->terminate_current(result); } catch (nav2_core::NoViapointsGiven & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::NO_VIAPOINTS_GIVEN; + result->error_code = ActionThroughPosesResult::NO_VIAPOINTS_GIVEN; action_server_poses_->terminate_current(result); + } catch (nav2_core::PlannerCancelled &) { + RCLCPP_INFO(get_logger(), "Goal was canceled. Canceling planning action."); + action_server_poses_->terminate_all(); } catch (std::exception & ex) { exceptionWarning(curr_start, curr_goal, goal->planner_id, ex); - result->error_code = ActionThroughPosesGoal::UNKNOWN; + result->error_code = ActionThroughPosesResult::UNKNOWN; action_server_poses_->terminate_current(result); } } @@ -481,7 +497,7 @@ PlannerServer::computePlan() { std::lock_guard lock(dynamic_params_lock_); - auto start_time = steady_clock_.now(); + auto start_time = this->now(); // Initialize the ComputePathToPose goal and result auto goal = action_server_pose_->get_current_goal(); @@ -509,7 +525,11 @@ PlannerServer::computePlan() throw nav2_core::PlannerTFError("Unable to transform poses to global frame"); } - result->path = getPlan(start, goal_pose, goal->planner_id); + auto cancel_checker = [this]() { + return action_server_pose_->is_cancel_requested(); + }; + + result->path = getPlan(start, goal_pose, goal->planner_id, cancel_checker); if (!validatePath(goal_pose, result->path, goal->planner_id)) { throw nav2_core::NoValidPathCouldBeFound(goal->planner_id + " generated a empty path"); @@ -518,7 +538,7 @@ PlannerServer::computePlan() // Publish the plan for visualization purposes publishPlan(result->path); - auto cycle_duration = steady_clock_.now() - start_time; + auto cycle_duration = this->now() - start_time; result->planning_time = cycle_duration; if (max_planner_duration_ && cycle_duration.seconds() > max_planner_duration_) { @@ -530,39 +550,42 @@ PlannerServer::computePlan() action_server_pose_->succeeded_current(result); } catch (nav2_core::InvalidPlanner & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::INVALID_PLANNER; + result->error_code = ActionToPoseResult::INVALID_PLANNER; action_server_pose_->terminate_current(result); } catch (nav2_core::StartOccupied & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::START_OCCUPIED; + result->error_code = ActionToPoseResult::START_OCCUPIED; action_server_pose_->terminate_current(result); } catch (nav2_core::GoalOccupied & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::GOAL_OCCUPIED; + result->error_code = ActionToPoseResult::GOAL_OCCUPIED; action_server_pose_->terminate_current(result); } catch (nav2_core::NoValidPathCouldBeFound & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::NO_VALID_PATH; + result->error_code = ActionToPoseResult::NO_VALID_PATH; action_server_pose_->terminate_current(result); } catch (nav2_core::PlannerTimedOut & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::TIMEOUT; + result->error_code = ActionToPoseResult::TIMEOUT; action_server_pose_->terminate_current(result); } catch (nav2_core::StartOutsideMapBounds & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::START_OUTSIDE_MAP; + result->error_code = ActionToPoseResult::START_OUTSIDE_MAP; action_server_pose_->terminate_current(result); } catch (nav2_core::GoalOutsideMapBounds & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::GOAL_OUTSIDE_MAP; + result->error_code = ActionToPoseResult::GOAL_OUTSIDE_MAP; action_server_pose_->terminate_current(result); } catch (nav2_core::PlannerTFError & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::TF_ERROR; + result->error_code = ActionToPoseResult::TF_ERROR; action_server_pose_->terminate_current(result); + } catch (nav2_core::PlannerCancelled &) { + RCLCPP_INFO(get_logger(), "Goal was canceled. Canceling planning action."); + action_server_pose_->terminate_all(); } catch (std::exception & ex) { exceptionWarning(start, goal->goal, goal->planner_id, ex); - result->error_code = ActionToPoseGoal::UNKNOWN; + result->error_code = ActionToPoseResult::UNKNOWN; action_server_pose_->terminate_current(result); } } @@ -571,7 +594,8 @@ nav_msgs::msg::Path PlannerServer::getPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal, - const std::string & planner_id) + const std::string & planner_id, + std::function cancel_checker) { RCLCPP_DEBUG( get_logger(), "Attempting to a find path from (%.2f, %.2f) to " @@ -579,14 +603,14 @@ PlannerServer::getPlan( goal.pose.position.x, goal.pose.position.y); if (planners_.find(planner_id) != planners_.end()) { - return planners_[planner_id]->createPlan(start, goal); + return planners_[planner_id]->createPlan(start, goal, cancel_checker); } else { if (planners_.size() == 1 && planner_id.empty()) { RCLCPP_WARN_ONCE( get_logger(), "No planners specified in action call. " "Server will use only plugin %s in server." " This warning will appear once.", planner_ids_concat_.c_str()); - return planners_[planners_.begin()->first]->createPlan(start, goal); + return planners_[planners_.begin()->first]->createPlan(start, goal, cancel_checker); } else { RCLCPP_ERROR( get_logger(), "planner %s is not a valid planner. " @@ -640,20 +664,40 @@ void PlannerServer::isPathValid( /** * The lethal check starts at the closest point to avoid points that have already been passed - * and may have become occupied + * and may have become occupied. The method for collision detection is based on the shape of + * the footprint. */ + std::unique_lock lock(*(costmap_->getMutex())); unsigned int mx = 0; unsigned int my = 0; + + bool use_radius = costmap_ros_->getUseRadius(); + + unsigned int cost = nav2_costmap_2d::FREE_SPACE; for (unsigned int i = closest_point_index; i < request->path.poses.size(); ++i) { - costmap_->worldToMap( - request->path.poses[i].pose.position.x, - request->path.poses[i].pose.position.y, mx, my); - unsigned int cost = costmap_->getCost(mx, my); + auto & position = request->path.poses[i].pose.position; + if (use_radius) { + if (costmap_->worldToMap(position.x, position.y, mx, my)) { + cost = costmap_->getCost(mx, my); + } else { + cost = nav2_costmap_2d::LETHAL_OBSTACLE; + } + } else { + nav2_costmap_2d::Footprint footprint = costmap_ros_->getRobotFootprint(); + auto theta = tf2::getYaw(request->path.poses[i].pose.orientation); + cost = static_cast(collision_checker_->footprintCostAtPose( + position.x, position.y, theta, footprint)); + } - if (cost == nav2_costmap_2d::LETHAL_OBSTACLE || - cost == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE) + if (use_radius && + (cost == nav2_costmap_2d::LETHAL_OBSTACLE || + cost == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) { response->is_valid = false; + break; + } else if (cost == nav2_costmap_2d::LETHAL_OBSTACLE) { + response->is_valid = false; + break; } } } diff --git a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt index 6f84b05382d..e0340a131c9 100644 --- a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt +++ b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(nav2_regulated_pure_pursuit_controller) find_package(ament_cmake REQUIRED) +find_package(angles REQUIRED) find_package(nav2_common REQUIRED) find_package(nav2_core REQUIRED) find_package(nav2_costmap_2d REQUIRED) @@ -26,6 +27,7 @@ set(dependencies nav2_costmap_2d pluginlib nav_msgs + angles nav2_util nav2_core tf2 diff --git a/nav2_regulated_pure_pursuit_controller/README.md b/nav2_regulated_pure_pursuit_controller/README.md index 4ee293ccdb3..acdd0eb1ed9 100644 --- a/nav2_regulated_pure_pursuit_controller/README.md +++ b/nav2_regulated_pure_pursuit_controller/README.md @@ -2,7 +2,7 @@ This is a controller (local trajectory planner) that implements a variant on the pure pursuit algorithm to track a path. This variant we call the Regulated Pure Pursuit Algorithm, due to its additional regulation terms on collision and linear speed. It also implements the basics behind the Adaptive Pure Pursuit algorithm to vary lookahead distances by current speed. It was developed by [Shrijit Singh](https://www.linkedin.com/in/shrijitsingh99/) and [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/) as part of the Nav2 working group. -Code based on a simplified version of this controller is referenced in the [Writing a New Nav2 Controller](https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html) tutorial. +Code based on a simplified version of this controller is referenced in the [Writing a New Nav2 Controller](https://docs.nav2.org/plugin_tutorials/docs/writing_new_nav2controller_plugin.html) tutorial. This plugin implements the `nav2_core::Controller` interface allowing it to be used across the navigation stack as a local trajectory planner in the controller server's action server (`controller_server`). @@ -14,7 +14,20 @@ This controller has been measured to run at well over 1 kHz on a modern intel pr

-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-regulated-pp.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-regulated-pp.html) for additional parameter descriptions. + +If you use the Regulated Pure Pursuit Controller algorithm or software from this repository, please cite this work in your papers! + +- S. Macenski, S. Singh, F. Martin, J. Gines, [**Regulated Pure Pursuit for Robot Path Tracking**](https://arxiv.org/abs/2305.20026). Autonomous Robots, 2023. + +```bibtex +@article{macenski2023regulated, + title={Regulated Pure Pursuit for Robot Path Tracking}, + author={Steve Macenski and Shrijit Singh and Francisco Martin and Jonatan Gines}, + year={2023}, + journal = {Autonomous Robots} +} +``` ## Pure Pursuit Basics @@ -77,7 +90,7 @@ Note: The maximum allowed time to collision is thresholded by the lookahead poin | `rotate_to_heading_min_angle` | The difference in the path orientation and the starting robot orientation to trigger a rotate in place, if `use_rotate_to_heading` is enabled. | | `max_angular_accel` | Maximum allowable angular acceleration while rotating to heading, if enabled | | `max_robot_pose_search_dist` | Maximum integrated distance along the path to bound the search for the closest pose to the robot. This is set by default to the maximum costmap extent, so it shouldn't be set manually unless there are loops within the local costmap. | -| `use_interpolation` | Enables interpolation between poses on the path for lookahead point selection. Helps sparse paths to avoid inducing discontinuous commanded velocities. Set this to false for a potential performance boost, at the expense of smooth control. | +| `interpolate_curvature_after_goal` | Needs use_fixed_curvature_lookahead to be true. Interpolate a carrot after the goal dedicated to the curvate calculation (to avoid oscilaltions at the end of the path) | Example fully-described XML with default parameter values: @@ -88,7 +101,7 @@ controller_server: min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: "goal_checker" controller_plugins: ["FollowPath"] @@ -125,7 +138,7 @@ controller_server: rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 max_robot_pose_search_dist: 10.0 - use_interpolation: false + interpolate_curvature_after_goal: false cost_scaling_dist: 0.3 cost_scaling_gain: 1.0 inflation_cost_scaling_factor: 3.0 diff --git a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp index 8962003d446..d2258ceb80a 100644 --- a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp +++ b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp @@ -53,10 +53,11 @@ struct Parameters double curvature_lookahead_dist; bool use_rotate_to_heading; double max_angular_accel; + double cancel_deceleration; double rotate_to_heading_min_angle; bool allow_reversing; double max_robot_pose_search_dist; - bool use_interpolation; + bool interpolate_curvature_after_goal; bool use_collision_detection; double transform_tolerance; }; diff --git a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp index 22bc0266a66..1e603f3c8bb 100644 --- a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp +++ b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp @@ -58,11 +58,12 @@ class PathHandler * - Outside the local_costmap (collision avoidance cannot be assured) * @param pose pose to transform * @param max_robot_pose_search_dist Distance to search for matching nearest path point + * @param reject_unit_path If true, fail if path has only one pose * @return Path in new frame */ nav_msgs::msg::Path transformGlobalPlan( const geometry_msgs::msg::PoseStamped & pose, - double max_robot_pose_search_dist); + double max_robot_pose_search_dist, bool reject_unit_path = false); /** * @brief Transform a pose to another frame. diff --git a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp index 7b28ca9720e..8176eb0649c 100644 --- a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp +++ b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp @@ -96,6 +96,8 @@ class RegulatedPurePursuitController : public nav2_core::Controller const geometry_msgs::msg::Twist & velocity, nav2_core::GoalChecker * /*goal_checker*/) override; + bool cancel() override; + /** * @brief nav2_core setPlan - Sets the global plan * @param path The global plan @@ -111,6 +113,8 @@ class RegulatedPurePursuitController : public nav2_core::Controller */ void setSpeedLimit(const double & speed_limit, const bool & percentage) override; + void reset() override; + protected: /** * @brief Get lookahead distance @@ -131,10 +135,12 @@ class RegulatedPurePursuitController : public nav2_core::Controller * @brief Whether robot should rotate to rough path heading * @param carrot_pose current lookahead point * @param angle_to_path Angle of robot output relatie to carrot marker + * @param x_vel_sign Velocoty sign (forward or backward) * @return Whether should rotate to path heading */ bool shouldRotateToPath( - const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path); + const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path, + double & x_vel_sign); /** * @brief Whether robot should rotate to final goal orientation @@ -185,9 +191,13 @@ class RegulatedPurePursuitController : public nav2_core::Controller * @brief Get lookahead point * @param lookahead_dist Optimal lookahead distance * @param path Current global path + * @param interpolate_after_goal If true, interpolate the lookahead point after the goal based + * on the orientation given by the position of the last two pose of the path * @return Lookahead point */ - geometry_msgs::msg::PoseStamped getLookAheadPoint(const double &, const nav_msgs::msg::Path &); + geometry_msgs::msg::PoseStamped getLookAheadPoint( + const double &, const nav_msgs::msg::Path &, + bool interpolate_after_goal = false); /** * @brief checks for the cusp position @@ -206,10 +216,14 @@ class RegulatedPurePursuitController : public nav2_core::Controller Parameters * params_; double goal_dist_tol_; double control_duration_; + bool cancelling_ = false; + bool finished_cancelling_ = false; std::shared_ptr> global_path_pub_; std::shared_ptr> carrot_pub_; + std::shared_ptr> + curvature_carrot_pub_; std::shared_ptr> carrot_arc_pub_; std::unique_ptr path_handler_; std::unique_ptr param_handler_; diff --git a/nav2_regulated_pure_pursuit_controller/package.xml b/nav2_regulated_pure_pursuit_controller/package.xml index cffd2c1f499..f55486761fa 100644 --- a/nav2_regulated_pure_pursuit_controller/package.xml +++ b/nav2_regulated_pure_pursuit_controller/package.xml @@ -2,7 +2,7 @@ nav2_regulated_pure_pursuit_controller - 1.1.0 + 1.2.0 Regulated Pure Pursuit Controller Steve Macenski Shrijit Singh @@ -10,6 +10,7 @@ ament_cmake + angles nav2_common nav2_core nav2_util diff --git a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp index 92187376632..a47af13ef04 100644 --- a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp +++ b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp @@ -85,14 +85,16 @@ ParameterHandler::ParameterHandler( node, plugin_name_ + ".rotate_to_heading_min_angle", rclcpp::ParameterValue(0.785)); declare_parameter_if_not_declared( node, plugin_name_ + ".max_angular_accel", rclcpp::ParameterValue(3.2)); + declare_parameter_if_not_declared( + node, plugin_name_ + ".cancel_deceleration", rclcpp::ParameterValue(3.2)); declare_parameter_if_not_declared( node, plugin_name_ + ".allow_reversing", rclcpp::ParameterValue(false)); declare_parameter_if_not_declared( node, plugin_name_ + ".max_robot_pose_search_dist", rclcpp::ParameterValue(costmap_size_x / 2.0)); declare_parameter_if_not_declared( - node, plugin_name_ + ".use_interpolation", - rclcpp::ParameterValue(true)); + node, plugin_name_ + ".interpolate_curvature_after_goal", + rclcpp::ParameterValue(false)); declare_parameter_if_not_declared( node, plugin_name_ + ".use_collision_detection", rclcpp::ParameterValue(true)); @@ -151,6 +153,7 @@ ParameterHandler::ParameterHandler( node->get_parameter( plugin_name_ + ".rotate_to_heading_min_angle", params_.rotate_to_heading_min_angle); node->get_parameter(plugin_name_ + ".max_angular_accel", params_.max_angular_accel); + node->get_parameter(plugin_name_ + ".cancel_deceleration", params_.cancel_deceleration); node->get_parameter(plugin_name_ + ".allow_reversing", params_.allow_reversing); node->get_parameter( plugin_name_ + ".max_robot_pose_search_dist", @@ -163,8 +166,14 @@ ParameterHandler::ParameterHandler( } node->get_parameter( - plugin_name_ + ".use_interpolation", - params_.use_interpolation); + plugin_name_ + ".interpolate_curvature_after_goal", + params_.interpolate_curvature_after_goal); + if (!params_.use_fixed_curvature_lookahead && params_.interpolate_curvature_after_goal) { + RCLCPP_WARN( + logger_, "For interpolate_curvature_after_goal to be set to true, " + "use_fixed_curvature_lookahead should be true, it is currently set to false. Disabling."); + params_.interpolate_curvature_after_goal = false; + } node->get_parameter( plugin_name_ + ".use_collision_detection", params_.use_collision_detection); @@ -176,16 +185,6 @@ ParameterHandler::ParameterHandler( params_.use_cost_regulated_linear_velocity_scaling = false; } - /** Possible to drive in reverse direction if and only if - "use_rotate_to_heading" parameter is set to false **/ - - if (params_.use_rotate_to_heading && params_.allow_reversing) { - RCLCPP_WARN( - logger_, "Disabling reversing. Both use_rotate_to_heading and allow_reversing " - "parameter cannot be set to true. By default setting use_rotate_to_heading true"); - params_.allow_reversing = false; - } - dyn_params_handler_ = node->add_on_set_parameters_callback( std::bind( &ParameterHandler::dynamicParametersCallback, @@ -241,6 +240,8 @@ ParameterHandler::dynamicParametersCallback( params_.regulated_linear_scaling_min_speed = parameter.as_double(); } else if (name == plugin_name_ + ".max_angular_accel") { params_.max_angular_accel = parameter.as_double(); + } else if (name == plugin_name_ + ".cancel_deceleration") { + params_.cancel_deceleration = parameter.as_double(); } else if (name == plugin_name_ + ".rotate_to_heading_min_angle") { params_.rotate_to_heading_min_angle = parameter.as_double(); } @@ -256,12 +257,6 @@ ParameterHandler::dynamicParametersCallback( } else if (name == plugin_name_ + ".use_collision_detection") { params_.use_collision_detection = parameter.as_bool(); } else if (name == plugin_name_ + ".use_rotate_to_heading") { - if (parameter.as_bool() && params_.allow_reversing) { - RCLCPP_WARN( - logger_, "Both use_rotate_to_heading and allow_reversing " - "parameter cannot be set to true. Rejecting parameter update."); - continue; - } params_.use_rotate_to_heading = parameter.as_bool(); } else if (name == plugin_name_ + ".allow_reversing") { if (params_.use_rotate_to_heading && parameter.as_bool()) { diff --git a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp index f4ceec759d2..66b19be3237 100644 --- a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp +++ b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp @@ -47,12 +47,17 @@ double PathHandler::getCostmapMaxExtent() const nav_msgs::msg::Path PathHandler::transformGlobalPlan( const geometry_msgs::msg::PoseStamped & pose, - double max_robot_pose_search_dist) + double max_robot_pose_search_dist, + bool reject_unit_path) { if (global_plan_.poses.empty()) { throw nav2_core::InvalidPath("Received plan with zero length"); } + if (reject_unit_path && global_plan_.poses.size() == 1) { + throw nav2_core::InvalidPath("Received plan with length of one"); + } + // let's get the pose of the robot in the frame of the plan geometry_msgs::msg::PoseStamped robot_pose; if (!transformPose(global_plan_.header.frame_id, pose, robot_pose)) { @@ -73,12 +78,21 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan( return euclidean_distance(robot_pose, ps); }); + // Make sure we always have at least 2 points on the transformed plan and that we don't prune + // the global plan below 2 points in order to have always enough point to interpolate the + // end of path direction + if (global_plan_.poses.begin() != closest_pose_upper_bound && global_plan_.poses.size() > 1 && + transformation_begin == std::prev(closest_pose_upper_bound)) + { + transformation_begin = std::prev(std::prev(closest_pose_upper_bound)); + } + // We'll discard points on the plan that are outside the local costmap const double max_costmap_extent = getCostmapMaxExtent(); auto transformation_end = std::find_if( transformation_begin, global_plan_.poses.end(), - [&](const auto & pose) { - return euclidean_distance(pose, robot_pose) > max_costmap_extent; + [&](const auto & global_plan_pose) { + return euclidean_distance(global_plan_pose, robot_pose) > max_costmap_extent; }); // Lambda to transform a PoseStamped from global frame to local diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp index c40852c445e..c4b3f500ca8 100644 --- a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp +++ b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp @@ -20,6 +20,7 @@ #include #include +#include "angles/angles.h" #include "nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp" #include "nav2_core/controller_exceptions.hpp" #include "nav2_util/node_utils.hpp" @@ -73,6 +74,8 @@ void RegulatedPurePursuitController::configure( global_path_pub_ = node->create_publisher("received_global_plan", 1); carrot_pub_ = node->create_publisher("lookahead_point", 1); + curvature_carrot_pub_ = node->create_publisher( + "curvature_lookahead_point", 1); } void RegulatedPurePursuitController::cleanup() @@ -84,6 +87,7 @@ void RegulatedPurePursuitController::cleanup() plugin_name_.c_str()); global_path_pub_.reset(); carrot_pub_.reset(); + curvature_carrot_pub_.reset(); } void RegulatedPurePursuitController::activate() @@ -95,6 +99,7 @@ void RegulatedPurePursuitController::activate() plugin_name_.c_str()); global_path_pub_->on_activate(); carrot_pub_->on_activate(); + curvature_carrot_pub_->on_activate(); } void RegulatedPurePursuitController::deactivate() @@ -106,6 +111,7 @@ void RegulatedPurePursuitController::deactivate() plugin_name_.c_str()); global_path_pub_->on_deactivate(); carrot_pub_->on_deactivate(); + curvature_carrot_pub_->on_deactivate(); } std::unique_ptr RegulatedPurePursuitController::createCarrotMsg( @@ -157,6 +163,9 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity { std::lock_guard lock_reinit(param_handler_->getMutex()); + nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap(); + std::unique_lock lock(*(costmap->getMutex())); + // Update for the current goal checker's state geometry_msgs::msg::Pose pose_tolerance; geometry_msgs::msg::Twist vel_tolerance; @@ -168,7 +177,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity // Transform path to robot base frame auto transformed_plan = path_handler_->transformGlobalPlan( - pose, params_->max_robot_pose_search_dist); + pose, params_->max_robot_pose_search_dist, params_->interpolate_curvature_after_goal); global_path_pub_->publish(transformed_plan); // Find look ahead distance and point on path and publish @@ -187,6 +196,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity // Get the particular point on the path at the lookahead distance auto carrot_pose = getLookAheadPoint(lookahead_dist, transformed_plan); + auto rotate_to_path_carrot_pose = carrot_pose; carrot_pub_->publish(createCarrotMsg(carrot_pose)); double linear_vel, angular_vel; @@ -197,33 +207,56 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity if (params_->use_fixed_curvature_lookahead) { auto curvature_lookahead_pose = getLookAheadPoint( params_->curvature_lookahead_dist, - transformed_plan); + transformed_plan, params_->interpolate_curvature_after_goal); + rotate_to_path_carrot_pose = curvature_lookahead_pose; regulation_curvature = calculateCurvature(curvature_lookahead_pose.pose.position); + curvature_carrot_pub_->publish(createCarrotMsg(curvature_lookahead_pose)); } // Setting the velocity direction - double sign = 1.0; + double x_vel_sign = 1.0; if (params_->allow_reversing) { - sign = carrot_pose.pose.position.x >= 0.0 ? 1.0 : -1.0; + x_vel_sign = carrot_pose.pose.position.x >= 0.0 ? 1.0 : -1.0; } linear_vel = params_->desired_linear_vel; // Make sure we're in compliance with basic constraints + // For shouldRotateToPath, using x_vel_sign in order to support allow_reversing + // and rotate_to_path_carrot_pose for the direction carrot pose: + // - equal to "normal" carrot_pose when curvature_lookahead_pose = false + // - otherwise equal to curvature_lookahead_pose (which can be interpolated after goal) double angle_to_heading; if (shouldRotateToGoalHeading(carrot_pose)) { double angle_to_goal = tf2::getYaw(transformed_plan.poses.back().pose.orientation); rotateToHeading(linear_vel, angular_vel, angle_to_goal, speed); - } else if (shouldRotateToPath(carrot_pose, angle_to_heading)) { + } else if (shouldRotateToPath(rotate_to_path_carrot_pose, angle_to_heading, x_vel_sign)) { rotateToHeading(linear_vel, angular_vel, angle_to_heading, speed); } else { applyConstraints( regulation_curvature, speed, collision_checker_->costAtPose(pose.pose.position.x, pose.pose.position.y), transformed_plan, - linear_vel, sign); + linear_vel, x_vel_sign); + + if (cancelling_) { + const double & dt = control_duration_; + linear_vel = speed.linear.x - x_vel_sign * dt * params_->cancel_deceleration; + + if (x_vel_sign > 0) { + if (linear_vel <= 0) { + linear_vel = 0; + finished_cancelling_ = true; + } + } else { + if (linear_vel >= 0) { + linear_vel = 0; + finished_cancelling_ = true; + } + } + } // Apply curvature to angular velocity after constraining linear velocity - angular_vel = linear_vel * lookahead_curvature; + angular_vel = linear_vel * regulation_curvature; } // Collision checking on this velocity heading @@ -242,11 +275,22 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity return cmd_vel; } +bool RegulatedPurePursuitController::cancel() +{ + cancelling_ = true; + return finished_cancelling_; +} + bool RegulatedPurePursuitController::shouldRotateToPath( - const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path) + const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path, + double & x_vel_sign) { // Whether we should rotate robot to rough path heading angle_to_path = atan2(carrot_pose.pose.position.y, carrot_pose.pose.position.x); + // In case we are reversing + if (x_vel_sign < 0.0) { + angle_to_path = angles::normalize_angle(angle_to_path + M_PI); + } return params_->use_rotate_to_heading && fabs(angle_to_path) > params_->rotate_to_heading_min_angle; } @@ -311,7 +355,8 @@ geometry_msgs::msg::Point RegulatedPurePursuitController::circleSegmentIntersect geometry_msgs::msg::PoseStamped RegulatedPurePursuitController::getLookAheadPoint( const double & lookahead_dist, - const nav_msgs::msg::Path & transformed_plan) + const nav_msgs::msg::Path & transformed_plan, + bool interpolate_after_goal) { // Find the first pose which is at a distance greater than the lookahead distance auto goal_pose_it = std::find_if( @@ -321,8 +366,33 @@ geometry_msgs::msg::PoseStamped RegulatedPurePursuitController::getLookAheadPoin // If the no pose is not far enough, take the last pose if (goal_pose_it == transformed_plan.poses.end()) { - goal_pose_it = std::prev(transformed_plan.poses.end()); - } else if (params_->use_interpolation && goal_pose_it != transformed_plan.poses.begin()) { + if (interpolate_after_goal) { + auto last_pose_it = std::prev(transformed_plan.poses.end()); + auto prev_last_pose_it = std::prev(last_pose_it); + + double end_path_orientation = atan2( + last_pose_it->pose.position.y - prev_last_pose_it->pose.position.y, + last_pose_it->pose.position.x - prev_last_pose_it->pose.position.x); + + // Project the last segment out to guarantee it is beyond the look ahead + // distance + auto projected_position = last_pose_it->pose.position; + projected_position.x += cos(end_path_orientation) * lookahead_dist; + projected_position.y += sin(end_path_orientation) * lookahead_dist; + + // Use the circle intersection to find the position at the correct look + // ahead distance + const auto interpolated_position = circleSegmentIntersection( + last_pose_it->pose.position, projected_position, lookahead_dist); + + geometry_msgs::msg::PoseStamped interpolated_pose; + interpolated_pose.header = last_pose_it->header; + interpolated_pose.pose.position = interpolated_position; + return interpolated_pose; + } else { + goal_pose_it = std::prev(transformed_plan.poses.end()); + } + } else if (goal_pose_it != transformed_plan.poses.begin()) { // Find the point on the line segment between the two poses // that is exactly the lookahead distance away from the robot pose (the origin) // This can be found with a closed form for the intersection of a segment and a circle @@ -398,6 +468,12 @@ void RegulatedPurePursuitController::setSpeedLimit( } } +void RegulatedPurePursuitController::reset() +{ + cancelling_ = false; + finished_cancelling_ = false; +} + double RegulatedPurePursuitController::findVelocitySignChange( const nav_msgs::msg::Path & transformed_plan) { @@ -416,13 +492,30 @@ double RegulatedPurePursuitController::findVelocitySignChange( /* Checking for the existance of cusp, in the path, using the dot product and determine it's distance from the robot. If there is no cusp in the path, then just determine the distance to the goal location. */ - if ( (oa_x * ab_x) + (oa_y * ab_y) < 0.0) { + const double dot_prod = (oa_x * ab_x) + (oa_y * ab_y); + if (dot_prod < 0.0) { // returning the distance if there is a cusp // The transformed path is in the robots frame, so robot is at the origin return hypot( transformed_plan.poses[pose_id].pose.position.x, transformed_plan.poses[pose_id].pose.position.y); } + + if ( + (hypot(oa_x, oa_y) == 0.0 && + transformed_plan.poses[pose_id - 1].pose.orientation != + transformed_plan.poses[pose_id].pose.orientation) + || + (hypot(ab_x, ab_y) == 0.0 && + transformed_plan.poses[pose_id].pose.orientation != + transformed_plan.poses[pose_id + 1].pose.orientation)) + { + // returning the distance since the points overlap + // but are not simply duplicate points (e.g. in place rotation) + return hypot( + transformed_plan.poses[pose_id].pose.position.x, + transformed_plan.poses[pose_id].pose.position.y); + } } return std::numeric_limits::max(); diff --git a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp index 09892755d93..38cc195bc61 100644 --- a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp +++ b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp @@ -68,6 +68,14 @@ class BasicAPIRPP : public nav2_regulated_pure_pursuit_controller::RegulatedPure return circleSegmentIntersection(p1, p2, r); } + geometry_msgs::msg::PoseStamped + projectCarrotPastGoalWrapper( + const double & dist, + const nav_msgs::msg::Path & path) + { + return getLookAheadPoint(dist, path, true); + } + geometry_msgs::msg::PoseStamped getLookAheadPointWrapper( const double & dist, const nav_msgs::msg::Path & path) { @@ -77,7 +85,8 @@ class BasicAPIRPP : public nav2_regulated_pure_pursuit_controller::RegulatedPure bool shouldRotateToPathWrapper( const geometry_msgs::msg::PoseStamped & carrot_pose, double & angle_to_path) { - return shouldRotateToPath(carrot_pose, angle_to_path); + double x_vel_sign = 1.0; + return shouldRotateToPath(carrot_pose, angle_to_path, x_vel_sign); } bool shouldRotateToGoalHeadingWrapper(const geometry_msgs::msg::PoseStamped & carrot_pose) @@ -330,6 +339,115 @@ INSTANTIATE_TEST_SUITE_P( } )); +TEST(RegulatedPurePursuitTest, projectCarrotPastGoal) { + auto ctrl = std::make_shared(); + auto node = std::make_shared("testRPP"); + std::string name = "PathFollower"; + auto tf = std::make_shared(node->get_clock()); + auto costmap = + std::make_shared("fake_costmap"); + rclcpp_lifecycle::State state; + costmap->on_configure(state); + ctrl->configure(node, name, tf, costmap); + + double EPSILON = std::numeric_limits::epsilon(); + + nav_msgs::msg::Path path; + // More than 2 poses + path.poses.resize(4); + path.poses[0].pose.position.x = 0.0; + path.poses[1].pose.position.x = 1.0; + path.poses[2].pose.position.x = 2.0; + path.poses[3].pose.position.x = 3.0; + auto pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, 0.0, EPSILON); + + // 2 poses fwd + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = 2.0; + path.poses[1].pose.position.x = 3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, 0.0, EPSILON); + + // 2 poses at 45° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = 2.0; + path.poses[0].pose.position.y = 2.0; + path.poses[1].pose.position.x = 3.0; + path.poses[1].pose.position.y = 3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(45.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(45.0 * M_PI / 180) * 10.0, EPSILON); + + // 2 poses at 90° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = 0.0; + path.poses[0].pose.position.y = 2.0; + path.poses[1].pose.position.x = 0.0; + path.poses[1].pose.position.y = 3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(90.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(90.0 * M_PI / 180) * 10.0, EPSILON); + + // 2 poses at 135° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = -2.0; + path.poses[0].pose.position.y = 2.0; + path.poses[1].pose.position.x = -3.0; + path.poses[1].pose.position.y = 3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(135.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(135.0 * M_PI / 180) * 10.0, EPSILON); + + // 2 poses bck + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = -2.0; + path.poses[1].pose.position.x = -3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, -10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, 0.0, EPSILON); + + // 2 poses at -135° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = -2.0; + path.poses[0].pose.position.y = -2.0; + path.poses[1].pose.position.x = -3.0; + path.poses[1].pose.position.y = -3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(-135.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(-135.0 * M_PI / 180) * 10.0, EPSILON); + + // 2 poses at -90° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = 0.0; + path.poses[0].pose.position.y = -2.0; + path.poses[1].pose.position.x = 0.0; + path.poses[1].pose.position.y = -3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(-90.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(-90.0 * M_PI / 180) * 10.0, EPSILON); + + // 2 poses at -45° + path.poses.clear(); + path.poses.resize(2); + path.poses[0].pose.position.x = 2.0; + path.poses[0].pose.position.y = -2.0; + path.poses[1].pose.position.x = 3.0; + path.poses[1].pose.position.y = -3.0; + pt = ctrl->projectCarrotPastGoalWrapper(10.0, path); + EXPECT_NEAR(pt.pose.position.x, cos(-45.0 * M_PI / 180) * 10.0, EPSILON); + EXPECT_NEAR(pt.pose.position.y, sin(-45.0 * M_PI / 180) * 10.0, EPSILON); +} + TEST(RegulatedPurePursuitTest, lookaheadAPI) { auto ctrl = std::make_shared(); @@ -379,26 +497,7 @@ TEST(RegulatedPurePursuitTest, lookaheadAPI) auto pt = ctrl->getLookAheadPointWrapper(dist, path); EXPECT_EQ(pt.pose.position.x, 1.0); - // test getting next closest point without interpolation - node->set_parameter( - rclcpp::Parameter( - name + ".use_interpolation", - rclcpp::ParameterValue(false))); - ctrl->configure(node, name, tf, costmap); - dist = 3.8; - pt = ctrl->getLookAheadPointWrapper(dist, path); - EXPECT_EQ(pt.pose.position.x, 4.0); - - // test end of path - dist = 100.0; - pt = ctrl->getLookAheadPointWrapper(dist, path); - EXPECT_EQ(pt.pose.position.x, 9.0); - // test interpolation - node->set_parameter( - rclcpp::Parameter( - name + ".use_interpolation", - rclcpp::ParameterValue(true))); ctrl->configure(node, name, tf, costmap); dist = 3.8; pt = ctrl->getLookAheadPointWrapper(dist, path); diff --git a/nav2_rotation_shim_controller/README.md b/nav2_rotation_shim_controller/README.md index ced9c94cb4e..8858e20c4dd 100644 --- a/nav2_rotation_shim_controller/README.md +++ b/nav2_rotation_shim_controller/README.md @@ -23,7 +23,7 @@ This plugin implements the `nav2_core::Controller` interface allowing it to be u

-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-rotation-shim-controller.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-rotation-shim-controller.html) for additional parameter descriptions. ## Configuration @@ -45,7 +45,7 @@ controller_server: min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: "goal_checker" controller_plugins: ["FollowPath"] diff --git a/nav2_rotation_shim_controller/package.xml b/nav2_rotation_shim_controller/package.xml index a92ba01bb06..8ebde04ed5a 100644 --- a/nav2_rotation_shim_controller/package.xml +++ b/nav2_rotation_shim_controller/package.xml @@ -2,7 +2,7 @@ nav2_rotation_shim_controller - 1.1.0 + 1.2.0 Rotation Shim Controller Steve Macenski Apache-2.0 diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp index 7d32283db7c..5097a1fc9cd 100644 --- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp +++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp @@ -140,6 +140,9 @@ geometry_msgs::msg::TwistStamped RotationShimController::computeVelocityCommands nav2_core::GoalChecker * goal_checker) { if (path_updated_) { + nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap(); + std::unique_lock lock(*(costmap->getMutex())); + std::lock_guard lock_reinit(mutex_); try { geometry_msgs::msg::Pose sampled_pt_base = transformPoseToBaseFrame(getSampledPathPt()); @@ -192,10 +195,7 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathPt() } } - throw nav2_core::ControllerException( - std::string( - "Unable to find a sampling point at least %0.2f from the robot," - "passing off to primary controller plugin.", forward_sampling_distance_)); + return current_path_.poses.back(); } geometry_msgs::msg::Pose diff --git a/nav2_rotation_shim_controller/test/test_shim_controller.cpp b/nav2_rotation_shim_controller/test/test_shim_controller.cpp index e1bc30f80ec..1c172436e68 100644 --- a/nav2_rotation_shim_controller/test/test_shim_controller.cpp +++ b/nav2_rotation_shim_controller/test/test_shim_controller.cpp @@ -109,7 +109,7 @@ TEST(RotationShimControllerTest, lifecycleTransitions) ctrl->activate(); - ctrl->setSpeedLimit(50.0, 2.0); + ctrl->setSpeedLimit(50.0, true); ctrl->deactivate(); ctrl->cleanup(); diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt index c683dffb63f..9bf25cd9526 100644 --- a/nav2_rviz_plugins/CMakeLists.txt +++ b/nav2_rviz_plugins/CMakeLists.txt @@ -6,7 +6,7 @@ if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic -Werror) endif() @@ -38,6 +38,7 @@ set(nav2_rviz_plugins_headers_to_moc include/nav2_rviz_plugins/goal_common.hpp include/nav2_rviz_plugins/goal_tool.hpp include/nav2_rviz_plugins/nav2_panel.hpp + include/nav2_rviz_plugins/selector.hpp include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp ) @@ -51,6 +52,7 @@ set(library_name ${PROJECT_NAME}) add_library(${library_name} SHARED src/goal_tool.cpp src/nav2_panel.cpp + src/selector.cpp src/particle_cloud_display/flat_weighted_arrows_array.cpp src/particle_cloud_display/particle_cloud_display.cpp ${nav2_rviz_plugins_headers_to_moc} diff --git a/nav2_rviz_plugins/include/nav2_rviz_plugins/selector.hpp b/nav2_rviz_plugins/include/nav2_rviz_plugins/selector.hpp new file mode 100644 index 00000000000..0301b893995 --- /dev/null +++ b/nav2_rviz_plugins/include/nav2_rviz_plugins/selector.hpp @@ -0,0 +1,109 @@ +// Copyright (c) 2024 Neobotix GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_RVIZ_PLUGINS__SELECTOR_HPP_ +#define NAV2_RVIZ_PLUGINS__SELECTOR_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "rviz_common/panel.hpp" +#include "vector" +#include "memory" +#include "string" +#include "std_msgs/msg/string.hpp" + +class QPushButton; + +namespace nav2_rviz_plugins +{ +class Selector : public rviz_common::Panel +{ + Q_OBJECT + +public: + explicit Selector(QWidget * parent = 0); + ~Selector(); + +private: + // The (non-spinning) client node used to invoke the action client + void timerEvent(QTimerEvent * event) override; + + rclcpp::Node::SharedPtr client_node_; + rclcpp::Publisher::SharedPtr pub_controller_; + rclcpp::Publisher::SharedPtr pub_planner_; + rclcpp::Publisher::SharedPtr pub_goal_checker_; + rclcpp::Publisher::SharedPtr pub_smoother_; + rclcpp::Publisher::SharedPtr pub_progress_checker_; + rclcpp::TimerBase::SharedPtr rclcpp_timer_; + + bool plugins_loaded_ = false; + bool server_failed_ = false; + bool tried_once_ = false; + + QBasicTimer timer_; + QVBoxLayout * main_layout_; + QHBoxLayout * row_1_layout_; + QHBoxLayout * row_2_layout_; + QHBoxLayout * row_3_layout_; + QHBoxLayout * row_1_label_layout_; + QHBoxLayout * row_2_label_layout_; + QHBoxLayout * row_3_label_layout_; + QComboBox * controller_; + QComboBox * planner_; + QComboBox * goal_checker_; + QComboBox * smoother_; + QComboBox * progress_checker_; + + void setController(); + void setPlanner(); + void setGoalChecker(); + void setSmoother(); + void setProgressChecker(); + + /* + * @brief Load the avaialble plugins into the combo box + * @param node The node to use for loading the plugins + * @param server_name The name of the server to load plugins for + * @param plugin_type The type of plugin to load + * @param combo_box The combo box to add the loaded plugins to + */ + void pluginLoader( + rclcpp::Node::SharedPtr node, + const std::string & server_name, + const std::string & plugin_type, + QComboBox * combo_box); + + /* + * @brief Set the selection from the combo box + * @param combo_box The combo box to set the selection for + * @param publisher Publish the selected plugin + */ + void setSelection( + QComboBox * combo_box, + rclcpp::Publisher::SharedPtr publisher); + +protected: + QVBoxLayout * layout1 = new QVBoxLayout; +}; + +} // namespace nav2_rviz_plugins + +#endif // NAV2_RVIZ_PLUGINS__SELECTOR_HPP_ diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml index ca75af5cd74..b4d0a8ed01f 100644 --- a/nav2_rviz_plugins/package.xml +++ b/nav2_rviz_plugins/package.xml @@ -2,7 +2,7 @@ nav2_rviz_plugins - 1.1.0 + 1.2.0 Navigation 2 plugins for rviz Michael Jeronimo Apache-2.0 @@ -25,6 +25,7 @@ rviz_rendering std_msgs tf2_geometry_msgs + urdf visualization_msgs yaml_cpp_vendor diff --git a/nav2_rviz_plugins/plugins_description.xml b/nav2_rviz_plugins/plugins_description.xml index 197a9a750d7..5597636190d 100644 --- a/nav2_rviz_plugins/plugins_description.xml +++ b/nav2_rviz_plugins/plugins_description.xml @@ -12,6 +12,12 @@ The Nav2 rviz panel. + + The Nav2 rviz panel for selecting planners and controllers. + + diff --git a/nav2_rviz_plugins/src/nav2_panel.cpp b/nav2_rviz_plugins/src/nav2_panel.cpp index 478bd109d16..f7ce1d82209 100644 --- a/nav2_rviz_plugins/src/nav2_panel.cpp +++ b/nav2_rviz_plugins/src/nav2_panel.cpp @@ -451,7 +451,7 @@ Nav2Panel::Nav2Panel(QWidget * parent) accumulated_nav_through_poses_->addTransition(accumulatedNTPTransition); auto options = rclcpp::NodeOptions().arguments( - {"--ros-args --remap __node:=navigation_dialog_action_client"}); + {"--ros-args", "--remap", "__node:=rviz_navigation_dialog_action_client", "--"}); client_node_ = std::make_shared("_", options); client_nav_ = std::make_shared( @@ -710,7 +710,7 @@ geometry_msgs::msg::PoseStamped Nav2Panel::convert_to_msg( auto msg = geometry_msgs::msg::PoseStamped(); msg.header.frame_id = "map"; - msg.header.stamp = rclcpp::Clock().now(); + // msg.header.stamp = client_node_->now(); // client node doesn't respect sim time yet msg.pose.position.x = pose[0]; msg.pose.position.y = pose[1]; @@ -948,7 +948,7 @@ Nav2Panel::onNewGoal(double x, double y, double theta, QString frame) { auto pose = geometry_msgs::msg::PoseStamped(); - pose.header.stamp = rclcpp::Clock().now(); + // pose.header.stamp = client_node_->now(); // client node doesn't respect sim time yet pose.header.frame_id = frame.toStdString(); pose.pose.position.x = x; pose.pose.position.y = y; diff --git a/nav2_rviz_plugins/src/selector.cpp b/nav2_rviz_plugins/src/selector.cpp new file mode 100644 index 00000000000..1df075f82d3 --- /dev/null +++ b/nav2_rviz_plugins/src/selector.cpp @@ -0,0 +1,226 @@ +// Copyright (c) 2024 Neobotix GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "nav2_rviz_plugins/selector.hpp" +#include "rviz_common/display_context.hpp" + +using namespace std::chrono_literals; + +namespace nav2_rviz_plugins +{ +Selector::Selector(QWidget * parent) +: Panel(parent) +{ + client_node_ = std::make_shared("nav2_rviz_selector_node"); + rclcpp::QoS qos(rclcpp::KeepLast(1)); + qos.transient_local().reliable(); + + pub_controller_ = + client_node_->create_publisher("controller_selector", qos); + pub_planner_ = client_node_->create_publisher("planner_selector", qos); + pub_goal_checker_ = + client_node_->create_publisher("goal_checker_selector", qos); + pub_smoother_ = client_node_->create_publisher("smoother_selector", qos); + pub_progress_checker_ = + client_node_->create_publisher("progress_checker_selector", qos); + + main_layout_ = new QVBoxLayout; + row_1_label_layout_ = new QHBoxLayout; + row_2_label_layout_ = new QHBoxLayout; + row_3_label_layout_ = new QHBoxLayout; + row_1_layout_ = new QHBoxLayout; + row_2_layout_ = new QHBoxLayout; + row_3_layout_ = new QHBoxLayout; + controller_ = new QComboBox; + planner_ = new QComboBox; + goal_checker_ = new QComboBox; + smoother_ = new QComboBox; + progress_checker_ = new QComboBox; + + main_layout_->setContentsMargins(10, 10, 10, 10); + + row_1_label_layout_->addWidget(new QLabel("Controller")); + row_1_layout_->addWidget(controller_); + row_1_label_layout_->addWidget(new QLabel("Planner")); + row_1_layout_->addWidget(planner_); + row_2_label_layout_->addWidget(new QLabel("Goal Checker")); + row_2_layout_->addWidget(goal_checker_); + row_2_label_layout_->addWidget(new QLabel("Smoother")); + row_2_layout_->addWidget(smoother_); + row_3_label_layout_->addWidget(new QLabel("Progress Checker")); + row_3_layout_->addWidget(progress_checker_); + + main_layout_->addLayout(row_1_label_layout_); + main_layout_->addLayout(row_1_layout_); + main_layout_->addLayout(row_2_label_layout_); + main_layout_->addLayout(row_2_layout_); + main_layout_->addLayout(row_3_label_layout_); + main_layout_->addLayout(row_3_layout_); + + setLayout(main_layout_); + timer_.start(200, this); + + connect( + controller_, QOverload::of(&QComboBox::activated), this, + &Selector::setController); + + connect( + planner_, QOverload::of(&QComboBox::activated), this, + &Selector::setPlanner); + + connect( + goal_checker_, QOverload::of(&QComboBox::activated), this, + &Selector::setGoalChecker); + + connect( + smoother_, QOverload::of(&QComboBox::activated), this, + &Selector::setSmoother); + + connect( + progress_checker_, QOverload::of(&QComboBox::activated), this, + &Selector::setProgressChecker); +} + +Selector::~Selector() +{ +} + +// Publish the selected controller or planner +void Selector::setSelection( + QComboBox * combo_box, rclcpp::Publisher::SharedPtr publisher) +{ + // If "default" option is selected, it gets removed and the next item is selected + if (combo_box->findText("Default") != -1) { + combo_box->removeItem(0); + } + + // if there are no plugins available, return + if (combo_box->count() == 0) { + return; + } + + std_msgs::msg::String msg; + msg.data = combo_box->currentText().toStdString(); + + publisher->publish(msg); + timer_.start(200, this); +} + +// Call setSelection() for controller +void Selector::setController() +{ + setSelection(controller_, pub_controller_); +} + +// Call setSelection() for planner +void Selector::setPlanner() +{ + setSelection(planner_, pub_planner_); +} + +// Call setSelection() for goal checker +void Selector::setGoalChecker() +{ + setSelection(goal_checker_, pub_goal_checker_); +} + +// Call setSelection() for smoother +void Selector::setSmoother() +{ + setSelection(smoother_, pub_smoother_); +} + +void Selector::setProgressChecker() +{ + setSelection(progress_checker_, pub_progress_checker_); +} + +// Load the available plugins into the combo box +void Selector::pluginLoader( + rclcpp::Node::SharedPtr node, + const std::string & server_name, + const std::string & plugin_type, + QComboBox * combo_box) +{ + auto parameter_client = std::make_shared(node, server_name); + + // Do not load the plugins if the combo box is already populated + if (combo_box->count() > 0) { + return; + } + + // Wait for the service to be available before calling it + bool server_unavailable = false; + while (!parameter_client->wait_for_service(1s)) { + if (!rclcpp::ok()) { + RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for the service. Exiting."); + rclcpp::shutdown(); + } + RCLCPP_INFO( + node->get_logger(), + "%s service not available", server_name.c_str()); + server_unavailable = true; + server_failed_ = true; + break; + } + + // Loading the plugins into the combo box + if (!plugins_loaded_) { + // If server unavaialble, let the combo box be empty + if (server_unavailable) { + return; + } + combo_box->addItem("Default"); + auto parameters = parameter_client->get_parameters({plugin_type}); + auto str_arr = parameters[0].as_string_array(); + for (auto str : str_arr) { + combo_box->addItem(QString::fromStdString(str)); + } + combo_box->setCurrentText("Default"); + } +} + +void +Selector::timerEvent(QTimerEvent * event) +{ + if (event->timerId() == timer_.timerId()) { + if (!plugins_loaded_) { + pluginLoader(client_node_, "controller_server", "controller_plugins", controller_); + pluginLoader(client_node_, "planner_server", "planner_plugins", planner_); + pluginLoader(client_node_, "controller_server", "goal_checker_plugins", goal_checker_); + pluginLoader(client_node_, "smoother_server", "smoother_plugins", smoother_); + pluginLoader( + client_node_, "controller_server", "progress_checker_plugins", + progress_checker_); + + plugins_loaded_ = true; + } + + // Restart the timer if the one of the server fails + if (server_failed_ && !tried_once_) { + RCLCPP_INFO(client_node_->get_logger(), "Retrying to connect to the failed server."); + server_failed_ = false; + plugins_loaded_ = false; + tried_once_ = true; + timer_.start(200, this); + return; + } + + timer_.stop(); + } +} + +} // namespace nav2_rviz_plugins +#include "pluginlib/class_list_macros.hpp" +PLUGINLIB_EXPORT_CLASS(nav2_rviz_plugins::Selector, rviz_common::Panel) diff --git a/nav2_simple_commander/README.md b/nav2_simple_commander/README.md index a43fab366e1..668fd9fe7c8 100644 --- a/nav2_simple_commander/README.md +++ b/nav2_simple_commander/README.md @@ -10,10 +10,12 @@ This was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41 ## API -See its [API Guide Page](https://navigation.ros.org/commander_api/index.html) for additional parameter descriptions. +See its [API Guide Page](https://docs.nav2.org/commander_api/index.html) for additional parameter descriptions. The methods provided by the basic navigator are shown below, with inputs and expected returns. If a server fails, it may throw an exception or return a `None` object, so please be sure to properly wrap your navigation calls in try/catch and check results for `None` type. +New as of September 2023: the simple navigator constructor will accept a `namespace` field to support multi-robot applications or namespaced Nav2 launches. + | Robot Navigator Method | Description | | --------------------------------- | -------------------------------------------------------------------------- | | setInitialPose(initial_pose) | Sets the initial pose (`PoseStamped`) of the robot to localization. | diff --git a/nav2_simple_commander/launch/assisted_teleop_example_launch.py b/nav2_simple_commander/launch/assisted_teleop_example_launch.py index cd37de2bdff..3324b0ee4e1 100644 --- a/nav2_simple_commander/launch/assisted_teleop_example_launch.py +++ b/nav2_simple_commander/launch/assisted_teleop_example_launch.py @@ -18,7 +18,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -39,24 +43,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -64,28 +70,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='example_assisted_teleop', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/follow_path_example_launch.py b/nav2_simple_commander/launch/follow_path_example_launch.py index e933ed421cd..b4fe9b586fd 100644 --- a/nav2_simple_commander/launch/follow_path_example_launch.py +++ b/nav2_simple_commander/launch/follow_path_example_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='example_follow_path', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/inspection_demo_launch.py b/nav2_simple_commander/launch/inspection_demo_launch.py index 43456f6398b..285f26099ea 100644 --- a/nav2_simple_commander/launch/inspection_demo_launch.py +++ b/nav2_simple_commander/launch/inspection_demo_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='demo_inspection', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/nav_through_poses_example_launch.py b/nav2_simple_commander/launch/nav_through_poses_example_launch.py index 0c9fedaad99..e8b0fefba0b 100644 --- a/nav2_simple_commander/launch/nav_through_poses_example_launch.py +++ b/nav2_simple_commander/launch/nav_through_poses_example_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='example_nav_through_poses', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/nav_to_pose_example_launch.py b/nav2_simple_commander/launch/nav_to_pose_example_launch.py index d4259494092..29aeddebd16 100644 --- a/nav2_simple_commander/launch/nav_to_pose_example_launch.py +++ b/nav2_simple_commander/launch/nav_to_pose_example_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='example_nav_to_pose', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/picking_demo_launch.py b/nav2_simple_commander/launch/picking_demo_launch.py index 5fce5701069..8505b6bbc32 100644 --- a/nav2_simple_commander/launch/picking_demo_launch.py +++ b/nav2_simple_commander/launch/picking_demo_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='demo_picking', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/recoveries_example_launch.py b/nav2_simple_commander/launch/recoveries_example_launch.py index d7b419711eb..638550c44e4 100644 --- a/nav2_simple_commander/launch/recoveries_example_launch.py +++ b/nav2_simple_commander/launch/recoveries_example_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='demo_recoveries', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/security_demo_launch.py b/nav2_simple_commander/launch/security_demo_launch.py index c04de67d451..a958a75f734 100644 --- a/nav2_simple_commander/launch/security_demo_launch.py +++ b/nav2_simple_commander/launch/security_demo_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='demo_security', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/launch/waypoint_follower_example_launch.py b/nav2_simple_commander/launch/waypoint_follower_example_launch.py index 343017c0e47..f164035e3b9 100644 --- a/nav2_simple_commander/launch/waypoint_follower_example_launch.py +++ b/nav2_simple_commander/launch/waypoint_follower_example_launch.py @@ -17,7 +17,11 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, +) from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PythonExpression @@ -38,24 +42,26 @@ def generate_launch_description(): # Declare the launch arguments declare_use_rviz_cmd = DeclareLaunchArgument( - 'use_rviz', - default_value='True', - description='Whether to start RVIZ') + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) declare_simulator_cmd = DeclareLaunchArgument( - 'headless', - default_value='False', - description='Whether to execute gzclient)') + 'headless', default_value='False', description='Whether to execute gzclient)' + ) # start the simulation start_gazebo_server_cmd = ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_factory.so', world], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) start_gazebo_client_cmd = ExecuteProcess( condition=IfCondition(PythonExpression(['not ', headless])), cmd=['gzclient'], - cwd=[warehouse_dir], output='screen') + cwd=[warehouse_dir], + output='screen', + ) urdf = os.path.join(nav2_bringup_dir, 'urdf', 'turtlebot3_waffle.urdf') start_robot_state_publisher_cmd = Node( @@ -63,28 +69,33 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - arguments=[urdf]) + arguments=[urdf], + ) # start the visualization rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), condition=IfCondition(use_rviz), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) # start navigation bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={'map': map_yaml_file}.items(), + ) # start the demo autonomy task demo_cmd = Node( package='nav2_simple_commander', executable='example_waypoint_follower', emulate_tty=True, - output='screen') + output='screen', + ) ld = LaunchDescription() ld.add_action(declare_use_rviz_cmd) diff --git a/nav2_simple_commander/nav2_simple_commander/costmap_2d.py b/nav2_simple_commander/nav2_simple_commander/costmap_2d.py index 1ae7e808b6a..ad4014522aa 100644 --- a/nav2_simple_commander/nav2_simple_commander/costmap_2d.py +++ b/nav2_simple_commander/nav2_simple_commander/costmap_2d.py @@ -37,10 +37,14 @@ def __init__(self, occupancy_map): """ Initialize costmap2D. - Args: + Args ---- occupancy_map (OccupancyGrid): 2D OccupancyGrid Map + Returns + ------- + None + """ self.size_x = occupancy_map.info.width self.size_y = occupancy_map.info.height diff --git a/nav2_simple_commander/nav2_simple_commander/demo_inspection.py b/nav2_simple_commander/nav2_simple_commander/demo_inspection.py index 429e11b68f8..5f6d04769a0 100644 --- a/nav2_simple_commander/nav2_simple_commander/demo_inspection.py +++ b/nav2_simple_commander/nav2_simple_commander/demo_inspection.py @@ -41,7 +41,8 @@ def main(): [3.661, -4.121], [5.431, -4.121], [3.661, -5.850], - [5.431, -5.800]] + [5.431, -5.800], + ] # Set our demo's initial pose initial_pose = PoseStamped() @@ -76,8 +77,12 @@ def main(): i += 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Executing current waypoint: ' + - str(feedback.current_waypoint + 1) + '/' + str(len(inspection_points))) + print( + 'Executing current waypoint: ' + + str(feedback.current_waypoint + 1) + + '/' + + str(len(inspection_points)) + ) result = navigator.getResult() if result == TaskResult.SUCCEEDED: diff --git a/nav2_simple_commander/nav2_simple_commander/demo_picking.py b/nav2_simple_commander/nav2_simple_commander/demo_picking.py index 6a7a177acb1..48c0551c2cd 100644 --- a/nav2_simple_commander/nav2_simple_commander/demo_picking.py +++ b/nav2_simple_commander/nav2_simple_commander/demo_picking.py @@ -25,14 +25,16 @@ 'shelf_A': [-3.829, -7.604], 'shelf_B': [-3.791, -3.287], 'shelf_C': [-3.791, 1.254], - 'shelf_D': [-3.24, 5.861]} + 'shelf_D': [-3.24, 5.861], +} # Shipping destination for picked products shipping_destinations = { 'recycling': [-0.205, 7.403], 'pallet_jack7': [-0.073, -8.497], 'conveyer_432': [6.217, 2.153], - 'frieght_bay_3': [-6.349, 9.147]} + 'frieght_bay_3': [-6.349, 9.147], +} """ Basic item picking demo. In this demonstration, the expectation @@ -45,7 +47,7 @@ def main(): # Recieved virtual request for picking item at Shelf A and bring to # worker at the pallet jack 7 for shipping. This request would - # contain the shelf ID ("shelf_A") and shipping destination ("pallet_jack7") + # contain the shelf ID ('shelf_A') and shipping destination ('pallet_jack7') #################### request_item_location = 'shelf_C' request_destination = 'pallet_jack7' @@ -86,26 +88,43 @@ def main(): i += 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Estimated time of arrival at ' + request_item_location + - ' for worker: ' + '{0:.0f}'.format( - Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) - + ' seconds.') + print( + 'Estimated time of arrival at ' + + request_item_location + + ' for worker: ' + + '{0:.0f}'.format( + Duration.from_msg(feedback.estimated_time_remaining).nanoseconds + / 1e9 + ) + + ' seconds.' + ) result = navigator.getResult() if result == TaskResult.SUCCEEDED: - print('Got product from ' + request_item_location + - '! Bringing product to shipping destination (' + request_destination + ')...') + print( + 'Got product from ' + + request_item_location + + '! Bringing product to shipping destination (' + + request_destination + + ')...' + ) shipping_destination = PoseStamped() shipping_destination.header.frame_id = 'map' shipping_destination.header.stamp = navigator.get_clock().now().to_msg() - shipping_destination.pose.position.x = shipping_destinations[request_destination][0] - shipping_destination.pose.position.y = shipping_destinations[request_destination][1] + shipping_destination.pose.position.x = shipping_destinations[ + request_destination + ][0] + shipping_destination.pose.position.y = shipping_destinations[ + request_destination + ][1] shipping_destination.pose.orientation.z = 1.0 shipping_destination.pose.orientation.w = 0.0 navigator.goToPose(shipping_destination) elif result == TaskResult.CANCELED: - print(f'Task at {request_item_location} was canceled. Returning to staging point...') + print( + f'Task at {request_item_location} was canceled. Returning to staging point...' + ) initial_pose.header.stamp = navigator.get_clock().now().to_msg() navigator.goToPose(initial_pose) diff --git a/nav2_simple_commander/nav2_simple_commander/demo_security.py b/nav2_simple_commander/nav2_simple_commander/demo_security.py index f727cc8d722..24cc05feff2 100644 --- a/nav2_simple_commander/nav2_simple_commander/demo_security.py +++ b/nav2_simple_commander/nav2_simple_commander/demo_security.py @@ -43,7 +43,8 @@ def main(): [-3.665, -9.427], [-3.665, -4.303], [-3.665, 2.330], - [-3.665, 9.283]] + [-3.665, 9.283], + ] # Set our demo's initial pose initial_pose = PoseStamped() @@ -79,12 +80,19 @@ def main(): i += 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Estimated time to complete current route: ' + '{0:.0f}'.format( - Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) - + ' seconds.') + print( + 'Estimated time to complete current route: ' + + '{0:.0f}'.format( + Duration.from_msg(feedback.estimated_time_remaining).nanoseconds + / 1e9 + ) + + ' seconds.' + ) # Some failure mode, must stop since the robot is clearly stuck - if Duration.from_msg(feedback.navigation_time) > Duration(seconds=180.0): + if Duration.from_msg(feedback.navigation_time) > Duration( + seconds=180.0 + ): print('Navigation has exceeded timeout of 180s, canceling request.') navigator.cancelTask() diff --git a/nav2_simple_commander/nav2_simple_commander/example_follow_path.py b/nav2_simple_commander/nav2_simple_commander/example_follow_path.py index 963dacf9428..104083f34a7 100644 --- a/nav2_simple_commander/nav2_simple_commander/example_follow_path.py +++ b/nav2_simple_commander/nav2_simple_commander/example_follow_path.py @@ -68,10 +68,12 @@ def main(): i += 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Estimated distance remaining to goal position: ' + - '{0:.3f}'.format(feedback.distance_to_goal) + - '\nCurrent speed of the robot: ' + - '{0:.3f}'.format(feedback.speed)) + print( + 'Estimated distance remaining to goal position: ' + + '{0:.3f}'.format(feedback.distance_to_goal) + + '\nCurrent speed of the robot: ' + + '{0:.3f}'.format(feedback.speed) + ) # Do something depending on the return code result = navigator.getResult() diff --git a/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py b/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py index 58c47c75e1d..66023ec11a5 100644 --- a/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py +++ b/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py @@ -100,9 +100,14 @@ def main(): i = i + 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Estimated time of arrival: ' + '{0:.0f}'.format( - Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) - + ' seconds.') + print( + 'Estimated time of arrival: ' + + '{0:.0f}'.format( + Duration.from_msg(feedback.estimated_time_remaining).nanoseconds + / 1e9 + ) + + ' seconds.' + ) # Some navigation timeout to demo cancellation if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0): diff --git a/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py b/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py index 58dee813c9b..d7fb850d12b 100644 --- a/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py +++ b/nav2_simple_commander/nav2_simple_commander/example_nav_to_pose.py @@ -79,9 +79,14 @@ def main(): i = i + 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Estimated time of arrival: ' + '{0:.0f}'.format( - Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) - + ' seconds.') + print( + 'Estimated time of arrival: ' + + '{0:.0f}'.format( + Duration.from_msg(feedback.estimated_time_remaining).nanoseconds + / 1e9 + ) + + ' seconds.' + ) # Some navigation timeout to demo cancellation if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0): diff --git a/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py b/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py index 9d02341a669..30444658518 100644 --- a/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py +++ b/nav2_simple_commander/nav2_simple_commander/example_waypoint_follower.py @@ -101,8 +101,12 @@ def main(): i = i + 1 feedback = navigator.getFeedback() if feedback and i % 5 == 0: - print('Executing current waypoint: ' + - str(feedback.current_waypoint + 1) + '/' + str(len(goal_poses))) + print( + 'Executing current waypoint: ' + + str(feedback.current_waypoint + 1) + + '/' + + str(len(goal_poses)) + ) now = navigator.get_clock().now() # Some navigation timeout to demo cancellation diff --git a/nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py b/nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py index 2117e21a55b..5cf2f81794a 100644 --- a/nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py +++ b/nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py @@ -34,7 +34,7 @@ FREE_SPACE = 0 -class FootprintCollisionChecker(): +class FootprintCollisionChecker: """ FootprintCollisionChecker. @@ -65,8 +65,7 @@ def footprintCost(self, footprint: Polygon): x1 = 0.0 y1 = 0.0 - x0, y0 = self.worldToMapValidated( - footprint.points[0].x, footprint.points[0].y) + x0, y0 = self.worldToMapValidated(footprint.points[0].x, footprint.points[0].y) if x0 is None or y0 is None: return LETHAL_OBSTACLE @@ -76,13 +75,13 @@ def footprintCost(self, footprint: Polygon): for i in range(len(footprint.points) - 1): x1, y1 = self.worldToMapValidated( - footprint.points[i + 1].x, footprint.points[i + 1].y) + footprint.points[i + 1].x, footprint.points[i + 1].y + ) if x1 is None or y1 is None: return LETHAL_OBSTACLE - footprint_cost = max( - float(self.lineCost(x0, x1, y0, y1)), footprint_cost) + footprint_cost = max(float(self.lineCost(x0, x1, y0, y1)), footprint_cost) x0 = x1 y0 = y1 @@ -115,7 +114,8 @@ def lineCost(self, x0, x1, y0, y1, step_size=0.5): while line_iterator.isValid(): point_cost = self.pointCost( - int(line_iterator.getX()), int(line_iterator.getY())) + int(line_iterator.getX()), int(line_iterator.getY()) + ) if point_cost == LETHAL_OBSTACLE: return point_cost @@ -146,7 +146,8 @@ def worldToMapValidated(self, wx: float, wy: float): """ if self.costmap_ is None: raise ValueError( - 'Costmap not specified, use setCostmap to specify the costmap first') + 'Costmap not specified, use setCostmap to specify the costmap first' + ) return self.costmap_.worldToMapValidated(wx, wy) def pointCost(self, x: int, y: int): @@ -165,7 +166,8 @@ def pointCost(self, x: int, y: int): """ if self.costmap_ is None: raise ValueError( - 'Costmap not specified, use setCostmap to specify the costmap first') + 'Costmap not specified, use setCostmap to specify the costmap first' + ) return self.costmap_.getCostXY(x, y) def setCostmap(self, costmap: PyCostmap2D): @@ -207,12 +209,12 @@ def footprintCostAtPose(self, x: float, y: float, theta: float, footprint: Polyg for i in range(len(footprint.points)): new_pt = Point32() - new_pt.x = x + \ - (footprint.points[i].x * cos_th - - footprint.points[i].y * sin_th) - new_pt.y = y + \ - (footprint.points[i].x * sin_th + - footprint.points[i].y * cos_th) + new_pt.x = x + ( + footprint.points[i].x * cos_th - footprint.points[i].y * sin_th + ) + new_pt.y = y + ( + footprint.points[i].x * sin_th + footprint.points[i].y * cos_th + ) oriented_footprint.points.append(new_pt) return self.footprintCost(oriented_footprint) diff --git a/nav2_simple_commander/nav2_simple_commander/line_iterator.py b/nav2_simple_commander/nav2_simple_commander/line_iterator.py index 7fe50a11ec5..9f6c092570a 100644 --- a/nav2_simple_commander/nav2_simple_commander/line_iterator.py +++ b/nav2_simple_commander/nav2_simple_commander/line_iterator.py @@ -24,7 +24,7 @@ from cmath import sqrt -class LineIterator(): +class LineIterator: """ LineIterator. @@ -77,18 +77,19 @@ def __init__(self, x0, y0, x1, y1, step_size=1.0): if x1 != x0 and y1 != y0: self.valid_ = True - self.m_ = (y1-y0)/(x1-x0) - self.b_ = y1 - (self.m_*x1) + self.m_ = (y1 - y0) / (x1 - x0) + self.b_ = y1 - (self.m_ * x1) elif x1 == x0 and y1 != y0: self.valid_ = True elif y1 == y1 and x1 != x0: self.valid_ = True - self.m_ = (y1-y0)/(x1-x0) - self.b_ = y1 - (self.m_*x1) + self.m_ = (y1 - y0) / (x1 - x0) + self.b_ = y1 - (self.m_ * x1) else: self.valid_ = False raise ValueError( - 'Line has zero length (All 4 points have same coordinates)') + 'Line has zero length (All 4 points have same coordinates)' + ) def isValid(self): """Check if line is valid.""" @@ -98,29 +99,33 @@ def advance(self): """Advance to the next point in the line.""" if self.x1_ > self.x0_: if self.x_ < self.x1_: - self.x_ = round(self.clamp( - self.x_ + self.step_size_, self.x0_, self.x1_), 5) + self.x_ = round( + self.clamp(self.x_ + self.step_size_, self.x0_, self.x1_), 5 + ) self.y_ = round(self.m_ * self.x_ + self.b_, 5) else: self.valid_ = False elif self.x1_ < self.x0_: if self.x_ > self.x1_: - self.x_ = round(self.clamp( - self.x_ - self.step_size_, self.x1_, self.x0_), 5) + self.x_ = round( + self.clamp(self.x_ - self.step_size_, self.x1_, self.x0_), 5 + ) self.y_ = round(self.m_ * self.x_ + self.b_, 5) else: self.valid_ = False else: if self.y1_ > self.y0_: if self.y_ < self.y1_: - self.y_ = round(self.clamp( - self.y_ + self.step_size_, self.y0_, self.y1_), 5) + self.y_ = round( + self.clamp(self.y_ + self.step_size_, self.y0_, self.y1_), 5 + ) else: self.valid_ = False elif self.y1_ < self.y0_: if self.y_ > self.y1_: - self.y_ = round(self.clamp( - self.y_ - self.step_size_, self.y1_, self.y0_), 5) + self.y_ = round( + self.clamp(self.y_ - self.step_size_, self.y1_, self.y0_), 5 + ) else: self.valid_ = False else: diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py index 28496648ed2..148361bc683 100644 --- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py +++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py @@ -23,9 +23,15 @@ from geometry_msgs.msg import PoseStamped from geometry_msgs.msg import PoseWithCovarianceStamped from lifecycle_msgs.srv import GetState -from nav2_msgs.action import AssistedTeleop, BackUp, Spin +from nav2_msgs.action import AssistedTeleop, BackUp, DriveOnHeading, Spin from nav2_msgs.action import ComputePathThroughPoses, ComputePathToPose -from nav2_msgs.action import FollowPath, FollowWaypoints, NavigateThroughPoses, NavigateToPose +from nav2_msgs.action import ( + FollowGPSWaypoints, + FollowPath, + FollowWaypoints, + NavigateThroughPoses, + NavigateToPose, +) from nav2_msgs.action import SmoothPath from nav2_msgs.srv import ClearEntireCostmap, GetCostmap, LoadMap, ManageLifecycleNodes @@ -46,8 +52,8 @@ class TaskResult(Enum): class BasicNavigator(Node): - def __init__(self, node_name='basic_navigator'): - super().__init__(node_name=node_name) + def __init__(self, node_name='basic_navigator', namespace=''): + super().__init__(node_name=node_name, namespace=namespace) self.initial_pose = PoseStamped() self.initial_pose.header.frame_id = 'map' self.goal_handle = None @@ -56,40 +62,61 @@ def __init__(self, node_name='basic_navigator'): self.status = None amcl_pose_qos = QoSProfile( - durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1) + durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) self.initial_pose_received = False - self.nav_through_poses_client = ActionClient(self, - NavigateThroughPoses, - 'navigate_through_poses') + self.nav_through_poses_client = ActionClient( + self, NavigateThroughPoses, 'navigate_through_poses' + ) self.nav_to_pose_client = ActionClient(self, NavigateToPose, 'navigate_to_pose') - self.follow_waypoints_client = ActionClient(self, FollowWaypoints, 'follow_waypoints') + self.follow_waypoints_client = ActionClient( + self, FollowWaypoints, 'follow_waypoints' + ) + self.follow_gps_waypoints_client = ActionClient( + self, FollowGPSWaypoints, 'follow_gps_waypoints' + ) self.follow_path_client = ActionClient(self, FollowPath, 'follow_path') - self.compute_path_to_pose_client = ActionClient(self, ComputePathToPose, - 'compute_path_to_pose') - self.compute_path_through_poses_client = ActionClient(self, ComputePathThroughPoses, - 'compute_path_through_poses') + self.compute_path_to_pose_client = ActionClient( + self, ComputePathToPose, 'compute_path_to_pose' + ) + self.compute_path_through_poses_client = ActionClient( + self, ComputePathThroughPoses, 'compute_path_through_poses' + ) self.smoother_client = ActionClient(self, SmoothPath, 'smooth_path') self.spin_client = ActionClient(self, Spin, 'spin') self.backup_client = ActionClient(self, BackUp, 'backup') - self.assisted_teleop_client = ActionClient(self, AssistedTeleop, 'assisted_teleop') - self.localization_pose_sub = self.create_subscription(PoseWithCovarianceStamped, - 'amcl_pose', - self._amclPoseCallback, - amcl_pose_qos) - self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, - 'initialpose', - 10) - self.change_maps_srv = self.create_client(LoadMap, '/map_server/load_map') + self.drive_on_heading_client = ActionClient( + self, DriveOnHeading, 'drive_on_heading' + ) + self.assisted_teleop_client = ActionClient( + self, AssistedTeleop, 'assisted_teleop' + ) + self.localization_pose_sub = self.create_subscription( + PoseWithCovarianceStamped, + 'amcl_pose', + self._amclPoseCallback, + amcl_pose_qos, + ) + self.initial_pose_pub = self.create_publisher( + PoseWithCovarianceStamped, 'initialpose', 10 + ) + self.change_maps_srv = self.create_client(LoadMap, 'map_server/load_map') self.clear_costmap_global_srv = self.create_client( - ClearEntireCostmap, '/global_costmap/clear_entirely_global_costmap') + ClearEntireCostmap, 'global_costmap/clear_entirely_global_costmap' + ) self.clear_costmap_local_srv = self.create_client( - ClearEntireCostmap, '/local_costmap/clear_entirely_local_costmap') - self.get_costmap_global_srv = self.create_client(GetCostmap, '/global_costmap/get_costmap') - self.get_costmap_local_srv = self.create_client(GetCostmap, '/local_costmap/get_costmap') + ClearEntireCostmap, 'local_costmap/clear_entirely_local_costmap' + ) + self.get_costmap_global_srv = self.create_client( + GetCostmap, 'global_costmap/get_costmap' + ) + self.get_costmap_local_srv = self.create_client( + GetCostmap, 'local_costmap/get_costmap' + ) def destroyNode(self): self.destroy_node() @@ -104,6 +131,7 @@ def destroy_node(self): self.smoother_client.destroy() self.spin_client.destroy() self.backup_client.destroy() + self.drive_on_heading_client.destroy() super().destroy_node() def setInitialPose(self, initial_pose): @@ -123,8 +151,9 @@ def goThroughPoses(self, poses, behavior_tree=''): goal_msg.behavior_tree = behavior_tree self.info(f'Navigating with {len(goal_msg.poses)} goals....') - send_goal_future = self.nav_through_poses_client.send_goal_async(goal_msg, - self._feedbackCallback) + send_goal_future = self.nav_through_poses_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -145,16 +174,27 @@ def goToPose(self, pose, behavior_tree=''): goal_msg.pose = pose goal_msg.behavior_tree = behavior_tree - self.info('Navigating to goal: ' + str(pose.pose.position.x) + ' ' + - str(pose.pose.position.y) + '...') - send_goal_future = self.nav_to_pose_client.send_goal_async(goal_msg, - self._feedbackCallback) + self.info( + 'Navigating to goal: ' + + str(pose.pose.position.x) + + ' ' + + str(pose.pose.position.y) + + '...' + ) + send_goal_future = self.nav_to_pose_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() if not self.goal_handle.accepted: - self.error('Goal to ' + str(pose.pose.position.x) + ' ' + - str(pose.pose.position.y) + ' was rejected!') + self.error( + 'Goal to ' + + str(pose.pose.position.x) + + ' ' + + str(pose.pose.position.y) + + ' was rejected!' + ) return False self.result_future = self.goal_handle.get_result_async() @@ -170,8 +210,9 @@ def followWaypoints(self, poses): goal_msg.poses = poses self.info(f'Following {len(goal_msg.poses)} goals....') - send_goal_future = self.follow_waypoints_client.send_goal_async(goal_msg, - self._feedbackCallback) + send_goal_future = self.follow_waypoints_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -182,6 +223,31 @@ def followWaypoints(self, poses): self.result_future = self.goal_handle.get_result_async() return True + def followGpsWaypoints(self, gps_poses): + """Send a `FollowGPSWaypoints` action request.""" + self.debug("Waiting for 'FollowWaypoints' action server") + while not self.follow_gps_waypoints_client.wait_for_server(timeout_sec=1.0): + self.info("'FollowWaypoints' action server not available, waiting...") + + goal_msg = FollowGPSWaypoints.Goal() + goal_msg.gps_poses = gps_poses + + self.info(f'Following {len(goal_msg.gps_poses)} gps goals....') + send_goal_future = self.follow_gps_waypoints_client.send_goal_async( + goal_msg, self._feedbackCallback + ) + rclpy.spin_until_future_complete(self, send_goal_future) + self.goal_handle = send_goal_future.result() + + if not self.goal_handle.accepted: + self.error( + f'Following {len(gps_poses)} gps waypoints request was rejected!' + ) + return False + + self.result_future = self.goal_handle.get_result_async() + return True + def spin(self, spin_dist=1.57, time_allowance=10): self.debug("Waiting for 'Spin' action server") while not self.spin_client.wait_for_server(timeout_sec=1.0): @@ -191,7 +257,9 @@ def spin(self, spin_dist=1.57, time_allowance=10): goal_msg.time_allowance = Duration(sec=time_allowance) self.info(f'Spinning to angle {goal_msg.target_yaw}....') - send_goal_future = self.spin_client.send_goal_async(goal_msg, self._feedbackCallback) + send_goal_future = self.spin_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -212,7 +280,9 @@ def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10): goal_msg.time_allowance = Duration(sec=time_allowance) self.info(f'Backing up {goal_msg.target.x} m at {goal_msg.speed} m/s....') - send_goal_future = self.backup_client.send_goal_async(goal_msg, self._feedbackCallback) + send_goal_future = self.backup_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -223,6 +293,29 @@ def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10): self.result_future = self.goal_handle.get_result_async() return True + def driveOnHeading(self, dist=0.15, speed=0.025, time_allowance=10): + self.debug("Waiting for 'DriveOnHeading' action server") + while not self.backup_client.wait_for_server(timeout_sec=1.0): + self.info("'DriveOnHeading' action server not available, waiting...") + goal_msg = DriveOnHeading.Goal() + goal_msg.target = Point(x=float(dist)) + goal_msg.speed = speed + goal_msg.time_allowance = Duration(sec=time_allowance) + + self.info(f'Drive {goal_msg.target.x} m on heading at {goal_msg.speed} m/s....') + send_goal_future = self.drive_on_heading_client.send_goal_async( + goal_msg, self._feedbackCallback + ) + rclpy.spin_until_future_complete(self, send_goal_future) + self.goal_handle = send_goal_future.result() + + if not self.goal_handle.accepted: + self.error('Drive On Heading request was rejected!') + return False + + self.result_future = self.goal_handle.get_result_async() + return True + def assistedTeleop(self, time_allowance=30): self.debug("Wainting for 'assisted_teleop' action server") while not self.assisted_teleop_client.wait_for_server(timeout_sec=1.0): @@ -231,8 +324,9 @@ def assistedTeleop(self, time_allowance=30): goal_msg.time_allowance = Duration(sec=time_allowance) self.info("Running 'assisted_teleop'....") - send_goal_future = \ - self.assisted_teleop_client.send_goal_async(goal_msg, self._feedbackCallback) + send_goal_future = self.assisted_teleop_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -255,8 +349,9 @@ def followPath(self, path, controller_id='', goal_checker_id=''): goal_msg.goal_checker_id = goal_checker_id self.info('Executing path...') - send_goal_future = self.follow_path_client.send_goal_async(goal_msg, - self._feedbackCallback) + send_goal_future = self.follow_path_client.send_goal_async( + goal_msg, self._feedbackCallback + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -310,7 +405,8 @@ def getResult(self): def waitUntilNav2Active(self, navigator='bt_navigator', localizer='amcl'): """Block until the full navigation system is up and running.""" - self._waitForNodeToActivate(localizer) + if localizer != 'robot_localization': # non-lifecycle node + self._waitForNodeToActivate(localizer) if localizer == 'amcl': self._waitForInitialPose() self._waitForNodeToActivate(navigator) @@ -350,7 +446,7 @@ def _getPathImpl(self, start, goal, planner_id='', use_start=False): def getPath(self, start, goal, planner_id='', use_start=False): """Send a `ComputePathToPose` action request.""" - rtn = self._getPathImpl(start, goal, planner_id='', use_start=False) + rtn = self._getPathImpl(start, goal, planner_id, use_start) if self.status != GoalStatus.STATUS_SUCCEEDED: self.warn(f'Getting path failed with status code: {self.status}') @@ -368,8 +464,12 @@ def _getPathThroughPosesImpl(self, start, goals, planner_id='', use_start=False) Internal implementation to get the full result, not just the path. """ self.debug("Waiting for 'ComputePathThroughPoses' action server") - while not self.compute_path_through_poses_client.wait_for_server(timeout_sec=1.0): - self.info("'ComputePathThroughPoses' action server not available, waiting...") + while not self.compute_path_through_poses_client.wait_for_server( + timeout_sec=1.0 + ): + self.info( + "'ComputePathThroughPoses' action server not available, waiting..." + ) goal_msg = ComputePathThroughPoses.Goal() goal_msg.start = start @@ -378,7 +478,9 @@ def _getPathThroughPosesImpl(self, start, goals, planner_id='', use_start=False) goal_msg.use_start = use_start self.info('Getting path...') - send_goal_future = self.compute_path_through_poses_client.send_goal_async(goal_msg) + send_goal_future = self.compute_path_through_poses_client.send_goal_async( + goal_msg + ) rclpy.spin_until_future_complete(self, send_goal_future) self.goal_handle = send_goal_future.result() @@ -394,7 +496,7 @@ def _getPathThroughPosesImpl(self, start, goals, planner_id='', use_start=False) def getPathThroughPoses(self, start, goals, planner_id='', use_start=False): """Send a `ComputePathThroughPoses` action request.""" - rtn = self.__getPathThroughPosesImpl(start, goals, planner_id='', use_start=False) + rtn = self._getPathThroughPosesImpl(start, goals, planner_id, use_start) if self.status != GoalStatus.STATUS_SUCCEEDED: self.warn(f'Getting path failed with status code: {self.status}') @@ -405,7 +507,9 @@ def getPathThroughPoses(self, start, goals, planner_id='', use_start=False): else: return rtn.path - def _smoothPathImpl(self, path, smoother_id='', max_duration=2.0, check_for_collision=False): + def _smoothPathImpl( + self, path, smoother_id='', max_duration=2.0, check_for_collision=False + ): """ Send a `SmoothPath` action request. @@ -436,10 +540,11 @@ def _smoothPathImpl(self, path, smoother_id='', max_duration=2.0, check_for_coll return self.result_future.result().result - def smoothPath(self, path, smoother_id='', max_duration=2.0, check_for_collision=False): + def smoothPath( + self, path, smoother_id='', max_duration=2.0, check_for_collision=False + ): """Send a `SmoothPath` action request.""" - rtn = self._smoothPathImpl( - path, smoother_id='', max_duration=2.0, check_for_collision=False) + rtn = self._smoothPathImpl(path, smoother_id, max_duration, check_for_collision) if self.status != GoalStatus.STATUS_SUCCEEDED: self.warn(f'Getting path failed with status code: {self.status}') diff --git a/nav2_simple_commander/package.xml b/nav2_simple_commander/package.xml index c4e7c941586..f3212c46c33 100644 --- a/nav2_simple_commander/package.xml +++ b/nav2_simple_commander/package.xml @@ -2,7 +2,7 @@ nav2_simple_commander - 1.1.0 + 1.2.0 An importable library for writing mobile robot applications in python3 steve Apache-2.0 diff --git a/nav2_simple_commander/setup.py b/nav2_simple_commander/setup.py index c7b12a3fcfa..4b49f89a450 100644 --- a/nav2_simple_commander/setup.py +++ b/nav2_simple_commander/setup.py @@ -11,8 +11,7 @@ version='1.0.0', packages=[package_name], data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), (os.path.join('share', package_name), glob('launch/*')), ], @@ -25,15 +24,15 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'example_nav_to_pose = nav2_simple_commander.example_nav_to_pose:main', - 'example_nav_through_poses = nav2_simple_commander.example_nav_through_poses:main', - 'example_waypoint_follower = nav2_simple_commander.example_waypoint_follower:main', - 'example_follow_path = nav2_simple_commander.example_follow_path:main', - 'demo_picking = nav2_simple_commander.demo_picking:main', - 'demo_inspection = nav2_simple_commander.demo_inspection:main', - 'demo_security = nav2_simple_commander.demo_security:main', - 'demo_recoveries = nav2_simple_commander.demo_recoveries:main', - 'example_assisted_teleop = nav2_simple_commander.example_assisted_teleop:main', + 'example_nav_to_pose = nav2_simple_commander.example_nav_to_pose:main', + 'example_nav_through_poses = nav2_simple_commander.example_nav_through_poses:main', + 'example_waypoint_follower = nav2_simple_commander.example_waypoint_follower:main', + 'example_follow_path = nav2_simple_commander.example_follow_path:main', + 'demo_picking = nav2_simple_commander.demo_picking:main', + 'demo_inspection = nav2_simple_commander.demo_inspection:main', + 'demo_security = nav2_simple_commander.demo_security:main', + 'demo_recoveries = nav2_simple_commander.demo_recoveries:main', + 'example_assisted_teleop = nav2_simple_commander.example_assisted_teleop:main', ], }, ) diff --git a/nav2_simple_commander/test/test_flake8.py b/nav2_simple_commander/test/test_flake8.py index 27ee1078ff0..26030113cce 100644 --- a/nav2_simple_commander/test/test_flake8.py +++ b/nav2_simple_commander/test/test_flake8.py @@ -20,6 +20,6 @@ @pytest.mark.linter def test_flake8(): rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) + assert rc == 0, 'Found %d code style errors / warnings:\n' % len( + errors + ) + '\n'.join(errors) diff --git a/nav2_simple_commander/test/test_line_iterator.py b/nav2_simple_commander/test/test_line_iterator.py index 87c348ea702..8bfb91588b1 100644 --- a/nav2_simple_commander/test/test_line_iterator.py +++ b/nav2_simple_commander/test/test_line_iterator.py @@ -58,7 +58,7 @@ def test_straight_line(self): i = 0 while lt.isValid(): self.assertEqual(lt.getX(), lt.getX0() + i) - self.assertEqual(lt.getY(), lt.getY0() + (i*2)) + self.assertEqual(lt.getY(), lt.getY0() + (i * 2)) lt.advance() i += 1 @@ -67,7 +67,7 @@ def test_straight_line(self): i = 0 while lt.isValid(): self.assertEqual(lt.getX(), lt.getX0() + i) - self.assertEqual(lt.getY(), lt.getY0() + (-i*2)) + self.assertEqual(lt.getY(), lt.getY0() + (-i * 2)) lt.advance() i += 1 diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt index 4bbe5c55ca7..d9da9fd1474 100644 --- a/nav2_smac_planner/CMakeLists.txt +++ b/nav2_smac_planner/CMakeLists.txt @@ -23,14 +23,11 @@ find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(angles REQUIRED) find_package(ompl REQUIRED) -find_package(OpenMP REQUIRED) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) endif() -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - if(MSVC) add_compile_definitions(_USE_MATH_DEFINES) else() @@ -40,16 +37,8 @@ endif() include_directories( include ${OMPL_INCLUDE_DIRS} - ${OpenMP_INCLUDE_DIRS} ) -find_package(OpenMP) -if(OPENMP_FOUND) - set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}") -endif() - set(library_name nav2_smac_planner) set(dependencies @@ -85,7 +74,7 @@ add_library(${library_name} SHARED src/node_basic.cpp ) -target_link_libraries(${library_name} ${OMPL_LIBRARIES} ${OpenMP_LIBRARIES} OpenMP::OpenMP_CXX) +target_link_libraries(${library_name} ${OMPL_LIBRARIES}) target_include_directories(${library_name} PUBLIC ${Eigen3_INCLUDE_DIRS}) ament_target_dependencies(${library_name} diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 362a04e37bd..ebb25bb52be 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -17,7 +17,7 @@ We have users reporting using this on: - Vertical farming - Solar farms -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-smac-planner.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-smac-planner.html) for additional parameter descriptions. ## Introduction @@ -102,19 +102,22 @@ planner_server: planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_smac_planner/SmacPlannerHybrid" + plugin: "nav2_smac_planner::SmacPlannerHybrid" tolerance: 0.5 # tolerance for planning if unable to reach exact pose, in meters downsample_costmap: false # whether or not to downsample the map downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) allow_unknown: false # allow traveling in unknown space max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance + terminal_checking_interval: 5000 # number of iterations between checking if the goal has been cancelled or planner timed out max_planning_time: 3.5 # max time in s for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning. motion_model_for_search: "DUBIN" # For Hybrid Dubin, Redds-Shepp cost_travel_multiplier: 2.0 # For 2D: Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*. angle_quantization_bins: 64 # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search) analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting (in meters). This should be scaled with minimum turning radius and be no less than 4-5x the minimum radius + analytic_expansion_max_cost: true # For Hybrid/Lattice nodes: The maximum single cost for any part of an analytic expansion to contain and be valid (except when necessary on approach to goal) + analytic_expansion_max_cost_override: false # For Hybrid/Lattice nodes: Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required) minimum_turning_radius: 0.40 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 change_penalty: 0.0 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0 @@ -126,11 +129,12 @@ planner_server: cache_obstacle_heuristic: True # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. allow_reverse_expansion: False # For Lattice nodes: Whether to expand state lattice graph in forward primitives or reverse as well, will double the branching factor at each step. smooth_path: True # For Lattice/Hybrid nodes: Whether or not to smooth the path, always true for 2D nodes. + debug_visualizations: True # For Hybrid/Lattice nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance. smoother: max_iterations: 1000 w_smooth: 0.3 w_data: 0.2 - tolerance: 1e-10 + tolerance: 1.0e-10 do_refinement: true # Whether to recursively run the smoother 3 times on the results from prior runs to refine the results further ``` @@ -169,7 +173,7 @@ By default, `0.4m` is the setting which I think is "reasonable" for the smaller ### Costmap Resolutions -We provide for the Hybrid-A\*, State Lattice, and 2D A\* implementations a costmap downsampler option. This can be **incredible** beneficial when planning very long paths in larger spaces. The motion models for SE2 planning and neighborhood search in 2D planning is proportional to the costmap resolution. By downsampling it, you can N^2 reduce the number of expansions required to achieve a particular goal. However, the lower the resolution, the larger small obstacles appear and you won't be able to get super close to obstacles. This is a trade-off to make and test. Some numbers I've seen are 2-4x drops in planning CPU time for a 2-3x downsample rate. For long and complex paths, I was able to get it << 100ms at only a 2x downsample rate from a plan that otherwise took upward of 400ms. +We provide for the Hybrid-A\*, State Lattice, and 2D A\* implementations a costmap downsampler option. This can be **incredibly** beneficial when planning very long paths in larger spaces. The motion models for SE2 planning and neighborhood search in 2D planning is proportional to the costmap resolution. By downsampling it, you can N^2 reduce the number of expansions required to achieve a particular goal. However, the lower the resolution, the larger small obstacles appear and you won't be able to get super close to obstacles. This is a trade-off to make and test. Some numbers I've seen are 2-4x drops in planning CPU time for a 2-3x downsample rate. For long and complex paths, I was able to get it << 100ms at only a 2x downsample rate from a plan that otherwise took upward of 400ms. I recommend users using a 5cm resolution costmap and playing with the different values of downsampling rate until they achieve what they think is optimal performance (lowest number of expansions vs. necessity to achieve fine goal poses). Then, I would recommend to change the global costmap resolution to this new value. That way you don't own the compute of downsampling and maintaining a higher-resolution costmap that isn't used. @@ -206,26 +210,4 @@ As such, it is recommended if you have sparse SLAM maps, gaps or holes in your m One interesting thing to note from the second figure is that you see a number of expansions in open space. This is due to travel / heuristic values being so similar, tuning values of the penalty weights can have a decent impact there. The defaults are set as a good middle ground between large open spaces and confined aisles (environment specific tuning could be done to reduce the number of expansions for a specific map, speeding up the planner). The planner actually runs substantially faster the more confined the areas of search / environments are -- but still plenty fast for even wide open areas! -Sometimes visualizing the expansions is very useful to debug potential concerns (why does this goal take longer to compute, why can't I find a path, etc), should you on rare occasion run into an issue. The following snippet is what I used to visualize the expansion in the images above which may help you in future endevours. - -``` cpp -// In createPath() -static auto node = std::make_shared("test"); -static auto pub = node->create_publisher("expansions", 1); -geometry_msgs::msg::PoseArray msg; -geometry_msgs::msg::Pose msg_pose; -msg.header.stamp = node->now(); -msg.header.frame_id = "map"; - -... - -// Each time we expand a new node -msg_pose.position.x = _costmap->getOriginX() + (current_node->pose.x * _costmap->getResolution()); -msg_pose.position.y = _costmap->getOriginY() + (current_node->pose.y * _costmap->getResolution()); -msg.poses.push_back(msg_pose); - -... - -// On backtrace or failure -pub->publish(msg); -``` +Sometimes visualizing the expansions is very useful to debug potential concerns (why does this goal take longer to compute, why can't I find a path, etc), should you on rare occasion run into an issue. You can enable the publication of the expansions on the `/expansions` topic for SmacHybrid with the parameter `debug_visualizations: True`, beware that it should be used only for debug as it increases a lot the CPU usage. diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp index 01aeca975d5..56e5bbccafb 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp @@ -22,6 +22,7 @@ #include #include #include +#include #include "Eigen/Core" #include "nav2_costmap_2d/costmap_2d.hpp" @@ -48,13 +49,13 @@ class AStarAlgorithm { public: typedef NodeT * NodePtr; - typedef robin_hood::unordered_node_map Graph; + typedef robin_hood::unordered_node_map Graph; typedef std::vector NodeVector; typedef std::pair> NodeElement; typedef typename NodeT::Coordinates Coordinates; typedef typename NodeT::CoordinateVector CoordinateVector; typedef typename NodeVector::iterator NeighborIterator; - typedef std::function NodeGetter; + typedef std::function NodeGetter; /** * @struct nav2_smac_planner::NodeComparator @@ -71,8 +72,7 @@ class AStarAlgorithm typedef std::priority_queue, NodeComparator> NodeQueue; /** - * @brief A constructor for nav2_smac_planner::PlannerServer - * @param neighborhood The type of neighborhood to use for search (4 or 8 connected) + * @brief A constructor for nav2_smac_planner::AStarAlgorithm */ explicit AStarAlgorithm(const MotionModel & motion_model, const SearchInfo & search_info); @@ -88,6 +88,8 @@ class AStarAlgorithm * @param max_on_approach_iterations Maximum number of iterations before returning a valid * path once within thresholds to refine path * comes at more compute time but smoother paths. + * @param terminal_checking_interval Number of iterations to check if the task has been canceled or + * or planning time exceeded * @param max_planning_time Maximum time (in seconds) to wait for a plan, createPath returns * false after this timeout */ @@ -95,6 +97,7 @@ class AStarAlgorithm const bool & allow_unknown, int & max_iterations, const int & max_on_approach_iterations, + const int & terminal_checking_interval, const double & max_planning_time, const float & lookup_table_size, const unsigned int & dim_3_size); @@ -104,9 +107,14 @@ class AStarAlgorithm * @param path Reference to a vector of indicies of generated path * @param num_iterations Reference to number of iterations to create plan * @param tolerance Reference to tolerance in costmap nodes + * @param cancel_checker Function to check if the task has been canceled + * @param expansions_log Optional expansions logged for debug * @return if plan was successful */ - bool createPath(CoordinateVector & path, int & num_iterations, const float & tolerance); + bool createPath( + CoordinateVector & path, int & num_iterations, const float & tolerance, + std::function cancel_checker, + std::vector> * expansions_log = nullptr); /** * @brief Sets the collision checker to use @@ -121,8 +129,8 @@ class AStarAlgorithm * @param dim_3 The node dim_3 index of the goal */ void setGoal( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3); /** @@ -132,8 +140,8 @@ class AStarAlgorithm * @param dim_3 The node dim_3 index of the goal */ void setStart( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3); /** @@ -192,7 +200,7 @@ class AStarAlgorithm inline NodePtr getNextNode(); /** - * @brief Get pointer to next goal in open set + * @brief Add a node to the open set * @param cost The cost to sort into the open set of the node * @param node Node pointer reference to add to open set */ @@ -200,10 +208,9 @@ class AStarAlgorithm /** * @brief Adds node to graph - * @param cost The cost to sort into the open set of the node - * @param node Node pointer reference to add to open set + * @param index Node index to add */ - inline NodePtr addToGraph(const unsigned int & index); + inline NodePtr addToGraph(const uint64_t & index); /** * @brief Check if this node is the goal node @@ -214,9 +221,8 @@ class AStarAlgorithm /** * @brief Get cost of heuristic of node - * @param node Node index current - * @param node Node index of new - * @return Heuristic cost between the nodes + * @param node Node pointer to get heuristic for + * @return Heuristic cost for node */ inline float getHeuristicCost(const NodePtr & node); @@ -236,11 +242,24 @@ class AStarAlgorithm */ inline void clearGraph(); - int _timing_interval = 5000; + /** + * @brief Populate a debug log of expansions for Hybrid-A* for visualization + * @param node Node expanded + * @param expansions_log Log to add not expanded to + */ + inline void populateExpansionsLog( + const NodePtr & node, std::vector> * expansions_log); + + /** + * @brief Clear Start + */ + void clearStart(); + bool _traverse_unknown; int _max_iterations; int _max_on_approach_iterations; + int _terminal_checking_interval; double _max_planning_time; float _tolerance; unsigned int _x_size; diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp index fa1b2f1fdd6..76719d72313 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp @@ -35,7 +35,7 @@ class AnalyticExpansion public: typedef NodeT * NodePtr; typedef typename NodeT::Coordinates Coordinates; - typedef std::function NodeGetter; + typedef std::function NodeGetter; /** * @struct nav2_smac_planner::AnalyticExpansion::AnalyticExpansionNodes @@ -95,11 +95,12 @@ class AnalyticExpansion * @param node The node to start the analytic path from * @param goal The goal node to plan to * @param getter The function object that gets valid nodes from the graph + * @param state_space State space to use for computing analytic expansions * @return A set of analytically expanded nodes to the goal from current node, if possible */ AnalyticExpansionNodes getAnalyticPath( const NodePtr & node, const NodePtr & goal, - const NodeGetter & getter); + const NodeGetter & getter, const ompl::base::StateSpacePtr & state_space); /** * @brief Takes final analytic expansion and appends to current expanded node diff --git a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp index e6520f4bd26..205c3f0471a 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp @@ -11,9 +11,14 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. Reserved. + #include +#include + #include "nav2_costmap_2d/footprint_collision_checker.hpp" +#include "nav2_costmap_2d/costmap_2d_ros.hpp" #include "nav2_smac_planner/constants.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" #ifndef NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_ #define NAV2_SMAC_PLANNER__COLLISION_CHECKER_HPP_ @@ -34,11 +39,13 @@ class GridCollisionChecker * for use when regular bin intervals are appropriate * @param costmap The costmap to collision check against * @param num_quantizations The number of quantizations to precompute footprint + * @param node Node to extract clock and logger from * orientations for to speed up collision checking */ GridCollisionChecker( - nav2_costmap_2d::Costmap2D * costmap, - unsigned int num_quantizations); + std::shared_ptr costmap, + unsigned int num_quantizations, + rclcpp_lifecycle::LifecycleNode::SharedPtr node); /** * @brief A constructor for nav2_smac_planner::GridCollisionChecker @@ -59,7 +66,7 @@ class GridCollisionChecker void setFootprint( const nav2_costmap_2d::Footprint & footprint, const bool & radius, - const double & possible_inscribed_cost); + const double & possible_collision_cost); /** * @brief Check if in collision with costmap and footprint at pose @@ -100,6 +107,12 @@ class GridCollisionChecker return angles_; } + /** + * @brief Get costmap ros object for inflation layer params + * @return Costmap ros + */ + std::shared_ptr getCostmapROS() {return costmap_ros_;} + private: /** * @brief Check if value outside the range @@ -111,12 +124,15 @@ class GridCollisionChecker bool outsideRange(const unsigned int & max, const float & value); protected: + std::shared_ptr costmap_ros_; std::vector oriented_footprints_; nav2_costmap_2d::Footprint unoriented_footprint_; - double footprint_cost_; + float footprint_cost_; bool footprint_is_radius_; std::vector angles_; - double possible_inscribed_cost_{-1}; + float possible_collision_cost_{-1}; + rclcpp::Logger logger_{rclcpp::get_logger("SmacPlannerCollisionChecker")}; + rclcpp::Clock::SharedPtr clock_; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp index 4150deaee7a..3ccadefdedb 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_2d.hpp @@ -62,7 +62,7 @@ class Node2D * @brief A constructor for nav2_smac_planner::Node2D * @param index The index of this node for self-reference */ - explicit Node2D(const unsigned int index); + explicit Node2D(const uint64_t index); /** * @brief A destructor for nav2_smac_planner::Node2D @@ -87,7 +87,7 @@ class Node2D * @brief Gets the accumulated cost at this node * @return accumulated cost */ - inline float & getAccumulatedCost() + inline float getAccumulatedCost() { return _accumulated_cost; } @@ -105,7 +105,7 @@ class Node2D * @brief Gets the costmap cost at this node * @return costmap cost */ - inline float & getCost() + inline float getCost() { return _cell_cost; } @@ -123,7 +123,7 @@ class Node2D * @brief Gets if cell has been visited in search * @param If cell was visited */ - inline bool & wasVisited() + inline bool wasVisited() { return _was_visited; } @@ -158,7 +158,7 @@ class Node2D * @brief Gets cell index * @return Reference to cell index */ - inline unsigned int & getIndex() + inline uint64_t getIndex() { return _index; } @@ -185,10 +185,11 @@ class Node2D * @param width width of costmap * @return index */ - static inline unsigned int getIndex( + static inline uint64_t getIndex( const unsigned int & x, const unsigned int & y, const unsigned int & width) { - return x + y * width; + return static_cast(x) + static_cast(y) * + static_cast(width); } /** @@ -199,7 +200,7 @@ class Node2D * @return coordinates of point */ static inline Coordinates getCoords( - const unsigned int & index, const unsigned int & width, const unsigned int & angles) + const uint64_t & index, const unsigned int & width, const unsigned int & angles) { if (angles != 1) { throw std::runtime_error("Node type Node2D does not have a valid angle quantization."); @@ -213,7 +214,7 @@ class Node2D * @param Index Index of point * @return coordinates of point */ - static inline Coordinates getCoords(const unsigned int & index) + static inline Coordinates getCoords(const uint64_t & index) { const unsigned int & size_x = _neighbors_grid_offsets[3]; return Coordinates(index % size_x, index / size_x); @@ -223,13 +224,11 @@ class Node2D * @brief Get cost of heuristic of node * @param node Node index current * @param node Node index of new - * @param costmap Costmap ptr to use * @return Heuristic cost between the nodes */ static float getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coordinates, - const nav2_costmap_2d::Costmap2D * costmap); + const Coordinates & goal_coordinates); /** * @brief Initialize the neighborhood to be used in A* @@ -255,7 +254,8 @@ class Node2D * @param neighbors Vector of neighbors to be filled */ void getNeighbors( - std::function & validity_checker, + std::function & validity_checker, GridCollisionChecker * collision_checker, const bool & traverse_unknown, NodeVector & neighbors); @@ -274,7 +274,7 @@ class Node2D private: float _cell_cost; float _accumulated_cost; - unsigned int _index; + uint64_t _index; bool _was_visited; bool _is_queued; }; diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp index 407cde5c79a..dfb26c5ddaf 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_basic.hpp @@ -47,10 +47,9 @@ class NodeBasic public: /** * @brief A constructor for nav2_smac_planner::NodeBasic - * @param cost_in The costmap cost at this node * @param index The index of this node for self-reference */ - explicit NodeBasic(const unsigned int index) + explicit NodeBasic(const uint64_t index) : index(index), graph_node_ptr(nullptr) { @@ -74,8 +73,10 @@ class NodeBasic typename NodeT::Coordinates pose; // Used by NodeHybrid and NodeLattice NodeT * graph_node_ptr; MotionPrimitive * prim_ptr; // Used by NodeLattice - unsigned int index, motion_index; + uint64_t index; + unsigned int motion_index; bool backward; + TurnDirection turn_dir; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp index 18bf38576fc..b1e265e139b 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp @@ -31,6 +31,8 @@ #include "nav2_smac_planner/types.hpp" #include "nav2_smac_planner/collision_checker.hpp" #include "nav2_smac_planner/costmap_downsampler.hpp" +#include "nav2_costmap_2d/costmap_2d_ros.hpp" +#include "nav2_costmap_2d/inflation_layer.hpp" namespace nav2_smac_planner { @@ -38,7 +40,7 @@ namespace nav2_smac_planner typedef std::vector LookupTable; typedef std::pair TrigValues; -typedef std::pair ObstacleHeuristicElement; +typedef std::pair ObstacleHeuristicElement; struct ObstacleHeuristicComparator { bool operator()(const ObstacleHeuristicElement & a, const ObstacleHeuristicElement & b) const @@ -122,10 +124,13 @@ struct HybridMotionTable float cost_penalty; float reverse_penalty; float travel_distance_reward; + bool downsample_obstacle_heuristic; + bool use_quadratic_cost_penalty; ompl::base::StateSpacePtr state_space; std::vector> delta_xs; std::vector> delta_ys; std::vector trig_values; + std::vector travel_costs; }; /** @@ -179,7 +184,7 @@ class NodeHybrid * @brief A constructor for nav2_smac_planner::NodeHybrid * @param index The index of this node for self-reference */ - explicit NodeHybrid(const unsigned int index); + explicit NodeHybrid(const uint64_t index); /** * @brief A destructor for nav2_smac_planner::NodeHybrid @@ -214,7 +219,7 @@ class NodeHybrid * @brief Gets the accumulated cost at this node * @return accumulated cost */ - inline float & getAccumulatedCost() + inline float getAccumulatedCost() { return _accumulated_cost; } @@ -232,9 +237,10 @@ class NodeHybrid * @brief Sets the motion primitive index used to achieve node in search * @param reference to motion primitive idx */ - inline void setMotionPrimitiveIndex(const unsigned int & idx) + inline void setMotionPrimitiveIndex(const unsigned int & idx, const TurnDirection & turn_dir) { _motion_primitive_index = idx; + _turn_dir = turn_dir; } /** @@ -246,11 +252,20 @@ class NodeHybrid return _motion_primitive_index; } + /** + * @brief Gets the motion primitive turning direction used to achieve node in search + * @return reference to motion primitive turning direction + */ + inline TurnDirection & getTurnDirection() + { + return _turn_dir; + } + /** * @brief Gets the costmap cost at this node * @return costmap cost */ - inline float & getCost() + inline float getCost() { return _cell_cost; } @@ -259,7 +274,7 @@ class NodeHybrid * @brief Gets if cell has been visited in search * @param If cell was visited */ - inline bool & wasVisited() + inline bool wasVisited() { return _was_visited; } @@ -276,7 +291,7 @@ class NodeHybrid * @brief Gets cell index * @return Reference to cell index */ - inline unsigned int & getIndex() + inline uint64_t getIndex() { return _index; } @@ -304,11 +319,14 @@ class NodeHybrid * @param angle_quantization Number of theta bins * @return Index */ - static inline unsigned int getIndex( + static inline uint64_t getIndex( const unsigned int & x, const unsigned int & y, const unsigned int & angle, const unsigned int & width, const unsigned int & angle_quantization) { - return angle + x * angle_quantization + y * width * angle_quantization; + return static_cast(angle) + static_cast(x) * + static_cast(angle_quantization) + + static_cast(y) * static_cast(width) * + static_cast(angle_quantization); } /** @@ -318,7 +336,7 @@ class NodeHybrid * @param angle Theta coordinate of point * @return Index */ - static inline unsigned int getIndex( + static inline uint64_t getIndex( const unsigned int & x, const unsigned int & y, const unsigned int & angle) { return getIndex( @@ -334,7 +352,7 @@ class NodeHybrid * @return Coordinates */ static inline Coordinates getCoords( - const unsigned int & index, + const uint64_t & index, const unsigned int & width, const unsigned int & angle_quantization) { return Coordinates( @@ -347,13 +365,11 @@ class NodeHybrid * @brief Get cost of heuristic of node * @param node Node index current * @param node Node index of new - * @param costmap Costmap ptr to use * @return Heuristic cost between the nodes */ static float getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coordinates, - const nav2_costmap_2d::Costmap2D * costmap); + const Coordinates & goal_coordinates); /** * @brief Initialize motion models @@ -393,7 +409,7 @@ class NodeHybrid static float getObstacleHeuristic( const Coordinates & node_coords, const Coordinates & goal_coords, - const double & cost_penalty); + const float & cost_penalty); /** * @brief Compute the Distance heuristic @@ -410,14 +426,22 @@ class NodeHybrid /** * @brief reset the obstacle heuristic state - * @param costmap Costmap to use + * @param costmap_ros Costmap to use * @param goal_coords Coordinates to start heuristic expansion at */ static void resetObstacleHeuristic( - nav2_costmap_2d::Costmap2D * costmap, + std::shared_ptr costmap_ros, const unsigned int & start_x, const unsigned int & start_y, const unsigned int & goal_x, const unsigned int & goal_y); + /** + * @brief Using the inflation layer, find the footprint's adjusted cost + * if the robot is non-circular + * @param cost Cost to adjust + * @return float Cost adjusted + */ + static float adjustedFootprintCost(const float & cost); + /** * @brief Retrieve all valid neighbors of a node. * @param validity_checker Functor for state validity checking @@ -426,7 +450,8 @@ class NodeHybrid * @param neighbors Vector of neighbors to be filled */ void getNeighbors( - std::function & validity_checker, + std::function & validity_checker, GridCollisionChecker * collision_checker, const bool & traverse_unknown, NodeVector & neighbors); @@ -442,14 +467,14 @@ class NodeHybrid Coordinates pose; // Constants required across all nodes but don't want to allocate more than once - static double travel_distance_cost; + static float travel_distance_cost; static HybridMotionTable motion_table; // Wavefront lookup and queue for continuing to expand as needed static LookupTable obstacle_heuristic_lookup_table; static ObstacleHeuristicQueue obstacle_heuristic_queue; - static nav2_costmap_2d::Costmap2D * sampled_costmap; - static CostmapDownsampler downsampler; + static std::shared_ptr costmap_ros; + static std::shared_ptr inflation_layer; // Dubin / Reeds-Shepp lookup and size for dereferencing static LookupTable dist_heuristic_lookup_table; static float size_lookup; @@ -457,9 +482,10 @@ class NodeHybrid private: float _cell_cost; float _accumulated_cost; - unsigned int _index; + uint64_t _index; bool _was_visited; unsigned int _motion_primitive_index; + TurnDirection _turn_dir; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp index 7f6a82d31c7..47363ab9eba 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp @@ -58,8 +58,6 @@ struct LatticeMotionTable /** * @brief Initializing state lattice planner's motion model * @param size_x_in Size of costmap in X - * @param size_y_in Size of costmap in Y - * @param angle_quantization_in Size of costmap in bin sizes * @param search_info Parameters for searching */ void initMotionModel( @@ -69,9 +67,12 @@ struct LatticeMotionTable /** * @brief Get projections of motion models * @param node Ptr to NodeLattice + * @param Reference direction change index * @return A set of motion poses */ - MotionPrimitivePtrs getMotionPrimitives(const NodeLattice * node); + MotionPrimitivePtrs getMotionPrimitives( + const NodeLattice * node, + unsigned int & direction_change_index); /** * @brief Get file metadata needed @@ -104,12 +105,14 @@ struct LatticeMotionTable float reverse_penalty; float travel_distance_reward; float rotation_penalty; + float min_turning_radius; bool allow_reverse_expansion; std::vector> motion_primitives; ompl::base::StateSpacePtr state_space; std::vector trig_values; std::string current_lattice_filepath; LatticeMetadata lattice_metadata; + MotionModel motion_model = MotionModel::UNKNOWN; }; /** @@ -129,7 +132,7 @@ class NodeLattice * @brief A constructor for nav2_smac_planner::NodeLattice * @param index The index of this node for self-reference */ - explicit NodeLattice(const unsigned int index); + explicit NodeLattice(const uint64_t index); /** * @brief A destructor for nav2_smac_planner::NodeLattice @@ -182,7 +185,7 @@ class NodeLattice * @brief Gets the accumulated cost at this node * @return accumulated cost */ - inline float & getAccumulatedCost() + inline float getAccumulatedCost() { return _accumulated_cost; } @@ -200,7 +203,7 @@ class NodeLattice * @brief Gets the costmap cost at this node * @return costmap cost */ - inline float & getCost() + inline float getCost() { return _cell_cost; } @@ -209,7 +212,7 @@ class NodeLattice * @brief Gets if cell has been visited in search * @param If cell was visited */ - inline bool & wasVisited() + inline bool wasVisited() { return _was_visited; } @@ -226,7 +229,7 @@ class NodeLattice * @brief Gets cell index * @return Reference to cell index */ - inline unsigned int & getIndex() + inline uint64_t getIndex() { return _index; } @@ -278,7 +281,7 @@ class NodeLattice * @param angle Theta coordinate of point * @return Index */ - static inline unsigned int getIndex( + static inline uint64_t getIndex( const unsigned int & x, const unsigned int & y, const unsigned int & angle) { // Hybrid-A* and State Lattice share a coordinate system @@ -295,7 +298,7 @@ class NodeLattice * @return Coordinates */ static inline Coordinates getCoords( - const unsigned int & index, + const uint64_t & index, const unsigned int & width, const unsigned int & angle_quantization) { // Hybrid-A* and State Lattice share a coordinate system @@ -309,13 +312,11 @@ class NodeLattice * @brief Get cost of heuristic of node * @param node Node index current * @param node Node index of new - * @param costmap Costmap ptr to use * @return Heuristic cost between the nodes */ static float getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coordinates, - const nav2_costmap_2d::Costmap2D * costmap); + const Coordinates & goal_coordinates); /** * @brief Initialize motion models @@ -352,12 +353,12 @@ class NodeLattice * @param goal_coords Coordinates to start heuristic expansion at */ static void resetObstacleHeuristic( - nav2_costmap_2d::Costmap2D * costmap, + std::shared_ptr costmap_ros, const unsigned int & start_x, const unsigned int & start_y, const unsigned int & goal_x, const unsigned int & goal_y) { // State Lattice and Hybrid-A* share this heuristics - NodeHybrid::resetObstacleHeuristic(costmap, start_x, start_y, goal_x, goal_y); + NodeHybrid::resetObstacleHeuristic(costmap_ros, start_x, start_y, goal_x, goal_y); } /** @@ -395,7 +396,7 @@ class NodeLattice * @param neighbors Vector of neighbors to be filled */ void getNeighbors( - std::function & validity_checker, GridCollisionChecker * collision_checker, const bool & traverse_unknown, @@ -424,7 +425,7 @@ class NodeLattice private: float _cell_cost; float _accumulated_cost; - unsigned int _index; + uint64_t _index; bool _was_visited; MotionPrimitive * _motion_primitive; bool _backwards; diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp index c499d0796fb..059871d8677 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp @@ -82,11 +82,13 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner * @brief Creating a plan from start and goal poses * @param start Start pose * @param goal Goal pose + * @param cancel_checker Function to check if the action has been canceled * @return nav2_msgs::Path of the generated path */ nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) override; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) override; protected: /** @@ -112,6 +114,7 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner bool _allow_unknown; int _max_iterations; int _max_on_approach_iterations; + int _terminal_checking_interval; bool _use_final_approach_orientation; SearchInfo _search_info; std::string _motion_model_for_search; diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp index c782fe41e08..f1653569440 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp @@ -29,6 +29,7 @@ #include "nav2_costmap_2d/costmap_2d_ros.hpp" #include "nav2_costmap_2d/costmap_2d.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/pose_array.hpp" #include "nav2_util/lifecycle_node.hpp" #include "nav2_util/node_utils.hpp" #include "tf2/utils.h" @@ -80,11 +81,13 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner * @brief Creating a plan from start and goal poses * @param start Start pose * @param goal Goal pose + * @param cancel_checker Function to check if the action has been canceled * @return nav2_msgs::Path of the generated path */ nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) override; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) override; protected: /** @@ -112,18 +115,26 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner bool _allow_unknown; int _max_iterations; int _max_on_approach_iterations; + int _terminal_checking_interval; SearchInfo _search_info; double _max_planning_time; double _lookup_table_size; double _minimum_turning_radius_global_coords; + bool _debug_visualizations; std::string _motion_model_for_search; MotionModel _motion_model; rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + _planned_footprints_publisher; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + _expansions_publisher; std::mutex _mutex; rclcpp_lifecycle::LifecycleNode::WeakPtr _node; // Dynamic parameters handler rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr _dyn_params_handler; + std::shared_ptr _remote_param_subscriber; + std::shared_ptr _remote_resolution_handler; }; } // namespace nav2_smac_planner diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp index f5207cd45c5..57e225f2876 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp @@ -27,6 +27,7 @@ #include "nav_msgs/msg/path.hpp" #include "nav2_costmap_2d/costmap_2d_ros.hpp" #include "nav2_costmap_2d/costmap_2d.hpp" +#include "geometry_msgs/msg/pose_array.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav2_util/lifecycle_node.hpp" #include "nav2_util/node_utils.hpp" @@ -79,11 +80,13 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner * @brief Creating a plan from start and goal poses * @param start Start pose * @param goal Goal pose + * @param cancel_checker Function to check if the action has been canceled * @return nav2_msgs::Path of the generated path */ nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) override; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) override; protected: /** @@ -107,10 +110,16 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner bool _allow_unknown; int _max_iterations; int _max_on_approach_iterations; + int _terminal_checking_interval; float _tolerance; rclcpp_lifecycle::LifecyclePublisher::SharedPtr _raw_plan_publisher; double _max_planning_time; double _lookup_table_size; + bool _debug_visualizations; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + _planned_footprints_publisher; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + _expansions_publisher; std::mutex _mutex; rclcpp_lifecycle::LifecycleNode::WeakPtr _node; diff --git a/nav2_smac_planner/include/nav2_smac_planner/thirdparty/robin_hood.h b/nav2_smac_planner/include/nav2_smac_planner/thirdparty/robin_hood.h index 5d3812a3a35..4d3977937bf 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/thirdparty/robin_hood.h +++ b/nav2_smac_planner/include/nav2_smac_planner/thirdparty/robin_hood.h @@ -111,7 +111,7 @@ static Counts& counts() { # error Unsupported bitness #endif -// endianess +// endianness #ifdef _MSC_VER # define ROBIN_HOOD_PRIVATE_DEFINITION_LITTLE_ENDIAN() 1 # define ROBIN_HOOD_PRIVATE_DEFINITION_BIG_ENDIAN() 0 @@ -2132,7 +2132,7 @@ class Table return maxElements * MaxLoadFactor100 / 100; } - // we might be a bit inprecise, but since maxElements is quite large that doesn't matter + // we might be a bit imprecise, but since maxElements is quite large that doesn't matter return (maxElements / 100) * MaxLoadFactor100; } diff --git a/nav2_smac_planner/include/nav2_smac_planner/types.hpp b/nav2_smac_planner/include/nav2_smac_planner/types.hpp index 1df34851afd..18c2e1315f1 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/types.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/types.hpp @@ -26,7 +26,7 @@ namespace nav2_smac_planner { -typedef std::pair NodeHeuristicPair; +typedef std::pair NodeHeuristicPair; /** * @struct nav2_smac_planner::SearchInfo @@ -34,18 +34,23 @@ typedef std::pair NodeHeuristicPair; */ struct SearchInfo { - float minimum_turning_radius; - float non_straight_penalty; - float change_penalty; - float reverse_penalty; - float cost_penalty; - float retrospective_penalty; - float rotation_penalty; - float analytic_expansion_ratio; - float analytic_expansion_max_length; + float minimum_turning_radius{8.0}; + float non_straight_penalty{1.05}; + float change_penalty{0.0}; + float reverse_penalty{2.0}; + float cost_penalty{2.0}; + float retrospective_penalty{0.015}; + float rotation_penalty{5.0}; + float analytic_expansion_ratio{3.5}; + float analytic_expansion_max_length{60.0}; + float analytic_expansion_max_cost{200.0}; + bool analytic_expansion_max_cost_override{false}; std::string lattice_filepath; - bool cache_obstacle_heuristic; - bool allow_reverse_expansion; + bool cache_obstacle_heuristic{false}; + bool allow_reverse_expansion{false}; + bool allow_primitive_interpolation{false}; + bool downsample_obstacle_heuristic{true}; + bool use_quadratic_cost_penalty{false}; }; /** @@ -101,6 +106,21 @@ struct SmootherParams int refinement_num_; }; +/** + * @struct nav2_smac_planner::TurnDirection + * @brief A struct with the motion primitive's direction embedded + */ +enum struct TurnDirection +{ + UNKNOWN = 0, + FORWARD = 1, + LEFT = 2, + RIGHT = 3, + REVERSE = 4, + REV_LEFT = 5, + REV_RIGHT = 6 +}; + /** * @struct nav2_smac_planner::MotionPose * @brief A struct for poses in motion primitives @@ -117,19 +137,22 @@ struct MotionPose * @param x X pose * @param y Y pose * @param theta Angle of pose + * @param TurnDirection Direction of the primitive's turn */ - MotionPose(const float & x, const float & y, const float & theta) - : _x(x), _y(y), _theta(theta) + MotionPose(const float & x, const float & y, const float & theta, const TurnDirection & turn_dir) + : _x(x), _y(y), _theta(theta), _turn_dir(turn_dir) {} MotionPose operator-(const MotionPose & p2) { - return MotionPose(this->_x - p2._x, this->_y - p2._y, this->_theta - p2._theta); + return MotionPose( + this->_x - p2._x, this->_y - p2._y, this->_theta - p2._theta, TurnDirection::UNKNOWN); } float _x; float _y; float _theta; + TurnDirection _turn_dir; }; typedef std::vector MotionPoses; diff --git a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp index fcb267e980a..86f0b8671a1 100644 --- a/nav2_smac_planner/include/nav2_smac_planner/utils.hpp +++ b/nav2_smac_planner/include/nav2_smac_planner/utils.hpp @@ -1,4 +1,5 @@ // Copyright (c) 2021, Samsung Research America +// Copyright (c) 2023, Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -17,13 +18,18 @@ #include #include +#include +#include "nlohmann/json.hpp" #include "Eigen/Core" #include "geometry_msgs/msg/quaternion.hpp" #include "geometry_msgs/msg/pose.hpp" #include "tf2/utils.h" #include "nav2_costmap_2d/costmap_2d_ros.hpp" #include "nav2_costmap_2d/inflation_layer.hpp" +#include "visualization_msgs/msg/marker_array.hpp" +#include "nav2_smac_planner/types.hpp" +#include namespace nav2_smac_planner { @@ -70,27 +76,15 @@ inline geometry_msgs::msg::Quaternion getWorldOrientation( inline double findCircumscribedCost(std::shared_ptr costmap) { double result = -1.0; - bool inflation_layer_found = false; std::vector>::iterator layer; // check if the costmap has an inflation layer - for (layer = costmap->getLayeredCostmap()->getPlugins()->begin(); - layer != costmap->getLayeredCostmap()->getPlugins()->end(); - ++layer) - { - std::shared_ptr inflation_layer = - std::dynamic_pointer_cast(*layer); - if (!inflation_layer) { - continue; - } - - inflation_layer_found = true; + const auto inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer(costmap); + if (inflation_layer != nullptr) { double circum_radius = costmap->getLayeredCostmap()->getCircumscribedRadius(); double resolution = costmap->getCostmap()->getResolution(); result = static_cast(inflation_layer->computeCost(circum_radius / resolution)); - } - - if (!inflation_layer_found) { + } else { RCLCPP_WARN( rclcpp::get_logger("computeCircumscribedCost"), "No inflation layer found in costmap configuration. " @@ -154,6 +148,76 @@ inline void fromJsonToMotionPrimitive( } } +/** + * @brief transform footprint into edges + * @param[in] robot position , orientation and footprint + * @param[out] robot footprint edges + */ +inline std::vector transformFootprintToEdges( + const geometry_msgs::msg::Pose & pose, + const std::vector & footprint) +{ + const double & x = pose.position.x; + const double & y = pose.position.y; + const double & yaw = tf2::getYaw(pose.orientation); + + std::vector out_footprint; + out_footprint.resize(2 * footprint.size()); + for (unsigned int i = 0; i < footprint.size(); i++) { + out_footprint[2 * i].x = x + cos(yaw) * footprint[i].x - sin(yaw) * footprint[i].y; + out_footprint[2 * i].y = y + sin(yaw) * footprint[i].x + cos(yaw) * footprint[i].y; + if (i == 0) { + out_footprint.back().x = out_footprint[i].x; + out_footprint.back().y = out_footprint[i].y; + } else { + out_footprint[2 * i - 1].x = out_footprint[2 * i].x; + out_footprint[2 * i - 1].y = out_footprint[2 * i].y; + } + } + return out_footprint; +} + +/** + * @brief initializes marker to visualize shape of linestring + * @param edge edge to mark of footprint + * @param i marker ID + * @param frame_id frame of the marker + * @param timestamp timestamp of the marker + * @return marker populated + */ +inline visualization_msgs::msg::Marker createMarker( + const std::vector edge, + unsigned int i, const std::string & frame_id, const rclcpp::Time & timestamp) +{ + visualization_msgs::msg::Marker marker; + marker.header.frame_id = frame_id; + marker.header.stamp = timestamp; + marker.frame_locked = false; + marker.ns = "planned_footprint"; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.type = visualization_msgs::msg::Marker::LINE_LIST; + marker.lifetime = rclcpp::Duration(0, 0); + + marker.id = i; + for (auto & point : edge) { + marker.points.push_back(point); + } + + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.05; + marker.scale.y = 0.05; + marker.scale.z = 0.05; + marker.color.r = 0.0f; + marker.color.g = 0.0f; + marker.color.b = 1.0f; + marker.color.a = 1.3f; + return marker; +} + + } // namespace nav2_smac_planner #endif // NAV2_SMAC_PLANNER__UTILS_HPP_ diff --git a/nav2_smac_planner/lattice_primitives/generate_motion_primitives.py b/nav2_smac_planner/lattice_primitives/generate_motion_primitives.py index e70c235e83d..d19ef987ece 100644 --- a/nav2_smac_planner/lattice_primitives/generate_motion_primitives.py +++ b/nav2_smac_planner/lattice_primitives/generate_motion_primitives.py @@ -40,24 +40,28 @@ def handle_arg_parsing(): An object containing all parsed arguments """ - parser = argparse.ArgumentParser(description='Generate motionprimitives ' - "for Nav2's State " - 'Lattice Planner') - parser.add_argument('--config', - type=Path, - default='./config.json', - help='The config file containing the ' - 'parameters to be used') - parser.add_argument('--output', - type=Path, - default='./output.json', - help='The output file containing the ' - 'trajectory data') - parser.add_argument('--visualizations', - type=Path, - default='./visualizations', - help='The output folder where the ' - 'visualizations of the trajectories will be saved') + parser = argparse.ArgumentParser( + description="Generate motionprimitives for Nav2's State Lattice Planner" + ) + parser.add_argument( + '--config', + type=Path, + default='./config.json', + help='The config file containing the ' 'parameters to be used', + ) + parser.add_argument( + '--output', + type=Path, + default='./output.json', + help='The output file containing the ' 'trajectory data', + ) + parser.add_argument( + '--visualizations', + type=Path, + default='./visualizations', + help='The output folder where the ' + 'visualizations of the trajectories will be saved', + ) return parser.parse_args() @@ -130,14 +134,18 @@ def create_header(config: dict, minimal_set_trajectories: dict) -> dict: header_dict['lattice_metadata'][key] = value heading_angles = create_heading_angle_list(minimal_set_trajectories) - adjusted_heading_angles = [angle + 2*np.pi if angle < 0 else angle for angle in heading_angles] + adjusted_heading_angles = [ + angle + 2 * np.pi if angle < 0 else angle for angle in heading_angles + ] header_dict['lattice_metadata']['heading_angles'] = adjusted_heading_angles return header_dict -def write_to_json(output_path: Path, minimal_set_trajectories: dict, config: dict) -> None: +def write_to_json( + output_path: Path, minimal_set_trajectories: dict, config: dict +) -> None: """ Write the minimal spanning set to an output file. @@ -156,32 +164,29 @@ def write_to_json(output_path: Path, minimal_set_trajectories: dict, config: dic trajectory_start_angles = list(minimal_set_trajectories.keys()) heading_angle_list = create_heading_angle_list(minimal_set_trajectories) - heading_lookup = {angle: idx for idx, angle in - enumerate(heading_angle_list)} + heading_lookup = {angle: idx for idx, angle in enumerate(heading_angle_list)} idx = 0 - for start_angle in sorted(trajectory_start_angles, - key=lambda x: (x < 0, x)): + for start_angle in sorted(trajectory_start_angles, key=lambda x: (x < 0, x)): for trajectory in sorted( - minimal_set_trajectories[start_angle], - key=lambda x: x.parameters.end_angle + minimal_set_trajectories[start_angle], key=lambda x: x.parameters.end_angle ): traj_info = {} traj_info['trajectory_id'] = idx - traj_info['start_angle_index'] = heading_lookup[trajectory.parameters.start_angle] - traj_info['end_angle_index'] = heading_lookup[trajectory.parameters.end_angle] + traj_info['start_angle_index'] = heading_lookup[ + trajectory.parameters.start_angle + ] + traj_info['end_angle_index'] = heading_lookup[ + trajectory.parameters.end_angle + ] traj_info['left_turn'] = bool(trajectory.parameters.left_turn) - traj_info['trajectory_radius'] = \ - trajectory.parameters.turning_radius + traj_info['trajectory_radius'] = trajectory.parameters.turning_radius traj_info['trajectory_length'] = round( trajectory.parameters.total_length, 5 ) - traj_info['arc_length'] = round( - trajectory.parameters.arc_length, - 5 - ) + traj_info['arc_length'] = round(trajectory.parameters.arc_length, 5) traj_info['straight_length'] = round( trajectory.parameters.start_straight_length + trajectory.parameters.end_straight_length, @@ -198,7 +203,9 @@ def write_to_json(output_path: Path, minimal_set_trajectories: dict, config: dic json.dump(output_dict, output_file, indent='\t') -def save_visualizations(visualizations_folder: Path, minimal_set_trajectories: dict) -> None: +def save_visualizations( + visualizations_folder: Path, minimal_set_trajectories: dict +) -> None: """ Draw the visualizations for every trajectory and save it as an image. diff --git a/nav2_smac_planner/lattice_primitives/helper.py b/nav2_smac_planner/lattice_primitives/helper.py index 24d3cf91402..e29c7877389 100644 --- a/nav2_smac_planner/lattice_primitives/helper.py +++ b/nav2_smac_planner/lattice_primitives/helper.py @@ -28,11 +28,11 @@ def normalize_angle(angle): The normalized angle in the range [0,2pi) """ - while angle >= 2*np.pi: - angle -= 2*np.pi + while angle >= 2 * np.pi: + angle -= 2 * np.pi while angle < 0: - angle += 2*np.pi + angle += 2 * np.pi return angle @@ -123,5 +123,4 @@ def get_rotation_matrix(angle): A 2x2 matrix representing a 2D rotation by angle """ - return np.array([[np.cos(angle), -np.sin(angle)], - [np.sin(angle), np.cos(angle)]]) + return np.array([[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]]) diff --git a/nav2_smac_planner/lattice_primitives/lattice_generator.py b/nav2_smac_planner/lattice_primitives/lattice_generator.py index 3bcf735de80..185cc0f839f 100644 --- a/nav2_smac_planner/lattice_primitives/lattice_generator.py +++ b/nav2_smac_planner/lattice_primitives/lattice_generator.py @@ -57,8 +57,7 @@ def __init__(self, config: dict): self.turning_radius = config['turning_radius'] self.stopping_threshold = config['stopping_threshold'] self.num_of_headings = config['num_of_headings'] - self.headings = \ - self._get_heading_discretization(config['num_of_headings']) + self.headings = self._get_heading_discretization(config['num_of_headings']) self.motion_model = self.MotionModel[config['motion_model'].upper()] @@ -119,7 +118,7 @@ def _get_heading_discretization(self, number_of_headings: int) -> list: A list of headings in radians """ - max_val = int((((number_of_headings + 4) / 4) - 1) / 2) + max_val = int(number_of_headings / 8) outer_edge_x = [] outer_edge_y = [] @@ -567,8 +566,7 @@ def _handle_motion_model(self, spanning_set: dict) -> dict: return omni_spanning_set else: - print('No handling implemented for Motion Model: ' + - f'{self.motion_model}') + print('No handling implemented for Motion Model: ' + f'{self.motion_model}') raise NotImplementedError def _add_in_place_turns(self, spanning_set: dict) -> dict: diff --git a/nav2_smac_planner/lattice_primitives/tests/test_lattice_generator.py b/nav2_smac_planner/lattice_primitives/tests/test_lattice_generator.py index 01476decd0e..30a7a24eb2a 100644 --- a/nav2_smac_planner/lattice_primitives/tests/test_lattice_generator.py +++ b/nav2_smac_planner/lattice_primitives/tests/test_lattice_generator.py @@ -28,11 +28,13 @@ class TestLatticeGenerator(unittest.TestCase): """Contains the unit tests for the TrajectoryGenerator.""" def setUp(self) -> None: - config = {'motion_model': MOTION_MODEL, - 'turning_radius': TURNING_RADIUS, - 'grid_resolution': GRID_RESOLUTION, - 'stopping_threshold': STOPPING_THRESHOLD, - 'num_of_headings': NUM_OF_HEADINGS} + config = { + 'motion_model': MOTION_MODEL, + 'turning_radius': TURNING_RADIUS, + 'grid_resolution': GRID_RESOLUTION, + 'stopping_threshold': STOPPING_THRESHOLD, + 'num_of_headings': NUM_OF_HEADINGS, + } lattice_gen = LatticeGenerator(config) @@ -83,7 +85,7 @@ def test_output_angles_in_correct_range(self): for x, y, angle in output: self.assertGreaterEqual(angle, 0) - self.assertLessEqual(angle, 2*np.pi) + self.assertLessEqual(angle, 2 * np.pi) if __name__ == '__main__': diff --git a/nav2_smac_planner/lattice_primitives/tests/test_trajectory_generator.py b/nav2_smac_planner/lattice_primitives/tests/test_trajectory_generator.py index 0a994cac490..ea3f51930fa 100644 --- a/nav2_smac_planner/lattice_primitives/tests/test_trajectory_generator.py +++ b/nav2_smac_planner/lattice_primitives/tests/test_trajectory_generator.py @@ -32,7 +32,8 @@ def test_generate_trajectory_only_arc(self): # Quadrant 1 end_point = np.array([1, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -40,7 +41,8 @@ def test_generate_trajectory_only_arc(self): # Quadrant 2 end_point = np.array([-1, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -48,7 +50,8 @@ def test_generate_trajectory_only_arc(self): # Quadrant 3 end_point = np.array([-1, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -56,7 +59,8 @@ def test_generate_trajectory_only_arc(self): # Quadrant 4 end_point = np.array([1, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -65,7 +69,8 @@ def test_generate_trajectory_only_line(self): # Quadrant 1 end_point = np.array([1, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(45), np.deg2rad(45), STEP_DISTANCE) + end_point, np.deg2rad(45), np.deg2rad(45), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -73,7 +78,8 @@ def test_generate_trajectory_only_line(self): # Quadrant 2 end_point = np.array([-1, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(135), np.deg2rad(135), STEP_DISTANCE) + end_point, np.deg2rad(135), np.deg2rad(135), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -81,7 +87,8 @@ def test_generate_trajectory_only_line(self): # Quadrant 3 end_point = np.array([-1, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(135), -np.deg2rad(135), STEP_DISTANCE) + end_point, -np.deg2rad(135), -np.deg2rad(135), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -89,7 +96,8 @@ def test_generate_trajectory_only_line(self): # Quadrant 4 end_point = np.array([1, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(45), -np.deg2rad(45), STEP_DISTANCE) + end_point, -np.deg2rad(45), -np.deg2rad(45), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -98,7 +106,8 @@ def test_generate_trajectory_line_to_arc(self): # Quadrant 1 end_point = np.array([2, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -106,7 +115,8 @@ def test_generate_trajectory_line_to_arc(self): # Quadrant 2 end_point = np.array([-2, 1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -114,7 +124,8 @@ def test_generate_trajectory_line_to_arc(self): # Quadrant 3 end_point = np.array([-2, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -122,7 +133,8 @@ def test_generate_trajectory_line_to_arc(self): # Quadrant 1 end_point = np.array([2, -1]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -131,7 +143,8 @@ def test_generate_trajectory_line_to_end(self): # Quadrant 1 end_point = np.array([1, 2]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -139,7 +152,8 @@ def test_generate_trajectory_line_to_end(self): # Quadrant 2 end_point = np.array([-1, 2]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -147,7 +161,8 @@ def test_generate_trajectory_line_to_end(self): # Quadrant 3 end_point = np.array([-1, -2]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -155,37 +170,42 @@ def test_generate_trajectory_line_to_end(self): # Quadrant 4 end_point = np.array([1, -2]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) def test_generate_trajectory_radius_too_small(self): # Quadrant 1 - end_point = np.array([.9, .9]) + end_point = np.array([0.9, 0.9]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(trajectory, None) # Quadrant 2 - end_point = np.array([-.9, -.9]) + end_point = np.array([-0.9, -0.9]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(trajectory, None) # Quadrant 3 - end_point = np.array([-.9, -.9]) + end_point = np.array([-0.9, -0.9]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(trajectory, None) # Quadrant 4 - end_point = np.array([.9, -.9]) + end_point = np.array([0.9, -0.9]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE) + end_point, np.deg2rad(0), -np.deg2rad(90), STEP_DISTANCE + ) self.assertEqual(trajectory, None) @@ -193,7 +213,8 @@ def test_generate_trajectory_parallel_lines_coincident(self): # Quadrant 1 end_point = np.array([5, 0]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(0), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(0), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -201,7 +222,8 @@ def test_generate_trajectory_parallel_lines_coincident(self): # Quadrant 2 end_point = np.array([-5, 0]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(180), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(180), STEP_DISTANCE + ) self.assertEqual(len(trajectory.path.xs), len(trajectory.path.ys)) self.assertGreater(len(trajectory.path.xs), 0) @@ -210,14 +232,16 @@ def test_generate_trajectory_parallel_lines_not_coincident(self): # Quadrant 1 end_point = np.array([0, 3]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, np.deg2rad(0), np.deg2rad(0), STEP_DISTANCE) + end_point, np.deg2rad(0), np.deg2rad(0), STEP_DISTANCE + ) self.assertEqual(trajectory, None) # Quadrant 2 end_point = np.array([0, 3]) trajectory = self.trajectory_generator.generate_trajectory( - end_point, -np.deg2rad(180), -np.deg2rad(180), STEP_DISTANCE) + end_point, -np.deg2rad(180), -np.deg2rad(180), STEP_DISTANCE + ) self.assertEqual(trajectory, None) diff --git a/nav2_smac_planner/lattice_primitives/tests/trajectory_visualizer.py b/nav2_smac_planner/lattice_primitives/tests/trajectory_visualizer.py index ef1ce0f4727..9187d0b1e46 100644 --- a/nav2_smac_planner/lattice_primitives/tests/trajectory_visualizer.py +++ b/nav2_smac_planner/lattice_primitives/tests/trajectory_visualizer.py @@ -32,8 +32,14 @@ def plot_arrow(x, y, yaw, length=1.0, fc='r', ec='k'): """Plot arrow.""" - plt.arrow(x, y, length * np.cos(yaw), length * - np.sin(yaw), width=0.05*length, length_includes_head=True) + plt.arrow( + x, + y, + length * np.cos(yaw), + length * np.sin(yaw), + width=0.05 * length, + length_includes_head=True, + ) plt.plot(x, y) plt.plot(0, 0) @@ -51,21 +57,38 @@ def read_trajectories_data(file_path): trajectory_data = read_trajectories_data(trajectory_file_path) -min_x = min([min([pose[0] for pose in primitive['poses']]) - for primitive in trajectory_data['primitives']]) -max_x = max([max([pose[0] for pose in primitive['poses']]) - for primitive in trajectory_data['primitives']]) - -min_y = min([min([pose[1] for pose in primitive['poses']]) - for primitive in trajectory_data['primitives']]) -max_y = max([max([pose[1] for pose in primitive['poses']]) - for primitive in trajectory_data['primitives']]) +min_x = min( + [ + min([pose[0] for pose in primitive['poses']]) + for primitive in trajectory_data['primitives'] + ] +) +max_x = max( + [ + max([pose[0] for pose in primitive['poses']]) + for primitive in trajectory_data['primitives'] + ] +) + +min_y = min( + [ + min([pose[1] for pose in primitive['poses']]) + for primitive in trajectory_data['primitives'] + ] +) +max_y = max( + [ + max([pose[1] for pose in primitive['poses']]) + for primitive in trajectory_data['primitives'] + ] +) heading_angles = trajectory_data['lattice_metadata']['heading_angles'] for primitive in trajectory_data['primitives']: - arrow_length = (primitive['arc_length'] + - primitive['straight_length']) / len(primitive['poses']) + arrow_length = (primitive['arc_length'] + primitive['straight_length']) / len( + primitive['poses'] + ) if arrow_length == 0: arrow_length = max_x / len(primitive['poses']) @@ -73,7 +96,7 @@ def read_trajectories_data(file_path): xs = np.array([pose[0] for pose in primitive['poses']]) ys = np.array([pose[1] for pose in primitive['poses']]) - lengths = np.sqrt((xs[1:] - xs[:-1])**2 + (ys[1:] - ys[:-1])**2) + lengths = np.sqrt((xs[1:] - xs[:-1]) ** 2 + (ys[1:] - ys[:-1]) ** 2) print('Distances between points: ', lengths) for x, y, yaw in primitive['poses']: @@ -85,14 +108,13 @@ def read_trajectories_data(file_path): left_x, right_x = plt.xlim() left_y, right_y = plt.ylim() - plt.xlim(1.2*min_x, 1.2*max_x) - plt.ylim(1.2*min_y, 1.2*max_y) + plt.xlim(1.2 * min_x, 1.2 * max_x) + plt.ylim(1.2 * min_y, 1.2 * max_y) start_angle = np.rad2deg(heading_angles[primitive['start_angle_index']]) end_angle = np.rad2deg(heading_angles[primitive['end_angle_index']]) plt.title(f"Trajectory ID: {primitive['trajectory_id']}") - plt.figtext( - 0.7, 0.9, f'Start: {start_angle}\nEnd: {end_angle}') + plt.figtext(0.7, 0.9, f'Start: {start_angle}\nEnd: {end_angle}') plt.show() diff --git a/nav2_smac_planner/lattice_primitives/trajectory.py b/nav2_smac_planner/lattice_primitives/trajectory.py index 520ded328da..0dcb6edc07e 100644 --- a/nav2_smac_planner/lattice_primitives/trajectory.py +++ b/nav2_smac_planner/lattice_primitives/trajectory.py @@ -73,8 +73,7 @@ def end_straight_length(self): @property def total_length(self): """Total length of trajectory.""" - return self.arc_length + self.start_straight_length + \ - self.end_straight_length + return self.arc_length + self.start_straight_length + self.end_straight_length @staticmethod def no_arc(end_point, start_angle, end_angle): diff --git a/nav2_smac_planner/lattice_primitives/trajectory_generator.py b/nav2_smac_planner/lattice_primitives/trajectory_generator.py index f2f51baf01e..bd47d055cdf 100644 --- a/nav2_smac_planner/lattice_primitives/trajectory_generator.py +++ b/nav2_smac_planner/lattice_primitives/trajectory_generator.py @@ -243,6 +243,7 @@ def _get_intersection_point( The intersection point of line 1 and 2 """ + def line1(x): return m1 * x + c1 diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml index ad916087792..92bae10f569 100644 --- a/nav2_smac_planner/package.xml +++ b/nav2_smac_planner/package.xml @@ -2,7 +2,7 @@ nav2_smac_planner - 1.1.0 + 1.2.0 Smac global planning plugin: A*, Hybrid-A*, State Lattice Steve Macenski Apache-2.0 diff --git a/nav2_smac_planner/smac_plugin_2d.xml b/nav2_smac_planner/smac_plugin_2d.xml index 5bae6874721..05c6bdb8166 100644 --- a/nav2_smac_planner/smac_plugin_2d.xml +++ b/nav2_smac_planner/smac_plugin_2d.xml @@ -1,5 +1,5 @@ - + 2D A* SMAC Planner diff --git a/nav2_smac_planner/smac_plugin_hybrid.xml b/nav2_smac_planner/smac_plugin_hybrid.xml index 7b52bb24d76..dec7fd1b7fc 100644 --- a/nav2_smac_planner/smac_plugin_hybrid.xml +++ b/nav2_smac_planner/smac_plugin_hybrid.xml @@ -1,5 +1,5 @@ - + Hybrid-A* SMAC planner diff --git a/nav2_smac_planner/smac_plugin_lattice.xml b/nav2_smac_planner/smac_plugin_lattice.xml index 34149230f4c..0cfe8c70c32 100644 --- a/nav2_smac_planner/smac_plugin_lattice.xml +++ b/nav2_smac_planner/smac_plugin_lattice.xml @@ -1,5 +1,5 @@ - + State Lattice SMAC planner diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp index 841b43e3576..8c8ec7197ff 100644 --- a/nav2_smac_planner/src/a_star.cpp +++ b/nav2_smac_planner/src/a_star.cpp @@ -37,6 +37,7 @@ AStarAlgorithm::AStarAlgorithm( const SearchInfo & search_info) : _traverse_unknown(true), _max_iterations(0), + _terminal_checking_interval(5000), _max_planning_time(0), _x_size(0), _y_size(0), @@ -59,6 +60,7 @@ void AStarAlgorithm::initialize( const bool & allow_unknown, int & max_iterations, const int & max_on_approach_iterations, + const int & terminal_checking_interval, const double & max_planning_time, const float & lookup_table_size, const unsigned int & dim_3_size) @@ -66,6 +68,7 @@ void AStarAlgorithm::initialize( _traverse_unknown = allow_unknown; _max_iterations = max_iterations; _max_on_approach_iterations = max_on_approach_iterations; + _terminal_checking_interval = terminal_checking_interval; _max_planning_time = max_planning_time; NodeT::precomputeDistanceHeuristic(lookup_table_size, _motion_model, dim_3_size, _search_info); _dim3_size = dim_3_size; @@ -78,6 +81,7 @@ void AStarAlgorithm::initialize( const bool & allow_unknown, int & max_iterations, const int & max_on_approach_iterations, + const int & terminal_checking_interval, const double & max_planning_time, const float & /*lookup_table_size*/, const unsigned int & dim_3_size) @@ -85,6 +89,7 @@ void AStarAlgorithm::initialize( _traverse_unknown = allow_unknown; _max_iterations = max_iterations; _max_on_approach_iterations = max_on_approach_iterations; + _terminal_checking_interval = terminal_checking_interval; _max_planning_time = max_planning_time; if (dim_3_size != 1) { @@ -110,12 +115,12 @@ void AStarAlgorithm::setCollisionChecker(GridCollisionChecker * collision _y_size = y_size; NodeT::initMotionModel(_motion_model, _x_size, _y_size, _dim3_size, _search_info); } - _expander->setCollisionChecker(collision_checker); + _expander->setCollisionChecker(_collision_checker); } template typename AStarAlgorithm::NodePtr AStarAlgorithm::addToGraph( - const unsigned int & index) + const uint64_t & index) { auto iter = _graph.find(index); if (iter != _graph.end()) { @@ -127,63 +132,97 @@ typename AStarAlgorithm::NodePtr AStarAlgorithm::addToGraph( template<> void AStarAlgorithm::setStart( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3) { if (dim_3 != 0) { throw std::runtime_error("Node type Node2D cannot be given non-zero starting dim 3."); } - _start = addToGraph(Node2D::getIndex(mx, my, getSizeX())); + _start = addToGraph( + Node2D::getIndex( + static_cast(mx), + static_cast(my), + getSizeX())); } template void AStarAlgorithm::setStart( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3) { - _start = addToGraph(NodeT::getIndex(mx, my, dim_3)); - _start->setPose( - Coordinates( - static_cast(mx), - static_cast(my), - static_cast(dim_3))); + _start = addToGraph( + NodeT::getIndex( + static_cast(mx), + static_cast(my), + dim_3)); + _start->setPose(Coordinates(mx, my, dim_3)); +} + +template<> +void AStarAlgorithm::populateExpansionsLog( + const NodePtr & node, + std::vector> * expansions_log) +{ + Node2D::Coordinates coords = node->getCoords(node->getIndex()); + expansions_log->emplace_back( + _costmap->getOriginX() + ((coords.x + 0.5) * _costmap->getResolution()), + _costmap->getOriginY() + ((coords.y + 0.5) * _costmap->getResolution()), + 0.0); +} + +template +void AStarAlgorithm::populateExpansionsLog( + const NodePtr & node, + std::vector> * expansions_log) +{ + typename NodeT::Coordinates coords = node->pose; + expansions_log->emplace_back( + _costmap->getOriginX() + ((coords.x + 0.5) * _costmap->getResolution()), + _costmap->getOriginY() + ((coords.y + 0.5) * _costmap->getResolution()), + NodeT::motion_table.getAngleFromBin(coords.theta)); } template<> void AStarAlgorithm::setGoal( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3) { if (dim_3 != 0) { throw std::runtime_error("Node type Node2D cannot be given non-zero goal dim 3."); } - _goal = addToGraph(Node2D::getIndex(mx, my, getSizeX())); + _goal = addToGraph( + Node2D::getIndex( + static_cast(mx), + static_cast(my), + getSizeX())); _goal_coordinates = Node2D::Coordinates(mx, my); } template void AStarAlgorithm::setGoal( - const unsigned int & mx, - const unsigned int & my, + const float & mx, + const float & my, const unsigned int & dim_3) { - _goal = addToGraph(NodeT::getIndex(mx, my, dim_3)); + _goal = addToGraph( + NodeT::getIndex( + static_cast(mx), + static_cast(my), + dim_3)); - typename NodeT::Coordinates goal_coords( - static_cast(mx), - static_cast(my), - static_cast(dim_3)); + typename NodeT::Coordinates goal_coords(mx, my, dim_3); if (!_search_info.cache_obstacle_heuristic || goal_coords != _goal_coordinates) { if (!_start) { throw std::runtime_error("Start must be set before goal."); } - NodeT::resetObstacleHeuristic(_costmap, _start->pose.x, _start->pose.y, mx, my); + NodeT::resetObstacleHeuristic( + _collision_checker->getCostmapROS(), _start->pose.x, _start->pose.y, mx, my); } _goal_coordinates = goal_coords; @@ -210,10 +249,8 @@ bool AStarAlgorithm::areInputsValid() throw nav2_core::GoalOccupied("Goal was in lethal cost"); } - // Check if starting point is valid - if (!_start->isNodeValid(_traverse_unknown, _collision_checker)) { - throw nav2_core::StartOccupied("Start was in lethal cost"); - } + // Note: We do not check the if the start is valid because it is cleared + clearStart(); return true; } @@ -221,7 +258,9 @@ bool AStarAlgorithm::areInputsValid() template bool AStarAlgorithm::createPath( CoordinateVector & path, int & iterations, - const float & tolerance) + const float & tolerance, + std::function cancel_checker, + std::vector> * expansions_log) { steady_clock::time_point start_time = steady_clock::now(); _tolerance = tolerance; @@ -248,9 +287,11 @@ bool AStarAlgorithm::createPath( int closest_distance = std::numeric_limits::max(); // Given an index, return a node ptr reference if its collision-free and valid - const unsigned int max_index = getSizeX() * getSizeY() * getSizeDim3(); + const uint64_t max_index = static_cast(getSizeX()) * + static_cast(getSizeY()) * + static_cast(getSizeDim3()); NodeGetter neighborGetter = - [&, this](const unsigned int & index, NodePtr & neighbor_rtn) -> bool + [&, this](const uint64_t & index, NodePtr & neighbor_rtn) -> bool { if (index >= max_index) { return false; @@ -261,8 +302,11 @@ bool AStarAlgorithm::createPath( }; while (iterations < getMaxIterations() && !_queue.empty()) { - // Check for planning timeout only on every Nth iteration - if (iterations % _timing_interval == 0) { + // Check for planning timeout and cancel only on every Nth iteration + if (iterations % _terminal_checking_interval == 0) { + if (cancel_checker()) { + throw nav2_core::PlannerCancelled("Planner was cancelled"); + } std::chrono::duration planning_duration = std::chrono::duration_cast>(steady_clock::now() - start_time); if (static_cast(planning_duration.count()) >= _max_planning_time) { @@ -273,6 +317,11 @@ bool AStarAlgorithm::createPath( // 1) Pick Nbest from O s.t. min(f(Nbest)), remove from queue current_node = getNextNode(); + // Save current node coordinates for debug + if (expansions_log) { + populateExpansionsLog(current_node, expansions_log); + } + // We allow for nodes to be queued multiple times in case // shorter paths result in it, but we can visit only once if (current_node->wasVisited()) { @@ -327,7 +376,7 @@ bool AStarAlgorithm::createPath( } if (_best_heuristic_node.first < getToleranceHeuristic()) { - // If we run out of serach options, return the path that is closest, if within tolerance. + // If we run out of search options, return the path that is closest, if within tolerance. return _graph.at(_best_heuristic_node.second).backtracePath(path); } @@ -375,7 +424,7 @@ float AStarAlgorithm::getHeuristicCost(const NodePtr & node) const Coordinates node_coords = NodeT::getCoords(node->getIndex(), getSizeX(), getSizeDim3()); float heuristic = NodeT::getHeuristicCost( - node_coords, _goal_coordinates, _costmap); + node_coords, _goal_coordinates); if (heuristic < _best_heuristic_node.first) { _best_heuristic_node = {heuristic, node->getIndex()}; @@ -435,6 +484,20 @@ unsigned int & AStarAlgorithm::getSizeDim3() return _dim3_size; } +template<> +void AStarAlgorithm::clearStart() +{ + auto coords = Node2D::getCoords(_start->getIndex()); + _costmap->setCost(coords.x, coords.y, nav2_costmap_2d::FREE_SPACE); +} + +template +void AStarAlgorithm::clearStart() +{ + auto coords = NodeT::getCoords(_start->getIndex(), _costmap->getSizeInCellsX(), getSizeDim3()); + _costmap->setCost(coords.x, coords.y, nav2_costmap_2d::FREE_SPACE); +} + // Instantiate algorithm for the supported template types template class AStarAlgorithm; template class AStarAlgorithm; diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp index 831bccbd9e0..f2667d3ba8e 100644 --- a/nav2_smac_planner/src/analytic_expansion.cpp +++ b/nav2_smac_planner/src/analytic_expansion.cpp @@ -57,12 +57,12 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalytic _motion_model == MotionModel::STATE_LATTICE) { // See if we are closer and should be expanding more often - auto costmap = _collision_checker->getCostmap(); const Coordinates node_coords = - NodeT::getCoords(current_node->getIndex(), costmap->getSizeInCellsX(), _dim_3_size); + NodeT::getCoords( + current_node->getIndex(), _collision_checker->getCostmap()->getSizeInCellsX(), _dim_3_size); closest_distance = std::min( closest_distance, - static_cast(NodeT::getHeuristicCost(node_coords, goal_node->pose, costmap))); + static_cast(NodeT::getHeuristicCost(node_coords, goal_node->pose))); // We want to expand at a rate of d/expansion_ratio, // but check to see if we are so close that we would be expanding every iteration @@ -80,7 +80,8 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalytic if (analytic_iterations <= 0) { // Reset the counter and try the analytic path expansion analytic_iterations = desired_iterations; - AnalyticExpansionNodes analytic_nodes = getAnalyticPath(current_node, goal_node, getter); + AnalyticExpansionNodes analytic_nodes = + getAnalyticPath(current_node, goal_node, getter, current_node->motion_table.state_space); if (!analytic_nodes.empty()) { // If we have a valid path, attempt to refine it NodePtr node = current_node; @@ -94,7 +95,8 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalytic test_node->parent->parent->parent->parent->parent) { test_node = test_node->parent->parent->parent->parent->parent; - refined_analytic_nodes = getAnalyticPath(test_node, goal_node, getter); + refined_analytic_nodes = + getAnalyticPath(test_node, goal_node, getter, test_node->motion_table.state_space); if (refined_analytic_nodes.empty()) { break; } @@ -105,6 +107,50 @@ typename AnalyticExpansion::NodePtr AnalyticExpansion::tryAnalytic } } + // The analytic expansion can short-cut near obstacles when closer to a goal + // So, we can attempt to refine it more by increasing the possible radius + // higher than the minimum turning radius and use the best solution based on + // a scoring function similar to that used in traveral cost estimation. + auto scoringFn = [&](const AnalyticExpansionNodes & expansion) { + if (expansion.size() < 2) { + return std::numeric_limits::max(); + } + + float score = 0.0; + float normalized_cost = 0.0; + // Analytic expansions are consistently spaced + const float distance = hypotf( + expansion[1].proposed_coords.x - expansion[0].proposed_coords.x, + expansion[1].proposed_coords.y - expansion[0].proposed_coords.y); + const float & weight = expansion[0].node->motion_table.cost_penalty; + for (auto iter = expansion.begin(); iter != expansion.end(); ++iter) { + normalized_cost = iter->node->getCost() / 252.0f; + // Search's Traversal Cost Function + score += distance * (1.0 + weight * normalized_cost); + } + return score; + }; + + float best_score = scoringFn(analytic_nodes); + float score = std::numeric_limits::max(); + float min_turn_rad = node->motion_table.min_turning_radius; + const float max_min_turn_rad = 4.0 * min_turn_rad; // Up to 4x the turning radius + while (min_turn_rad < max_min_turn_rad) { + min_turn_rad += 0.5; // In Grid Coords, 1/2 cell steps + ompl::base::StateSpacePtr state_space; + if (node->motion_table.motion_model == MotionModel::DUBIN) { + state_space = std::make_shared(min_turn_rad); + } else { + state_space = std::make_shared(min_turn_rad); + } + refined_analytic_nodes = getAnalyticPath(node, goal_node, getter, state_space); + score = scoringFn(refined_analytic_nodes); + if (score <= best_score) { + analytic_nodes = refined_analytic_nodes; + best_score = score; + } + } + return setAnalyticPath(node, goal_node, analytic_nodes); } } @@ -120,10 +166,10 @@ template typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion::getAnalyticPath( const NodePtr & node, const NodePtr & goal, - const NodeGetter & node_getter) + const NodeGetter & node_getter, + const ompl::base::StateSpacePtr & state_space) { - static ompl::base::ScopedState<> from(node->motion_table.state_space), to( - node->motion_table.state_space), s(node->motion_table.state_space); + static ompl::base::ScopedState<> from(state_space), to(state_space), s(state_space); from[0] = node->pose.x; from[1] = node->pose.y; from[2] = node->motion_table.getAngleFromBin(node->pose.theta); @@ -131,19 +177,20 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansionpose.y; to[2] = node->motion_table.getAngleFromBin(goal->pose.theta); - float d = node->motion_table.state_space->distance(from(), to()); + float d = state_space->distance(from(), to()); + + // A move of sqrt(2) is guaranteed to be in a new cell + static const float sqrt_2 = sqrtf(2.0f); // If the length is too far, exit. This prevents unsafe shortcutting of paths // into higher cost areas far out from the goal itself, let search to the work of getting // close before the analytic expansion brings it home. This should never be smaller than // 4-5x the minimum turning radius being used, or planning times will begin to spike. - if (d > _search_info.analytic_expansion_max_length) { + if (d > _search_info.analytic_expansion_max_length || d < sqrt_2) { return AnalyticExpansionNodes(); } - // A move of sqrt(2) is guaranteed to be in a new cell - static const float sqrt_2 = std::sqrt(2.); - unsigned int num_intervals = std::floor(d / sqrt_2); + unsigned int num_intervals = static_cast(std::floor(d / sqrt_2)); AnalyticExpansionNodes possible_nodes; // When "from" and "to" are zero or one cell away, @@ -154,15 +201,17 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion node_costs; + node_costs.reserve(num_intervals); // Check intermediary poses (non-goal, non-start) for (float i = 1; i < num_intervals; i++) { - node->motion_table.state_space->interpolate(from(), to(), i / num_intervals, s()); + state_space->interpolate(from(), to(), i / num_intervals, s()); reals = s.reals(); // Make sure in range [0, 2PI) theta = (reals[2] < 0.0) ? (reals[2] + 2.0 * M_PI) : reals[2]; @@ -182,6 +231,7 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansionisNodeValid(_traverse_unknown, _collision_checker) && next != prev) { // Save the node, and its previous coordinates in case we need to abort possible_nodes.emplace_back(next, initial_node_coords, proposed_coordinates); + node_costs.emplace_back(next->getCost()); prev = next; } else { // Abort @@ -196,6 +246,39 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion max_cost) { + // If any element is above the comfortable cost limit, check edge cases: + // (1) Check if goal is in greater than max_cost space requiring + // entering it, but only entering it on final approach, not in-and-out + // (2) Checks if goal is in normal space, but enters costed space unnecessarily + // mid-way through, skirting obstacle or in non-globally confined space + bool cost_exit_high_cost_region = false; + for (auto iter = node_costs.rbegin(); iter != node_costs.rend(); ++iter) { + const float & curr_cost = *iter; + if (curr_cost <= max_cost) { + cost_exit_high_cost_region = true; + } else if (curr_cost > max_cost && cost_exit_high_cost_region) { + failure = true; + break; + } + } + + // (3) Handle exception: there may be no other option close to goal + // if max cost is set too low (optional) + if (failure) { + if (d < 2.0f * M_PI * goal->motion_table.min_turning_radius && + _search_info.analytic_expansion_max_cost_override) + { + failure = false; + } + } + } + } + // Reset to initial poses to not impact future searches for (const auto & node_pose : possible_nodes) { const auto & n = node_pose.node; @@ -256,7 +339,8 @@ typename AnalyticExpansion::AnalyticExpansionNodes AnalyticExpansion costmap_ros, + unsigned int num_quantizations, + rclcpp_lifecycle::LifecycleNode::SharedPtr node) +: FootprintCollisionChecker(costmap_ros ? costmap_ros->getCostmap() : nullptr) { + if (node) { + clock_ = node->get_clock(); + logger_ = node->get_logger(); + } + + if (costmap_ros) { + costmap_ros_ = costmap_ros; + } + // Convert number of regular bins into angles float bin_size = 2 * M_PI / static_cast(num_quantizations); angles_.reserve(num_quantizations); @@ -41,9 +51,9 @@ GridCollisionChecker::GridCollisionChecker( void GridCollisionChecker::setFootprint( const nav2_costmap_2d::Footprint & footprint, const bool & radius, - const double & possible_inscribed_cost) + const double & possible_collision_cost) { - possible_inscribed_cost_ = possible_inscribed_cost; + possible_collision_cost_ = static_cast(possible_collision_cost); footprint_is_radius_ = radius; // Use radius, no caching required @@ -56,6 +66,7 @@ void GridCollisionChecker::setFootprint( return; } + oriented_footprints_.clear(); oriented_footprints_.reserve(angles_.size()); double sin_th, cos_th; geometry_msgs::msg::Point new_pt; @@ -90,7 +101,7 @@ bool GridCollisionChecker::inCollision( if (outsideRange(costmap_->getSizeInCellsX(), x) || outsideRange(costmap_->getSizeInCellsY(), y)) { - return false; + return true; } // Assumes setFootprint already set @@ -100,11 +111,21 @@ bool GridCollisionChecker::inCollision( if (!footprint_is_radius_) { // if footprint, then we check for the footprint's points, but first see // if the robot is even potentially in an inscribed collision - footprint_cost_ = costmap_->getCost( - static_cast(x), static_cast(y)); - - if (footprint_cost_ < possible_inscribed_cost_) { - return false; + footprint_cost_ = static_cast(costmap_->getCost( + static_cast(x + 0.5f), static_cast(y + 0.5f))); + + if (footprint_cost_ < possible_collision_cost_) { + if (possible_collision_cost_ > 0.0f) { + return false; + } else { + RCLCPP_ERROR_THROTTLE( + logger_, *clock_, 1000, + "Inflation layer either not found or inflation is not set sufficiently for " + "optimized non-circular collision checking capabilities. It is HIGHLY recommended to set" + " the inflation radius to be at MINIMUM half of the robot's largest cross-section. See " + "github.com/ros-planning/navigation2/tree/main/nav2_smac_planner#potential-fields" + " for full instructions. This will substantially impact run-time performance."); + } } // If its inscribed, in collision, or unknown in the middle, @@ -130,7 +151,7 @@ bool GridCollisionChecker::inCollision( current_footprint.push_back(new_pt); } - footprint_cost_ = footprintCost(current_footprint); + footprint_cost_ = static_cast(footprintCost(current_footprint)); if (footprint_cost_ == UNKNOWN && traverse_unknown) { return false; @@ -140,15 +161,15 @@ bool GridCollisionChecker::inCollision( return footprint_cost_ >= OCCUPIED; } else { // if radius, then we can check the center of the cost assuming inflation is used - footprint_cost_ = costmap_->getCost( - static_cast(x), static_cast(y)); + footprint_cost_ = static_cast(costmap_->getCost( + static_cast(x + 0.5f), static_cast(y + 0.5f))); if (footprint_cost_ == UNKNOWN && traverse_unknown) { return false; } // if occupied or unknown and not to traverse unknown space - return static_cast(footprint_cost_) >= INSCRIBED; + return footprint_cost_ >= INSCRIBED; } } diff --git a/nav2_smac_planner/src/node_2d.cpp b/nav2_smac_planner/src/node_2d.cpp index 14a901adedf..746268b56a1 100644 --- a/nav2_smac_planner/src/node_2d.cpp +++ b/nav2_smac_planner/src/node_2d.cpp @@ -25,7 +25,7 @@ namespace nav2_smac_planner std::vector Node2D::_neighbors_grid_offsets; float Node2D::cost_travel_multiplier = 2.0; -Node2D::Node2D(const unsigned int index) +Node2D::Node2D(const uint64_t index) : parent(nullptr), _cell_cost(std::numeric_limits::quiet_NaN()), _accumulated_cost(std::numeric_limits::max()), @@ -81,8 +81,7 @@ float Node2D::getTraversalCost(const NodePtr & child) float Node2D::getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coordinates, - const nav2_costmap_2d::Costmap2D * /*costmap*/) + const Coordinates & goal_coordinates) { // Using Moore distance as it more accurately represents the distances // even a Van Neumann neighborhood robot can navigate. @@ -109,7 +108,8 @@ void Node2D::initMotionModel( } void Node2D::getNeighbors( - std::function & NeighborGetter, + std::function & NeighborGetter, GridCollisionChecker * collision_checker, const bool & traverse_unknown, NodeVector & neighbors) @@ -125,9 +125,9 @@ void Node2D::getNeighbors( // 100 100 100 where lower-middle '100' is visited with same cost by both bottom '50' nodes // Therefore, it is valuable to have some low-potential across the entire map // rather than a small inflation around the obstacles - int index; + uint64_t index; NodePtr neighbor; - int node_i = this->getIndex(); + uint64_t node_i = this->getIndex(); const Coordinates parent = getCoords(this->getIndex()); Coordinates child; diff --git a/nav2_smac_planner/src/node_basic.cpp b/nav2_smac_planner/src/node_basic.cpp index 7c116d64d6b..616154e096f 100644 --- a/nav2_smac_planner/src/node_basic.cpp +++ b/nav2_smac_planner/src/node_basic.cpp @@ -30,7 +30,7 @@ void NodeBasic::processSearchNode() // a new branch is overriding one of lower cost already visited. if (!this->graph_node_ptr->wasVisited()) { this->graph_node_ptr->pose = this->pose; - this->graph_node_ptr->setMotionPrimitiveIndex(this->motion_index); + this->graph_node_ptr->setMotionPrimitiveIndex(this->motion_index, this->turn_dir); } } @@ -59,6 +59,7 @@ void NodeBasic::populateSearchNode(NodeHybrid * & node) this->pose = node->pose; this->graph_node_ptr = node; this->motion_index = node->getMotionPrimitiveIndex(); + this->turn_dir = node->getTurnDirection(); } template<> diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp index 24b32f527ba..f5eec4ec5d2 100644 --- a/nav2_smac_planner/src/node_hybrid.cpp +++ b/nav2_smac_planner/src/node_hybrid.cpp @@ -1,5 +1,6 @@ // Copyright (c) 2020, Samsung Research America // Copyright (c) 2020, Applied Electric Vehicles Pty Ltd +// Copyright (c) 2023, Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -35,12 +36,13 @@ namespace nav2_smac_planner // defining static member for all instance to share LookupTable NodeHybrid::obstacle_heuristic_lookup_table; -double NodeHybrid::travel_distance_cost = sqrt(2); +float NodeHybrid::travel_distance_cost = sqrtf(2.0f); HybridMotionTable NodeHybrid::motion_table; float NodeHybrid::size_lookup = 25; LookupTable NodeHybrid::dist_heuristic_lookup_table; -nav2_costmap_2d::Costmap2D * NodeHybrid::sampled_costmap = nullptr; -CostmapDownsampler NodeHybrid::downsampler; +std::shared_ptr NodeHybrid::costmap_ros = nullptr; +std::shared_ptr NodeHybrid::inflation_layer = nullptr; + ObstacleHeuristicQueue NodeHybrid::obstacle_heuristic_queue; // Each of these tables are the projected motion models through @@ -64,6 +66,8 @@ void HybridMotionTable::initDubin( cost_penalty = search_info.cost_penalty; reverse_penalty = search_info.reverse_penalty; travel_distance_reward = 1.0f - search_info.retrospective_penalty; + downsample_obstacle_heuristic = search_info.downsample_obstacle_heuristic; + use_quadratic_cost_penalty = search_info.use_quadratic_cost_penalty; // if nothing changed, no need to re-compute primitives if (num_angle_quantization_in == num_angle_quantization && @@ -106,19 +110,37 @@ void HybridMotionTable::initDubin( // find deflections // If we make a right triangle out of the chord in circle of radius // min turning angle, we can see that delta X = R * sin (angle) - float delta_x = min_turning_radius * sin(angle); + const float delta_x = min_turning_radius * sin(angle); // Using that same right triangle, we can see that the complement // to delta Y is R * cos (angle). If we subtract R, we get the actual value - float delta_y = min_turning_radius - (min_turning_radius * cos(angle)); + const float delta_y = min_turning_radius - (min_turning_radius * cos(angle)); + const float delta_dist = hypotf(delta_x, delta_y); projections.clear(); projections.reserve(3); - projections.emplace_back(hypotf(delta_x, delta_y), 0.0, 0.0); // Forward - projections.emplace_back(delta_x, delta_y, increments); // Left - projections.emplace_back(delta_x, -delta_y, -increments); // Right + projections.emplace_back(delta_dist, 0.0, 0.0, TurnDirection::FORWARD); // Forward + projections.emplace_back(delta_x, delta_y, increments, TurnDirection::LEFT); // Left + projections.emplace_back(delta_x, -delta_y, -increments, TurnDirection::RIGHT); // Right + + if (search_info.allow_primitive_interpolation && increments > 1.0f) { + // Create primitives that are +/- N to fill in search space to use all set angular quantizations + // Allows us to create N many primitives so that each search iteration can expand into any angle + // bin possible with the minimum turning radius constraint, not just the most extreme turns. + projections.reserve(3 + (2 * (increments - 1))); + for (unsigned int i = 1; i < static_cast(increments); i++) { + const float angle_n = static_cast(i) * bin_size; + const float turning_rad_n = delta_dist / (2.0f * sin(angle_n / 2.0f)); + const float delta_x_n = turning_rad_n * sin(angle_n); + const float delta_y_n = turning_rad_n - (turning_rad_n * cos(angle_n)); + projections.emplace_back( + delta_x_n, delta_y_n, static_cast(i), TurnDirection::LEFT); // Left + projections.emplace_back( + delta_x_n, -delta_y_n, -static_cast(i), TurnDirection::RIGHT); // Right + } + } // Create the correct OMPL state space - state_space = std::make_unique(min_turning_radius); + state_space = std::make_shared(min_turning_radius); // Precompute projection deltas delta_xs.resize(projections.size()); @@ -140,6 +162,20 @@ void HybridMotionTable::initDubin( delta_ys[i][j] = projections[i]._x * sin_theta + projections[i]._y * cos_theta; } } + + // Precompute travel costs for each motion primitive + travel_costs.resize(projections.size()); + for (unsigned int i = 0; i != projections.size(); i++) { + const TurnDirection turn_dir = projections[i]._turn_dir; + if (turn_dir != TurnDirection::FORWARD && turn_dir != TurnDirection::REVERSE) { + // Turning, so length is the arc length + const float angle = projections[i]._theta * bin_size; + const float turning_rad = delta_dist / (2.0f * sin(angle / 2.0f)); + travel_costs[i] = turning_rad * angle; + } else { + travel_costs[i] = delta_dist; + } + } } // http://planning.cs.uiuc.edu/node822.html @@ -157,6 +193,8 @@ void HybridMotionTable::initReedsShepp( cost_penalty = search_info.cost_penalty; reverse_penalty = search_info.reverse_penalty; travel_distance_reward = 1.0f - search_info.retrospective_penalty; + downsample_obstacle_heuristic = search_info.downsample_obstacle_heuristic; + use_quadratic_cost_penalty = search_info.use_quadratic_cost_penalty; // if nothing changed, no need to re-compute primitives if (num_angle_quantization_in == num_angle_quantization && @@ -182,20 +220,48 @@ void HybridMotionTable::initReedsShepp( } angle = increments * bin_size; - float delta_x = min_turning_radius * sin(angle); - float delta_y = min_turning_radius - (min_turning_radius * cos(angle)); + const float delta_x = min_turning_radius * sin(angle); + const float delta_y = min_turning_radius - (min_turning_radius * cos(angle)); + const float delta_dist = hypotf(delta_x, delta_y); projections.clear(); projections.reserve(6); - projections.emplace_back(hypotf(delta_x, delta_y), 0.0, 0.0); // Forward - projections.emplace_back(delta_x, delta_y, increments); // Forward + Left - projections.emplace_back(delta_x, -delta_y, -increments); // Forward + Right - projections.emplace_back(-hypotf(delta_x, delta_y), 0.0, 0.0); // Backward - projections.emplace_back(-delta_x, delta_y, -increments); // Backward + Left - projections.emplace_back(-delta_x, -delta_y, increments); // Backward + Right + projections.emplace_back(delta_dist, 0.0, 0.0, TurnDirection::FORWARD); // Forward + projections.emplace_back( + delta_x, delta_y, increments, TurnDirection::LEFT); // Forward + Left + projections.emplace_back( + delta_x, -delta_y, -increments, TurnDirection::RIGHT); // Forward + Right + projections.emplace_back(-delta_dist, 0.0, 0.0, TurnDirection::REVERSE); // Backward + projections.emplace_back( + -delta_x, delta_y, -increments, TurnDirection::REV_LEFT); // Backward + Left + projections.emplace_back( + -delta_x, -delta_y, increments, TurnDirection::REV_RIGHT); // Backward + Right + + if (search_info.allow_primitive_interpolation && increments > 1.0f) { + // Create primitives that are +/- N to fill in search space to use all set angular quantizations + // Allows us to create N many primitives so that each search iteration can expand into any angle + // bin possible with the minimum turning radius constraint, not just the most extreme turns. + projections.reserve(6 + (4 * (increments - 1))); + for (unsigned int i = 1; i < static_cast(increments); i++) { + const float angle_n = static_cast(i) * bin_size; + const float turning_rad_n = delta_dist / (2.0f * sin(angle_n / 2.0f)); + const float delta_x_n = turning_rad_n * sin(angle_n); + const float delta_y_n = turning_rad_n - (turning_rad_n * cos(angle_n)); + projections.emplace_back( + delta_x_n, delta_y_n, static_cast(i), TurnDirection::LEFT); // Forward + Left + projections.emplace_back( + delta_x_n, -delta_y_n, -static_cast(i), TurnDirection::RIGHT); // Forward + Right + projections.emplace_back( + -delta_x_n, delta_y_n, -static_cast(i), + TurnDirection::REV_LEFT); // Backward + Left + projections.emplace_back( + -delta_x_n, -delta_y_n, static_cast(i), + TurnDirection::REV_RIGHT); // Backward + Right + } + } // Create the correct OMPL state space - state_space = std::make_unique(min_turning_radius); + state_space = std::make_shared(min_turning_radius); // Precompute projection deltas delta_xs.resize(projections.size()); @@ -217,6 +283,20 @@ void HybridMotionTable::initReedsShepp( delta_ys[i][j] = projections[i]._x * sin_theta + projections[i]._y * cos_theta; } } + + // Precompute travel costs for each motion primitive + travel_costs.resize(projections.size()); + for (unsigned int i = 0; i != projections.size(); i++) { + const TurnDirection turn_dir = projections[i]._turn_dir; + if (turn_dir != TurnDirection::FORWARD && turn_dir != TurnDirection::REVERSE) { + // Turning, so length is the arc length + const float angle = projections[i]._theta * bin_size; + const float turning_rad = delta_dist / (2.0f * sin(angle / 2.0f)); + travel_costs[i] = turning_rad * angle; + } else { + travel_costs[i] = delta_dist; + } + } } MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node) @@ -242,7 +322,7 @@ MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node) projection_list.emplace_back( delta_xs[i][node_heading] + node->pose.x, delta_ys[i][node_heading] + node->pose.y, - new_heading); + new_heading, motion_model._turn_dir); } return projection_list; @@ -250,7 +330,8 @@ MotionPoses HybridMotionTable::getProjections(const NodeHybrid * node) unsigned int HybridMotionTable::getClosestAngularBin(const double & theta) { - return static_cast(floor(theta / bin_size)); + return static_cast(floor(theta / static_cast(bin_size))) % + num_angle_quantization; } float HybridMotionTable::getAngleFromBin(const unsigned int & bin_idx) @@ -258,7 +339,7 @@ float HybridMotionTable::getAngleFromBin(const unsigned int & bin_idx) return bin_idx * bin_size; } -NodeHybrid::NodeHybrid(const unsigned int index) +NodeHybrid::NodeHybrid(const uint64_t index) : parent(nullptr), pose(0.0f, 0.0f, 0.0f), _cell_cost(std::numeric_limits::quiet_NaN()), @@ -302,7 +383,7 @@ bool NodeHybrid::isNodeValid( float NodeHybrid::getTraversalCost(const NodePtr & child) { - const float normalized_cost = child->getCost() / 252.0; + const float normalized_cost = child->getCost() / 252.0f; if (std::isnan(normalized_cost)) { throw std::runtime_error( "Node attempted to get traversal " @@ -314,16 +395,24 @@ float NodeHybrid::getTraversalCost(const NodePtr & child) return NodeHybrid::travel_distance_cost; } + const TurnDirection & child_turn_dir = child->getTurnDirection(); + float travel_cost_raw = motion_table.travel_costs[child->getMotionPrimitiveIndex()]; float travel_cost = 0.0; - float travel_cost_raw = - NodeHybrid::travel_distance_cost * - (motion_table.travel_distance_reward + motion_table.cost_penalty * normalized_cost); - if (child->getMotionPrimitiveIndex() == 0 || child->getMotionPrimitiveIndex() == 3) { + if (motion_table.use_quadratic_cost_penalty) { + travel_cost_raw *= + (motion_table.travel_distance_reward + + (motion_table.cost_penalty * normalized_cost * normalized_cost)); + } else { + travel_cost_raw *= + (motion_table.travel_distance_reward + motion_table.cost_penalty * normalized_cost); + } + + if (child_turn_dir == TurnDirection::FORWARD || child_turn_dir == TurnDirection::REVERSE) { // New motion is a straight motion, no additional costs to be applied travel_cost = travel_cost_raw; } else { - if (getMotionPrimitiveIndex() == child->getMotionPrimitiveIndex()) { + if (getTurnDirection() == child_turn_dir) { // Turning motion but keeps in same direction: encourages to commit to turning if starting it travel_cost = travel_cost_raw * motion_table.non_straight_penalty; } else { @@ -333,7 +422,10 @@ float NodeHybrid::getTraversalCost(const NodePtr & child) } } - if (child->getMotionPrimitiveIndex() > 2) { + if (child_turn_dir == TurnDirection::REV_RIGHT || + child_turn_dir == TurnDirection::REV_LEFT || + child_turn_dir == TurnDirection::REVERSE) + { // reverse direction travel_cost *= motion_table.reverse_penalty; } @@ -343,8 +435,7 @@ float NodeHybrid::getTraversalCost(const NodePtr & child) float NodeHybrid::getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coords, - const nav2_costmap_2d::Costmap2D * /*costmap*/) + const Coordinates & goal_coords) { const float obstacle_heuristic = getObstacleHeuristic(node_coords, goal_coords, motion_table.cost_penalty); @@ -378,7 +469,7 @@ void NodeHybrid::initMotionModel( } inline float distanceHeuristic2D( - const unsigned int idx, const unsigned int size_x, + const uint64_t idx, const unsigned int size_x, const unsigned int target_x, const unsigned int target_y) { int dx = static_cast(idx % size_x) - static_cast(target_x); @@ -387,7 +478,7 @@ inline float distanceHeuristic2D( } void NodeHybrid::resetObstacleHeuristic( - nav2_costmap_2d::Costmap2D * costmap, + std::shared_ptr costmap_ros_i, const unsigned int & start_x, const unsigned int & start_y, const unsigned int & goal_x, const unsigned int & goal_y) { @@ -395,33 +486,46 @@ void NodeHybrid::resetObstacleHeuristic( // the planner considerably to search through 75% less cells with no detectable // erosion of path quality after even modest smoothing. The error would be no more // than 0.05 * normalized cost. Since this is just a search prior, there's no loss in generality - std::weak_ptr ptr; - downsampler.on_configure(ptr, "fake_frame", "fake_topic", costmap, 2.0, true); - downsampler.on_activate(); - sampled_costmap = downsampler.downsample(2.0); + costmap_ros = costmap_ros_i; + inflation_layer = nav2_costmap_2d::InflationLayer::getInflationLayer(costmap_ros); + auto costmap = costmap_ros->getCostmap(); // Clear lookup table - unsigned int size = sampled_costmap->getSizeInCellsX() * sampled_costmap->getSizeInCellsY(); + unsigned int size = 0u; + unsigned int size_x = 0u; + if (motion_table.downsample_obstacle_heuristic) { + size_x = ceil(static_cast(costmap->getSizeInCellsX()) / 2.0f); + size = size_x * + ceil(static_cast(costmap->getSizeInCellsY()) / 2.0f); + } else { + size_x = costmap->getSizeInCellsX(); + size = size_x * costmap->getSizeInCellsY(); + } + if (obstacle_heuristic_lookup_table.size() == size) { // must reset all values std::fill( obstacle_heuristic_lookup_table.begin(), - obstacle_heuristic_lookup_table.end(), 0.0); + obstacle_heuristic_lookup_table.end(), 0.0f); } else { unsigned int obstacle_size = obstacle_heuristic_lookup_table.size(); - obstacle_heuristic_lookup_table.resize(size, 0.0); + obstacle_heuristic_lookup_table.resize(size, 0.0f); // must reset values for non-constructed indices std::fill_n( - obstacle_heuristic_lookup_table.begin(), obstacle_size, 0.0); + obstacle_heuristic_lookup_table.begin(), obstacle_size, 0.0f); } obstacle_heuristic_queue.clear(); - obstacle_heuristic_queue.reserve( - sampled_costmap->getSizeInCellsX() * sampled_costmap->getSizeInCellsY()); + obstacle_heuristic_queue.reserve(size); // Set initial goal point to queue from. Divided by 2 due to downsampled costmap. - const unsigned int size_x = sampled_costmap->getSizeInCellsX(); - const unsigned int goal_index = floor(goal_y / 2.0) * size_x + floor(goal_x / 2.0); + unsigned int goal_index; + if (motion_table.downsample_obstacle_heuristic) { + goal_index = floor(goal_y / 2.0f) * size_x + floor(goal_x / 2.0f); + } else { + goal_index = floor(goal_y) * size_x + floor(goal_x); + } + obstacle_heuristic_queue.emplace_back( distanceHeuristic2D(goal_index, size_x, start_x, start_y), goal_index); @@ -430,21 +534,63 @@ void NodeHybrid::resetObstacleHeuristic( obstacle_heuristic_lookup_table[goal_index] = -0.00001f; } +float NodeHybrid::adjustedFootprintCost(const float & cost) +{ + if (!inflation_layer) { + return cost; + } + + const auto layered_costmap = costmap_ros->getLayeredCostmap(); + const float scale_factor = inflation_layer->getCostScalingFactor(); + const float min_radius = layered_costmap->getInscribedRadius(); + float dist_to_obj = (scale_factor * min_radius - log(cost) + log(253.0f)) / scale_factor; + + // Subtract minimum radius for edge cost + dist_to_obj -= min_radius; + if (dist_to_obj < 0.0f) { + dist_to_obj = 0.0f; + } + + // Compute cost at this value + return static_cast( + inflation_layer->computeCost(dist_to_obj / layered_costmap->getCostmap()->getResolution())); +} + + float NodeHybrid::getObstacleHeuristic( const Coordinates & node_coords, const Coordinates & goal_coords, - const double & cost_penalty) + const float & cost_penalty) { // If already expanded, return the cost - const unsigned int size_x = sampled_costmap->getSizeInCellsX(); + auto costmap = costmap_ros->getCostmap(); + const bool is_circular = costmap_ros->getUseRadius(); + unsigned int size_x = 0u; + unsigned int size_y = 0u; + if (motion_table.downsample_obstacle_heuristic) { + size_x = ceil(static_cast(costmap->getSizeInCellsX()) / 2.0f); + size_y = ceil(static_cast(costmap->getSizeInCellsY()) / 2.0f); + } else { + size_x = costmap->getSizeInCellsX(); + size_y = costmap->getSizeInCellsY(); + } + // Divided by 2 due to downsampled costmap. - const unsigned int start_y = floor(node_coords.y / 2.0); - const unsigned int start_x = floor(node_coords.x / 2.0); + unsigned int start_y, start_x; + const bool & downsample_H = motion_table.downsample_obstacle_heuristic; + if (downsample_H) { + start_y = floor(node_coords.y / 2.0f); + start_x = floor(node_coords.x / 2.0f); + } else { + start_y = floor(node_coords.y); + start_x = floor(node_coords.x); + } + const unsigned int start_index = start_y * size_x + start_x; const float & requested_node_cost = obstacle_heuristic_lookup_table[start_index]; if (requested_node_cost > 0.0f) { // costs are doubled due to downsampling - return 2.0 * requested_node_cost; + return downsample_H ? 2.0f * requested_node_cost : requested_node_cost; } // If not, expand until it is included. This dynamic programming ensures that @@ -464,11 +610,10 @@ float NodeHybrid::getObstacleHeuristic( ObstacleHeuristicComparator{}); const int size_x_int = static_cast(size_x); - const unsigned int size_y = sampled_costmap->getSizeInCellsY(); - const float sqrt_2 = sqrt(2); + const float sqrt2 = sqrtf(2.0f); float c_cost, cost, travel_cost, new_cost, existing_cost; - unsigned int idx, mx, my, mx_idx, my_idx; - unsigned int new_idx = 0; + unsigned int mx, my; + unsigned int idx, new_idx = 0; const std::vector neighborhood = {1, -1, // left right size_x_int, -size_x_int, // up down @@ -490,34 +635,67 @@ float NodeHybrid::getObstacleHeuristic( c_cost = -c_cost; obstacle_heuristic_lookup_table[idx] = c_cost; // set a positive value to close the cell - my_idx = idx / size_x; - mx_idx = idx - (my_idx * size_x); - // find neighbors for (unsigned int i = 0; i != neighborhood.size(); i++) { new_idx = static_cast(static_cast(idx) + neighborhood[i]); // if neighbor path is better and non-lethal, set new cost and add to queue if (new_idx < size_x * size_y) { - cost = static_cast(sampled_costmap->getCost(new_idx)); - if (cost >= INSCRIBED) { + if (downsample_H) { + // Get costmap values as if downsampled + unsigned int y_offset = (new_idx / size_x) * 2; + unsigned int x_offset = (new_idx - ((new_idx / size_x) * size_x)) * 2; + cost = costmap->getCost(x_offset, y_offset); + for (unsigned int i = 0; i < 2u; ++i) { + unsigned int mxd = x_offset + i; + if (mxd >= costmap->getSizeInCellsX()) { + continue; + } + for (unsigned int j = 0; j < 2u; ++j) { + unsigned int myd = y_offset + j; + if (myd >= costmap->getSizeInCellsY()) { + continue; + } + if (i == 0 && j == 0) { + continue; + } + cost = std::min(cost, static_cast(costmap->getCost(mxd, myd))); + } + } + } else { + cost = static_cast(costmap->getCost(new_idx)); + } + + if (!is_circular) { + // Adjust cost value if using SE2 footprint checks + cost = adjustedFootprintCost(cost); + if (cost >= OCCUPIED) { + continue; + } + } else if (cost >= INSCRIBED) { continue; } my = new_idx / size_x; mx = new_idx - (my * size_x); - if (mx == 0 && mx_idx >= size_x - 1 || mx >= size_x - 1 && mx_idx == 0) { + if (mx >= size_x - 3 || mx <= 3) { continue; } - if (my == 0 && my_idx >= size_y - 1 || my >= size_y - 1 && my_idx == 0) { + if (my >= size_y - 3 || my <= 3) { continue; } existing_cost = obstacle_heuristic_lookup_table[new_idx]; if (existing_cost <= 0.0f) { - travel_cost = - ((i <= 3) ? 1.0f : sqrt_2) * (1.0f + (cost_penalty * cost / 252.0f)); + if (motion_table.use_quadratic_cost_penalty) { + travel_cost = + (i <= 3 ? 1.0f : sqrt2) * (1.0f + (cost_penalty * cost * cost / 63504.0f)); // 252^2 + } else { + travel_cost = + ((i <= 3) ? 1.0f : sqrt2) * (1.0f + (cost_penalty * cost / 252.0f)); + } + new_cost = c_cost + travel_cost; if (existing_cost == 0.0f || -existing_cost > new_cost) { // the negative value means the cell is in the open set @@ -537,9 +715,26 @@ float NodeHybrid::getObstacleHeuristic( } } + // #include "nav_msgs/msg/occupancy_grid.hpp" + // static auto node = std::make_shared("test"); + // static auto pub = node->create_publisher("test", 1); + // nav_msgs::msg::OccupancyGrid msg; + // msg.info.height = size_y; + // msg.info.width = size_x; + // msg.info.origin.position.x = -33.6; + // msg.info.origin.position.y = -26; + // msg.info.resolution = 0.05; + // msg.header.frame_id = "map"; + // msg.header.stamp = node->now(); + // msg.data.resize(size_x * size_y, 0); + // for (unsigned int i = 0; i != size_y * size_x; i++) { + // msg.data.at(i) = obstacle_heuristic_lookup_table[i] / 10.0; + // } + // pub->publish(std::move(msg)); + // return requested_node_cost which has been updated by the search // costs are doubled due to downsampling - return 2.0 * requested_node_cost; + return downsample_H ? 2.0f * requested_node_cost : requested_node_cost; } float NodeHybrid::getDistanceHeuristic( @@ -619,10 +814,10 @@ void NodeHybrid::precomputeDistanceHeuristic( { // Dubin or Reeds-Shepp shortest distances if (motion_model == MotionModel::DUBIN) { - motion_table.state_space = std::make_unique( + motion_table.state_space = std::make_shared( search_info.minimum_turning_radius); } else if (motion_model == MotionModel::REEDS_SHEPP) { - motion_table.state_space = std::make_unique( + motion_table.state_space = std::make_shared( search_info.minimum_turning_radius); } else { throw std::runtime_error( @@ -661,12 +856,13 @@ void NodeHybrid::precomputeDistanceHeuristic( } void NodeHybrid::getNeighbors( - std::function & NeighborGetter, + std::function & NeighborGetter, GridCollisionChecker * collision_checker, const bool & traverse_unknown, NodeVector & neighbors) { - unsigned int index = 0; + uint64_t index = 0; NodePtr neighbor = nullptr; Coordinates initial_node_coords; const MotionPoses motion_projections = motion_table.getProjections(this); @@ -688,7 +884,7 @@ void NodeHybrid::getNeighbors( motion_projections[i]._y, motion_projections[i]._theta)); if (neighbor->isNodeValid(traverse_unknown, collision_checker)) { - neighbor->setMotionPrimitiveIndex(i); + neighbor->setMotionPrimitiveIndex(i, motion_projections[i]._turn_dir); neighbors.push_back(neighbor); } else { neighbor->setPose(initial_node_coords); diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp index d15669db981..c68a4e60e18 100644 --- a/nav2_smac_planner/src/node_lattice.cpp +++ b/nav2_smac_planner/src/node_lattice.cpp @@ -64,6 +64,7 @@ void LatticeMotionTable::initMotionModel( current_lattice_filepath = search_info.lattice_filepath; allow_reverse_expansion = search_info.allow_reverse_expansion; rotation_penalty = search_info.rotation_penalty; + min_turning_radius = search_info.minimum_turning_radius; // Get the metadata about this minimum control set lattice_metadata = getLatticeMetadata(current_lattice_filepath); @@ -77,11 +78,13 @@ void LatticeMotionTable::initMotionModel( if (!state_space) { if (!allow_reverse_expansion) { - state_space = std::make_unique( + state_space = std::make_shared( lattice_metadata.min_turning_radius); + motion_model = MotionModel::DUBIN; } else { - state_space = std::make_unique( + state_space = std::make_shared( lattice_metadata.min_turning_radius); + motion_model = MotionModel::REEDS_SHEPP; } } @@ -111,7 +114,9 @@ void LatticeMotionTable::initMotionModel( } } -MotionPrimitivePtrs LatticeMotionTable::getMotionPrimitives(const NodeLattice * node) +MotionPrimitivePtrs LatticeMotionTable::getMotionPrimitives( + const NodeLattice * node, + unsigned int & direction_change_index) { MotionPrimitives & prims_at_heading = motion_primitives[node->pose.theta]; MotionPrimitivePtrs primitive_projection_list; @@ -119,6 +124,9 @@ MotionPrimitivePtrs LatticeMotionTable::getMotionPrimitives(const NodeLattice * primitive_projection_list.push_back(&prims_at_heading[i]); } + // direction change index + direction_change_index = static_cast(primitive_projection_list.size()); + if (allow_reverse_expansion) { // Find normalized heading bin of the reverse expansion double reserve_heading = node->pose.theta - (num_angle_quantization / 2); @@ -172,7 +180,7 @@ float & LatticeMotionTable::getAngleFromBin(const unsigned int & bin_idx) return lattice_metadata.heading_angles[bin_idx]; } -NodeLattice::NodeLattice(const unsigned int index) +NodeLattice::NodeLattice(const uint64_t index) : parent(nullptr), pose(0.0f, 0.0f, 0.0f), _cell_cost(std::numeric_limits::quiet_NaN()), @@ -225,7 +233,8 @@ bool NodeLattice::isNodeValid( if (motion_primitive) { const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; const float & resolution_diag_sq = 2.0 * grid_resolution * grid_resolution; - MotionPose last_pose(1e9, 1e9, 1e9), pose_dist(0.0, 0.0, 0.0); + MotionPose last_pose(1e9, 1e9, 1e9, TurnDirection::UNKNOWN); + MotionPose pose_dist(0.0, 0.0, 0.0, TurnDirection::UNKNOWN); // Back out the initial node starting point to move motion primitive relative to MotionPose initial_pose, prim_pose; @@ -318,8 +327,7 @@ float NodeLattice::getTraversalCost(const NodePtr & child) float NodeLattice::getHeuristicCost( const Coordinates & node_coords, - const Coordinates & goal_coords, - const nav2_costmap_2d::Costmap2D * costmap) + const Coordinates & goal_coords) { // get obstacle heuristic value const float obstacle_heuristic = getObstacleHeuristic( @@ -414,17 +422,19 @@ float NodeLattice::getDistanceHeuristic( void NodeLattice::precomputeDistanceHeuristic( const float & lookup_table_dim, - const MotionModel & motion_model, + const MotionModel & /*motion_model*/, const unsigned int & dim_3_size, const SearchInfo & search_info) { // Dubin or Reeds-Shepp shortest distances if (!search_info.allow_reverse_expansion) { - motion_table.state_space = std::make_unique( + motion_table.state_space = std::make_shared( search_info.minimum_turning_radius); + motion_table.motion_model = MotionModel::DUBIN; } else { - motion_table.state_space = std::make_unique( + motion_table.state_space = std::make_shared( search_info.minimum_turning_radius); + motion_table.motion_model = MotionModel::REEDS_SHEPP; } motion_table.lattice_metadata = LatticeMotionTable::getLatticeMetadata(search_info.lattice_filepath); @@ -459,27 +469,23 @@ void NodeLattice::precomputeDistanceHeuristic( } void NodeLattice::getNeighbors( - std::function & NeighborGetter, + std::function & NeighborGetter, GridCollisionChecker * collision_checker, const bool & traverse_unknown, NodeVector & neighbors) { - unsigned int index = 0; + uint64_t index = 0; float angle; bool backwards = false; NodePtr neighbor = nullptr; Coordinates initial_node_coords, motion_projection; - MotionPrimitivePtrs motion_primitives = motion_table.getMotionPrimitives(this); + unsigned int direction_change_index = 0; + MotionPrimitivePtrs motion_primitives = motion_table.getMotionPrimitives( + this, + direction_change_index); const float & grid_resolution = motion_table.lattice_metadata.grid_resolution; - unsigned int direction_change_idx = 1e9; - for (unsigned int i = 0; i != motion_primitives.size(); i++) { - if (motion_primitives[0]->start_angle != motion_primitives[i]->start_angle) { - direction_change_idx = i; - break; - } - } - for (unsigned int i = 0; i != motion_primitives.size(); i++) { const MotionPose & end_pose = motion_primitives[i]->poses.back(); motion_projection.x = this->pose.x + (end_pose._x / grid_resolution); @@ -501,7 +507,7 @@ void NodeLattice::getNeighbors( // account in case the robot base footprint is asymmetric. backwards = false; angle = motion_projection.theta; - if (i >= direction_change_idx) { + if (i >= direction_change_index) { backwards = true; angle = motion_projection.theta - (motion_table.num_angle_quantization / 2); if (angle < 0) { diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp index 46dfa98fb25..00cc07b464b 100644 --- a/nav2_smac_planner/src/smac_planner_2d.cpp +++ b/nav2_smac_planner/src/smac_planner_2d.cpp @@ -31,7 +31,7 @@ using std::placeholders::_1; SmacPlanner2D::SmacPlanner2D() : _a_star(nullptr), - _collision_checker(nullptr, 1), + _collision_checker(nullptr, 1, nullptr), _smoother(nullptr), _costmap(nullptr), _costmap_downsampler(nullptr) @@ -83,6 +83,9 @@ void SmacPlanner2D::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".max_on_approach_iterations", rclcpp::ParameterValue(1000)); node->get_parameter(name + ".max_on_approach_iterations", _max_on_approach_iterations); + nav2_util::declare_parameter_if_not_declared( + node, name + ".terminal_checking_interval", rclcpp::ParameterValue(5000)); + node->get_parameter(name + ".terminal_checking_interval", _terminal_checking_interval); nav2_util::declare_parameter_if_not_declared( node, name + ".use_final_approach_orientation", rclcpp::ParameterValue(false)); node->get_parameter(name + ".use_final_approach_orientation", _use_final_approach_orientation); @@ -108,7 +111,7 @@ void SmacPlanner2D::configure( } // Initialize collision checker - _collision_checker = GridCollisionChecker(_costmap, 1 /*for 2D, most be 1*/); + _collision_checker = GridCollisionChecker(costmap_ros, 1 /*for 2D, most be 1*/, node); _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), true /*for 2D, most use radius*/, @@ -120,6 +123,7 @@ void SmacPlanner2D::configure( _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, 0.0 /*unused for 2D*/, 1.0 /*unused for 2D*/); @@ -192,7 +196,8 @@ void SmacPlanner2D::cleanup() nav_msgs::msg::Path SmacPlanner2D::createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) { std::lock_guard lock_reinit(_mutex); steady_clock::time_point a = steady_clock::now(); @@ -210,8 +215,13 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan( _a_star->setCollisionChecker(&_collision_checker); // Set starting point - unsigned int mx_start, my_start, mx_goal, my_goal; - if (!costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx_start, my_start)) { + float mx_start, my_start, mx_goal, my_goal; + if (!costmap->worldToMapContinuous( + start.pose.position.x, + start.pose.position.y, + mx_start, + my_start)) + { throw nav2_core::StartOutsideMapBounds( "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " + std::to_string(start.pose.position.y) + ") was outside bounds"); @@ -219,7 +229,12 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan( _a_star->setStart(mx_start, my_start, 0); // Set goal point - if (!costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx_goal, my_goal)) { + if (!costmap->worldToMapContinuous( + goal.pose.position.x, + goal.pose.position.y, + mx_goal, + my_goal)) + { throw nav2_core::GoalOutsideMapBounds( "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " + std::to_string(goal.pose.position.y) + ") was outside bounds"); @@ -239,10 +254,7 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan( pose.pose.orientation.w = 1.0; // Corner case of start and goal beeing on the same cell - if (mx_start == mx_goal && my_start == my_goal) { - if (costmap->getCost(mx_start, my_start) == nav2_costmap_2d::LETHAL_OBSTACLE) { - throw nav2_core::StartOccupied("Start was in lethal cost"); - } + if (std::floor(mx_start) == std::floor(mx_goal) && std::floor(my_start) == std::floor(my_goal)) { pose.pose = start.pose; // if we have a different start and goal orientation, set the unique path pose to the goal // orientation, unless use_final_approach_orientation=true where we need it to be the start @@ -260,8 +272,13 @@ nav_msgs::msg::Path SmacPlanner2D::createPlan( // Note: All exceptions thrown are handled by the planner server and returned to the action if (!_a_star->createPath( path, num_iterations, - _tolerance / static_cast(costmap->getResolution()))) + _tolerance / static_cast(costmap->getResolution()), cancel_checker)) { + // Note: If the start is blocked only one iteration will occur before failure + if (num_iterations == 1) { + throw nav2_core::StartOccupied("Start occupied"); + } + if (num_iterations < _a_star->getMaxIterations()) { throw nav2_core::NoValidPathCouldBeFound("no valid path found"); } else { @@ -375,6 +392,9 @@ SmacPlanner2D::dynamicParametersCallback(std::vector paramete "disabling tolerance and on approach iterations."); _max_on_approach_iterations = std::numeric_limits::max(); } + } else if (name == _name + ".terminal_checking_interval") { + reinit_a_star = true; + _terminal_checking_interval = parameter.as_int(); } } } @@ -388,6 +408,7 @@ SmacPlanner2D::dynamicParametersCallback(std::vector paramete _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, 0.0 /*unused for 2D*/, 1.0 /*unused for 2D*/); diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp index 2d0351c5b9d..0e0c8829222 100644 --- a/nav2_smac_planner/src/smac_planner_hybrid.cpp +++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2020, Samsung Research America +// Copyright (c) 2023, Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -32,9 +33,10 @@ using std::placeholders::_1; SmacPlannerHybrid::SmacPlannerHybrid() : _a_star(nullptr), - _collision_checker(nullptr, 1), + _collision_checker(nullptr, 1, nullptr), _smoother(nullptr), _costmap(nullptr), + _costmap_ros(nullptr), _costmap_downsampler(nullptr) { } @@ -92,6 +94,9 @@ void SmacPlannerHybrid::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".max_on_approach_iterations", rclcpp::ParameterValue(1000)); node->get_parameter(name + ".max_on_approach_iterations", _max_on_approach_iterations); + nav2_util::declare_parameter_if_not_declared( + node, name + ".terminal_checking_interval", rclcpp::ParameterValue(5000)); + node->get_parameter(name + ".terminal_checking_interval", _terminal_checking_interval); nav2_util::declare_parameter_if_not_declared( node, name + ".smooth_path", rclcpp::ParameterValue(true)); node->get_parameter(name + ".smooth_path", smooth_path); @@ -99,6 +104,10 @@ void SmacPlannerHybrid::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".minimum_turning_radius", rclcpp::ParameterValue(0.4)); node->get_parameter(name + ".minimum_turning_radius", _minimum_turning_radius_global_coords); + nav2_util::declare_parameter_if_not_declared( + node, name + ".allow_primitive_interpolation", rclcpp::ParameterValue(false)); + node->get_parameter( + name + ".allow_primitive_interpolation", _search_info.allow_primitive_interpolation); nav2_util::declare_parameter_if_not_declared( node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false)); node->get_parameter(name + ".cache_obstacle_heuristic", _search_info.cache_obstacle_heuristic); @@ -120,6 +129,24 @@ void SmacPlannerHybrid::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); node->get_parameter(name + ".analytic_expansion_ratio", _search_info.analytic_expansion_ratio); + nav2_util::declare_parameter_if_not_declared( + node, name + ".analytic_expansion_max_cost", rclcpp::ParameterValue(200.0)); + node->get_parameter( + name + ".analytic_expansion_max_cost", _search_info.analytic_expansion_max_cost); + nav2_util::declare_parameter_if_not_declared( + node, name + ".analytic_expansion_max_cost_override", rclcpp::ParameterValue(false)); + node->get_parameter( + name + ".analytic_expansion_max_cost_override", + _search_info.analytic_expansion_max_cost_override); + nav2_util::declare_parameter_if_not_declared( + node, name + ".use_quadratic_cost_penalty", rclcpp::ParameterValue(false)); + node->get_parameter( + name + ".use_quadratic_cost_penalty", _search_info.use_quadratic_cost_penalty); + nav2_util::declare_parameter_if_not_declared( + node, name + ".downsample_obstacle_heuristic", rclcpp::ParameterValue(true)); + node->get_parameter( + name + ".downsample_obstacle_heuristic", _search_info.downsample_obstacle_heuristic); + nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_max_length", rclcpp::ParameterValue(3.0)); node->get_parameter(name + ".analytic_expansion_max_length", analytic_expansion_max_length_m); @@ -133,6 +160,10 @@ void SmacPlannerHybrid::configure( node, name + ".lookup_table_size", rclcpp::ParameterValue(20.0)); node->get_parameter(name + ".lookup_table_size", _lookup_table_size); + nav2_util::declare_parameter_if_not_declared( + node, name + ".debug_visualizations", rclcpp::ParameterValue(false)); + node->get_parameter(name + ".debug_visualizations", _debug_visualizations); + nav2_util::declare_parameter_if_not_declared( node, name + ".motion_model_for_search", rclcpp::ParameterValue(std::string("DUBIN"))); node->get_parameter(name + ".motion_model_for_search", _motion_model_for_search); @@ -146,19 +177,25 @@ void SmacPlannerHybrid::configure( } if (_max_on_approach_iterations <= 0) { - RCLCPP_INFO( + RCLCPP_WARN( _logger, "On approach iteration selected as <= 0, " "disabling tolerance and on approach iterations."); _max_on_approach_iterations = std::numeric_limits::max(); } if (_max_iterations <= 0) { - RCLCPP_INFO( + RCLCPP_WARN( _logger, "maximum iteration selected as <= 0, " "disabling maximum iterations."); _max_iterations = std::numeric_limits::max(); } + if (_minimum_turning_radius_global_coords < _costmap->getResolution() * _downsampling_factor) { + RCLCPP_WARN( + _logger, "Min turning radius cannot be less than the search grid cell resolution!"); + _minimum_turning_radius_global_coords = _costmap->getResolution() * _downsampling_factor; + } + // convert to grid coordinates if (!_downsample_costmap) { _downsampling_factor = 1; @@ -182,7 +219,7 @@ void SmacPlannerHybrid::configure( } // Initialize collision checker - _collision_checker = GridCollisionChecker(_costmap, _angle_quantizations); + _collision_checker = GridCollisionChecker(_costmap_ros, _angle_quantizations, node); _collision_checker.setFootprint( _costmap_ros->getRobotFootprint(), _costmap_ros->getUseRadius(), @@ -194,6 +231,7 @@ void SmacPlannerHybrid::configure( _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, _lookup_table_dim, _angle_quantizations); @@ -216,6 +254,12 @@ void SmacPlannerHybrid::configure( _raw_plan_publisher = node->create_publisher("unsmoothed_plan", 1); + if (_debug_visualizations) { + _expansions_publisher = node->create_publisher("expansions", 1); + _planned_footprints_publisher = node->create_publisher( + "planned_footprints", 1); + } + RCLCPP_INFO( _logger, "Configured plugin %s of type SmacPlannerHybrid with " "maximum iterations %i, max on approach iterations %i, and %s. Tolerance %.2f." @@ -231,6 +275,10 @@ void SmacPlannerHybrid::activate() _logger, "Activating plugin %s of type SmacPlannerHybrid", _name.c_str()); _raw_plan_publisher->on_activate(); + if (_debug_visualizations) { + _expansions_publisher->on_activate(); + _planned_footprints_publisher->on_activate(); + } if (_costmap_downsampler) { _costmap_downsampler->on_activate(); } @@ -238,6 +286,16 @@ void SmacPlannerHybrid::activate() // Add callback for dynamic parameters _dyn_params_handler = node->add_on_set_parameters_callback( std::bind(&SmacPlannerHybrid::dynamicParametersCallback, this, _1)); + + // Special case handling to obtain resolution changes in global costmap + auto resolution_remote_cb = [this](const rclcpp::Parameter & p) { + auto node = _node.lock(); + dynamicParametersCallback( + {rclcpp::Parameter("resolution", rclcpp::ParameterValue(p.as_double()))}); + }; + _remote_param_subscriber = std::make_shared(_node.lock()); + _remote_resolution_handler = _remote_param_subscriber->add_parameter_callback( + "resolution", resolution_remote_cb, "global_costmap/global_costmap"); } void SmacPlannerHybrid::deactivate() @@ -246,6 +304,10 @@ void SmacPlannerHybrid::deactivate() _logger, "Deactivating plugin %s of type SmacPlannerHybrid", _name.c_str()); _raw_plan_publisher->on_deactivate(); + if (_debug_visualizations) { + _expansions_publisher->on_deactivate(); + _planned_footprints_publisher->on_deactivate(); + } if (_costmap_downsampler) { _costmap_downsampler->on_deactivate(); } @@ -264,11 +326,14 @@ void SmacPlannerHybrid::cleanup() _costmap_downsampler.reset(); } _raw_plan_publisher.reset(); + _expansions_publisher.reset(); + _planned_footprints_publisher.reset(); } nav_msgs::msg::Path SmacPlannerHybrid::createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) { std::lock_guard lock_reinit(_mutex); steady_clock::time_point a = steady_clock::now(); @@ -283,11 +348,15 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan( } // Set collision checker and costmap information + _collision_checker.setFootprint( + _costmap_ros->getRobotFootprint(), + _costmap_ros->getUseRadius(), + findCircumscribedCost(_costmap_ros)); _a_star->setCollisionChecker(&_collision_checker); // Set starting point, in A* bin search coordinates - unsigned int mx, my; - if (!costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my)) { + float mx, my; + if (!costmap->worldToMapContinuous(start.pose.position.x, start.pose.position.y, mx, my)) { throw nav2_core::StartOutsideMapBounds( "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " + std::to_string(start.pose.position.y) + ") was outside bounds"); @@ -305,7 +374,7 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan( _a_star->setStart(mx, my, orientation_bin_id); // Set goal point, in A* bin search coordinates - if (!costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my)) { + if (!costmap->worldToMapContinuous(goal.pose.position.x, goal.pose.position.y, mx, my)) { throw nav2_core::GoalOutsideMapBounds( "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " + std::to_string(goal.pose.position.y) + ") was outside bounds"); @@ -336,9 +405,35 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan( // Compute plan NodeHybrid::CoordinateVector path; int num_iterations = 0; - + std::string error; + std::unique_ptr>> expansions = nullptr; + if (_debug_visualizations) { + expansions = std::make_unique>>(); + } // Note: All exceptions thrown are handled by the planner server and returned to the action - if (!_a_star->createPath(path, num_iterations, 0)) { + if (!_a_star->createPath( + path, num_iterations, + _tolerance / static_cast(costmap->getResolution()), cancel_checker, expansions.get())) + { + if (_debug_visualizations) { + geometry_msgs::msg::PoseArray msg; + geometry_msgs::msg::Pose msg_pose; + msg.header.stamp = _clock->now(); + msg.header.frame_id = _global_frame; + for (auto & e : *expansions) { + msg_pose.position.x = std::get<0>(e); + msg_pose.position.y = std::get<1>(e); + msg_pose.orientation = getWorldOrientation(std::get<2>(e)); + msg.poses.push_back(msg_pose); + } + _expansions_publisher->publish(msg); + } + + // Note: If the start is blocked only one iteration will occur before failure + if (num_iterations == 1) { + throw nav2_core::StartOccupied("Start occupied"); + } + if (num_iterations < _a_star->getMaxIterations()) { throw nav2_core::NoValidPathCouldBeFound("no valid path found"); } else { @@ -359,6 +454,38 @@ nav_msgs::msg::Path SmacPlannerHybrid::createPlan( _raw_plan_publisher->publish(plan); } + if (_debug_visualizations) { + // Publish expansions for debug + geometry_msgs::msg::PoseArray msg; + geometry_msgs::msg::Pose msg_pose; + msg.header.stamp = _clock->now(); + msg.header.frame_id = _global_frame; + for (auto & e : *expansions) { + msg_pose.position.x = std::get<0>(e); + msg_pose.position.y = std::get<1>(e); + msg_pose.orientation = getWorldOrientation(std::get<2>(e)); + msg.poses.push_back(msg_pose); + } + _expansions_publisher->publish(msg); + + // plot footprint path planned for debug + if (_planned_footprints_publisher->get_subscription_count() > 0) { + auto marker_array = std::make_unique(); + for (size_t i = 0; i < plan.poses.size(); i++) { + const std::vector edge = + transformFootprintToEdges(plan.poses[i].pose, _costmap_ros->getRobotFootprint()); + marker_array->markers.push_back(createMarker(edge, i, _global_frame, _clock->now())); + } + + if (marker_array->markers.empty()) { + visualization_msgs::msg::Marker clear_all_marker; + clear_all_marker.action = visualization_msgs::msg::Marker::DELETEALL; + marker_array->markers.push_back(clear_all_marker); + } + _planned_footprints_publisher->publish(std::move(marker_array)); + } + } + // Find how much time we have left to do smoothing steady_clock::time_point b = steady_clock::now(); duration time_span = duration_cast>(b - a); @@ -413,6 +540,13 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para if (_smoother) { reinit_smoother = true; } + + if (parameter.as_double() < _costmap->getResolution() * _downsampling_factor) { + RCLCPP_ERROR( + _logger, "Min turning radius cannot be less than the search grid cell resolution!"); + result.successful = false; + } + _minimum_turning_radius_global_coords = static_cast(parameter.as_double()); } else if (name == _name + ".reverse_penalty") { reinit_a_star = true; @@ -433,6 +567,17 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para reinit_a_star = true; _search_info.analytic_expansion_max_length = static_cast(parameter.as_double()) / _costmap->getResolution(); + } else if (name == _name + ".analytic_expansion_max_cost") { + reinit_a_star = true; + _search_info.analytic_expansion_max_cost = static_cast(parameter.as_double()); + } else if (name == "resolution") { + // Special case: When the costmap's resolution changes, need to reinitialize + // the controller to have new resolution information + RCLCPP_INFO(_logger, "Costmap resolution changed. Reinitializing SmacPlannerHybrid."); + reinit_collision_checker = true; + reinit_a_star = true; + reinit_downsampler = true; + reinit_smoother = true; } } else if (type == ParameterType::PARAMETER_BOOL) { if (name == _name + ".downsample_costmap") { @@ -444,12 +589,18 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para } else if (name == _name + ".cache_obstacle_heuristic") { reinit_a_star = true; _search_info.cache_obstacle_heuristic = parameter.as_bool(); + } else if (name == _name + ".allow_primitive_interpolation") { + _search_info.allow_primitive_interpolation = parameter.as_bool(); + reinit_a_star = true; } else if (name == _name + ".smooth_path") { if (parameter.as_bool()) { reinit_smoother = true; } else { _smoother.reset(); } + } else if (name == _name + ".analytic_expansion_max_cost_override") { + _search_info.analytic_expansion_max_cost_override = parameter.as_bool(); + reinit_a_star = true; } } else if (type == ParameterType::PARAMETER_INTEGER) { if (name == _name + ".downsampling_factor") { @@ -474,6 +625,9 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para "disabling tolerance and on approach iterations."); _max_on_approach_iterations = std::numeric_limits::max(); } + } else if (name == _name + ".terminal_checking_interval") { + reinit_a_star = true; + _terminal_checking_interval = parameter.as_int(); } else if (name == _name + ".angle_quantization_bins") { reinit_collision_checker = true; reinit_a_star = true; @@ -520,6 +674,8 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para _lookup_table_dim += 1.0; } + auto node = _node.lock(); + // Re-Initialize A* template if (reinit_a_star) { _a_star = std::make_unique>(_motion_model, _search_info); @@ -527,6 +683,7 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, _lookup_table_dim, _angle_quantizations); @@ -535,7 +692,6 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para // Re-Initialize costmap downsampler if (reinit_downsampler) { if (_downsample_costmap && _downsampling_factor > 1) { - auto node = _node.lock(); std::string topic_name = "downsampled_costmap"; _costmap_downsampler = std::make_unique(); _costmap_downsampler->on_configure( @@ -545,7 +701,7 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para // Re-Initialize collision checker if (reinit_collision_checker) { - _collision_checker = GridCollisionChecker(_costmap, _angle_quantizations); + _collision_checker = GridCollisionChecker(_costmap_ros, _angle_quantizations, node); _collision_checker.setFootprint( _costmap_ros->getRobotFootprint(), _costmap_ros->getUseRadius(), @@ -554,7 +710,6 @@ SmacPlannerHybrid::dynamicParametersCallback(std::vector para // Re-Initialize smoother if (reinit_smoother) { - auto node = _node.lock(); SmootherParams params; params.get(node, _name); _smoother = std::make_unique(params); diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp index 6d00a3479f5..4f2dba45e43 100644 --- a/nav2_smac_planner/src/smac_planner_lattice.cpp +++ b/nav2_smac_planner/src/smac_planner_lattice.cpp @@ -31,7 +31,7 @@ using rcl_interfaces::msg::ParameterType; SmacPlannerLattice::SmacPlannerLattice() : _a_star(nullptr), - _collision_checker(nullptr, 1), + _collision_checker(nullptr, 1, nullptr), _smoother(nullptr), _costmap(nullptr) { @@ -77,6 +77,9 @@ void SmacPlannerLattice::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".max_on_approach_iterations", rclcpp::ParameterValue(1000)); node->get_parameter(name + ".max_on_approach_iterations", _max_on_approach_iterations); + nav2_util::declare_parameter_if_not_declared( + node, name + ".terminal_checking_interval", rclcpp::ParameterValue(5000)); + node->get_parameter(name + ".terminal_checking_interval", _terminal_checking_interval); nav2_util::declare_parameter_if_not_declared( node, name + ".smooth_path", rclcpp::ParameterValue(true)); node->get_parameter(name + ".smooth_path", smooth_path); @@ -111,6 +114,15 @@ void SmacPlannerLattice::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_ratio", rclcpp::ParameterValue(3.5)); node->get_parameter(name + ".analytic_expansion_ratio", _search_info.analytic_expansion_ratio); + nav2_util::declare_parameter_if_not_declared( + node, name + ".analytic_expansion_max_cost", rclcpp::ParameterValue(200.0)); + node->get_parameter( + name + ".analytic_expansion_max_cost", _search_info.analytic_expansion_max_cost); + nav2_util::declare_parameter_if_not_declared( + node, name + ".analytic_expansion_max_cost_override", rclcpp::ParameterValue(false)); + node->get_parameter( + name + ".analytic_expansion_max_cost_override", + _search_info.analytic_expansion_max_cost_override); nav2_util::declare_parameter_if_not_declared( node, name + ".analytic_expansion_max_length", rclcpp::ParameterValue(3.0)); node->get_parameter(name + ".analytic_expansion_max_length", analytic_expansion_max_length_m); @@ -126,6 +138,9 @@ void SmacPlannerLattice::configure( nav2_util::declare_parameter_if_not_declared( node, name + ".allow_reverse_expansion", rclcpp::ParameterValue(false)); node->get_parameter(name + ".allow_reverse_expansion", _search_info.allow_reverse_expansion); + nav2_util::declare_parameter_if_not_declared( + node, name + ".debug_visualizations", rclcpp::ParameterValue(false)); + node->get_parameter(name + ".debug_visualizations", _debug_visualizations); _metadata = LatticeMotionTable::getLatticeMetadata(_search_info.lattice_filepath); _search_info.minimum_turning_radius = @@ -169,7 +184,7 @@ void SmacPlannerLattice::configure( // increments causing "wobbly" checks that could cause larger robots to virtually show collisions // in valid configurations. This approximation helps to bound orientation error for all checks // in exchange for slight inaccuracies in the collision headings in terminal search states. - _collision_checker = GridCollisionChecker(_costmap, 72u); + _collision_checker = GridCollisionChecker(_costmap_ros, 72u, node); _collision_checker.setFootprint( costmap_ros->getRobotFootprint(), costmap_ros->getUseRadius(), @@ -181,6 +196,7 @@ void SmacPlannerLattice::configure( _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, lookup_table_dim, _metadata.number_of_headings); @@ -193,6 +209,12 @@ void SmacPlannerLattice::configure( _smoother->initialize(_metadata.min_turning_radius); } + if (_debug_visualizations) { + _expansions_publisher = node->create_publisher("expansions", 1); + _planned_footprints_publisher = node->create_publisher( + "planned_footprints", 1); + } + RCLCPP_INFO( _logger, "Configured plugin %s of type SmacPlannerLattice with " "maximum iterations %i, max on approach iterations %i, " @@ -208,6 +230,10 @@ void SmacPlannerLattice::activate() _logger, "Activating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_activate(); + if (_debug_visualizations) { + _expansions_publisher->on_activate(); + _planned_footprints_publisher->on_activate(); + } auto node = _node.lock(); // Add callback for dynamic parameters _dyn_params_handler = node->add_on_set_parameters_callback( @@ -220,6 +246,10 @@ void SmacPlannerLattice::deactivate() _logger, "Deactivating plugin %s of type SmacPlannerLattice", _name.c_str()); _raw_plan_publisher->on_deactivate(); + if (_debug_visualizations) { + _expansions_publisher->on_deactivate(); + _planned_footprints_publisher->on_deactivate(); + } _dyn_params_handler.reset(); } @@ -235,7 +265,8 @@ void SmacPlannerLattice::cleanup() nav_msgs::msg::Path SmacPlannerLattice::createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) { std::lock_guard lock_reinit(_mutex); steady_clock::time_point a = steady_clock::now(); @@ -243,11 +274,15 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( std::unique_lock lock(*(_costmap->getMutex())); // Set collision checker and costmap information + _collision_checker.setFootprint( + _costmap_ros->getRobotFootprint(), + _costmap_ros->getUseRadius(), + findCircumscribedCost(_costmap_ros)); _a_star->setCollisionChecker(&_collision_checker); // Set starting point, in A* bin search coordinates - unsigned int mx, my; - if (!_costmap->worldToMap(start.pose.position.x, start.pose.position.y, mx, my)) { + float mx, my; + if (!_costmap->worldToMapContinuous(start.pose.position.x, start.pose.position.y, mx, my)) { throw nav2_core::StartOutsideMapBounds( "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " + std::to_string(start.pose.position.y) + ") was outside bounds"); @@ -257,7 +292,7 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( NodeLattice::motion_table.getClosestAngularBin(tf2::getYaw(start.pose.orientation))); // Set goal point, in A* bin search coordinates - if (!_costmap->worldToMap(goal.pose.position.x, goal.pose.position.y, mx, my)) { + if (!_costmap->worldToMapContinuous(goal.pose.position.x, goal.pose.position.y, mx, my)) { throw nav2_core::GoalOutsideMapBounds( "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " + std::to_string(goal.pose.position.y) + ") was outside bounds"); @@ -282,9 +317,35 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( NodeLattice::CoordinateVector path; int num_iterations = 0; std::string error; + std::unique_ptr>> expansions = nullptr; + if (_debug_visualizations) { + expansions = std::make_unique>>(); + } // Note: All exceptions thrown are handled by the planner server and returned to the action - if (!_a_star->createPath(path, num_iterations, 0 /*no tolerance*/)) { + if (!_a_star->createPath( + path, num_iterations, + _tolerance / static_cast(_costmap->getResolution()), cancel_checker, expansions.get())) + { + if (_debug_visualizations) { + geometry_msgs::msg::PoseArray msg; + geometry_msgs::msg::Pose msg_pose; + msg.header.stamp = _clock->now(); + msg.header.frame_id = _global_frame; + for (auto & e : *expansions) { + msg_pose.position.x = std::get<0>(e); + msg_pose.position.y = std::get<1>(e); + msg_pose.orientation = getWorldOrientation(std::get<2>(e)); + msg.poses.push_back(msg_pose); + } + _expansions_publisher->publish(msg); + } + + // Note: If the start is blocked only one iteration will occur before failure + if (num_iterations == 1) { + throw nav2_core::StartOccupied("Start occupied"); + } + if (num_iterations < _a_star->getMaxIterations()) { throw nav2_core::NoValidPathCouldBeFound("no valid path found"); } else { @@ -317,6 +378,38 @@ nav_msgs::msg::Path SmacPlannerLattice::createPlan( _raw_plan_publisher->publish(plan); } + if (_debug_visualizations) { + // Publish expansions for debug + geometry_msgs::msg::PoseArray msg; + geometry_msgs::msg::Pose msg_pose; + msg.header.stamp = _clock->now(); + msg.header.frame_id = _global_frame; + for (auto & e : *expansions) { + msg_pose.position.x = std::get<0>(e); + msg_pose.position.y = std::get<1>(e); + msg_pose.orientation = getWorldOrientation(std::get<2>(e)); + msg.poses.push_back(msg_pose); + } + _expansions_publisher->publish(msg); + + // plot footprint path planned for debug + if (_planned_footprints_publisher->get_subscription_count() > 0) { + auto marker_array = std::make_unique(); + for (size_t i = 0; i < plan.poses.size(); i++) { + const std::vector edge = + transformFootprintToEdges(plan.poses[i].pose, _costmap_ros->getRobotFootprint()); + marker_array->markers.push_back(createMarker(edge, i, _global_frame, _clock->now())); + } + + if (marker_array->markers.empty()) { + visualization_msgs::msg::Marker clear_all_marker; + clear_all_marker.action = visualization_msgs::msg::Marker::DELETEALL; + marker_array->markers.push_back(clear_all_marker); + } + _planned_footprints_publisher->publish(std::move(marker_array)); + } + } + // Find how much time we have left to do smoothing steady_clock::time_point b = steady_clock::now(); duration time_span = duration_cast>(b - a); @@ -386,6 +479,9 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par reinit_a_star = true; _search_info.analytic_expansion_max_length = static_cast(parameter.as_double()) / _costmap->getResolution(); + } else if (name == _name + ".analytic_expansion_max_cost") { + reinit_a_star = true; + _search_info.analytic_expansion_max_cost = static_cast(parameter.as_double()); } } else if (type == ParameterType::PARAMETER_BOOL) { if (name == _name + ".allow_unknown") { @@ -403,6 +499,9 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par } else { _smoother.reset(); } + } else if (name == _name + ".analytic_expansion_max_cost_override") { + _search_info.analytic_expansion_max_cost_override = parameter.as_bool(); + reinit_a_star = true; } } else if (type == ParameterType::PARAMETER_INTEGER) { if (name == _name + ".max_iterations") { @@ -414,15 +513,18 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par "disabling maximum iterations."); _max_iterations = std::numeric_limits::max(); } - } - } else if (name == _name + ".max_on_approach_iterations") { - reinit_a_star = true; - _max_on_approach_iterations = parameter.as_int(); - if (_max_on_approach_iterations <= 0) { - RCLCPP_INFO( - _logger, "On approach iteration selected as <= 0, " - "disabling tolerance and on approach iterations."); - _max_on_approach_iterations = std::numeric_limits::max(); + } else if (name == _name + ".max_on_approach_iterations") { + reinit_a_star = true; + _max_on_approach_iterations = parameter.as_int(); + if (_max_on_approach_iterations <= 0) { + RCLCPP_INFO( + _logger, "On approach iteration selected as <= 0, " + "disabling tolerance and on approach iterations."); + _max_on_approach_iterations = std::numeric_limits::max(); + } + } else if (name == _name + ".terminal_checking_interval") { + reinit_a_star = true; + _terminal_checking_interval = parameter.as_int(); } } else if (type == ParameterType::PARAMETER_STRING) { if (name == _name + ".lattice_filepath") { @@ -475,6 +577,7 @@ SmacPlannerLattice::dynamicParametersCallback(std::vector par _allow_unknown, _max_iterations, _max_on_approach_iterations, + _terminal_checking_interval, _max_planning_time, lookup_table_dim, _metadata.number_of_headings); diff --git a/nav2_smac_planner/test/CMakeLists.txt b/nav2_smac_planner/test/CMakeLists.txt index 76befe954cf..8039cf9c51e 100644 --- a/nav2_smac_planner/test/CMakeLists.txt +++ b/nav2_smac_planner/test/CMakeLists.txt @@ -1,3 +1,14 @@ +# Test utils +ament_add_gtest(test_utils + test_utils.cpp +) +ament_target_dependencies(test_utils + ${dependencies} +) +target_link_libraries(test_utils + ${library_name} +) + # Test costmap downsampler ament_add_gtest(test_costmap_downsampler test_costmap_downsampler.cpp diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp index 72a6ba29683..bdcf37c7215 100644 --- a/nav2_smac_planner/test/test_a_star.cpp +++ b/nav2_smac_planner/test/test_a_star.cpp @@ -39,6 +39,7 @@ RclCppFixture g_rclcppfixture; TEST(AStarTest, test_a_star_2d) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; nav2_smac_planner::AStarAlgorithm a_star( nav2_smac_planner::MotionModel::TWOD, info); @@ -46,10 +47,13 @@ TEST(AStarTest, test_a_star_2d) float tolerance = 0.0; float some_tolerance = 20.0; int it_on_approach = 10; + int terminal_checking_interval = 5000; double max_planning_time = 120.0; int num_it = 0; - a_star.initialize(false, max_iterations, it_on_approach, max_planning_time, 0.0, 1); + a_star.initialize( + false, max_iterations, it_on_approach, terminal_checking_interval, + max_planning_time, 0.0, 1); nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0.0, 0.0, 0); @@ -60,15 +64,25 @@ TEST(AStarTest, test_a_star_2d) } } + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + + auto dummy_cancel_checker = []() { + return false; + }; + // functional case testing std::unique_ptr checker = - std::make_unique(costmapA, 1); + std::make_unique(costmap_ros, 1, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); a_star.setCollisionChecker(checker.get()); a_star.setStart(20u, 20u, 0); a_star.setGoal(80u, 80u, 0); nav2_smac_planner::Node2D::CoordinateVector path; - EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker)); EXPECT_EQ(num_it, 2414); // check path is the right size and collision free @@ -85,25 +99,32 @@ TEST(AStarTest, test_a_star_2d) // failure cases with invalid inputs nav2_smac_planner::AStarAlgorithm a_star_2( nav2_smac_planner::MotionModel::TWOD, info); - a_star_2.initialize(false, max_iterations, it_on_approach, max_planning_time, 0, 1); + a_star_2.initialize( + false, max_iterations, it_on_approach, terminal_checking_interval, + max_planning_time, 0, 1); num_it = 0; - EXPECT_THROW(a_star_2.createPath(path, num_it, tolerance), std::runtime_error); + EXPECT_THROW( + a_star_2.createPath( + path, num_it, tolerance, + dummy_cancel_checker), std::runtime_error); a_star_2.setCollisionChecker(checker.get()); num_it = 0; - EXPECT_THROW(a_star_2.createPath(path, num_it, tolerance), std::runtime_error); - a_star_2.setStart(50, 50, 0); // invalid - a_star_2.setGoal(0, 0, 0); // valid - num_it = 0; - EXPECT_THROW(a_star_2.createPath(path, num_it, tolerance), std::runtime_error); + EXPECT_THROW( + a_star_2.createPath( + path, num_it, tolerance, + dummy_cancel_checker), std::runtime_error); a_star_2.setStart(0, 0, 0); // valid a_star_2.setGoal(50, 50, 0); // invalid num_it = 0; - EXPECT_THROW(a_star_2.createPath(path, num_it, tolerance), std::runtime_error); + EXPECT_THROW( + a_star_2.createPath( + path, num_it, tolerance, + dummy_cancel_checker), std::runtime_error); num_it = 0; // invalid goal but liberal tolerance a_star_2.setStart(20, 20, 0); // valid a_star_2.setGoal(50, 50, 0); // invalid - EXPECT_TRUE(a_star_2.createPath(path, num_it, some_tolerance)); + EXPECT_TRUE(a_star_2.createPath(path, num_it, some_tolerance, dummy_cancel_checker)); EXPECT_EQ(path.size(), 21u); for (unsigned int i = 0; i != path.size(); i++) { EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0); @@ -122,6 +143,7 @@ TEST(AStarTest, test_a_star_2d) TEST(AStarTest, test_a_star_se2) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 0.1; info.non_straight_penalty = 1.1; @@ -137,10 +159,13 @@ TEST(AStarTest, test_a_star_se2) int max_iterations = 10000; float tolerance = 10.0; int it_on_approach = 10; + int terminal_checking_interval = 5000; double max_planning_time = 120.0; int num_it = 0; - a_star.initialize(false, max_iterations, it_on_approach, max_planning_time, 401, size_theta); + a_star.initialize( + false, max_iterations, it_on_approach, terminal_checking_interval, + max_planning_time, 401, size_theta); nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0.0, 0.0, 0); @@ -151,8 +176,14 @@ TEST(AStarTest, test_a_star_se2) } } + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, size_theta); + std::make_unique(costmap_ros, size_theta, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); // functional case testing @@ -160,10 +191,17 @@ TEST(AStarTest, test_a_star_se2) a_star.setStart(10u, 10u, 0u); a_star.setGoal(80u, 80u, 40u); nav2_smac_planner::NodeHybrid::CoordinateVector path; - EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + std::unique_ptr>> expansions = nullptr; + expansions = std::make_unique>>(); + + auto dummy_cancel_checker = []() { + return false; + }; + + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker, expansions.get())); // check path is the right size and collision free - EXPECT_EQ(num_it, 3222); + EXPECT_EQ(num_it, 3146); EXPECT_EQ(path.size(), 63u); for (unsigned int i = 0; i != path.size(); i++) { EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0); @@ -173,11 +211,15 @@ TEST(AStarTest, test_a_star_se2) EXPECT_LT(hypotf(path[i].x - path[i - 1].x, path[i].y - path[i - 1].y), 2.1f); } + // Expansions properly recorded + EXPECT_GT(expansions->size(), 5u); + delete costmapA; } TEST(AStarTest, test_a_star_lattice) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 0.05; info.non_straight_penalty = 1.05; @@ -197,11 +239,14 @@ TEST(AStarTest, test_a_star_lattice) int max_iterations = 10000; float tolerance = 10.0; int it_on_approach = 10; + int terminal_checking_interval = 5000; double max_planning_time = 120.0; int num_it = 0; a_star.initialize( - false, max_iterations, std::numeric_limits::max(), max_planning_time, 401, size_theta); + false, max_iterations, + std::numeric_limits::max(), terminal_checking_interval, max_planning_time, 401, + size_theta); nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D(100, 100, 0.05, 0.0, 0.0, 0); @@ -212,20 +257,30 @@ TEST(AStarTest, test_a_star_lattice) } } + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, size_theta); + std::make_unique(costmap_ros, size_theta, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + auto dummy_cancel_checker = []() { + return false; + }; + // functional case testing a_star.setCollisionChecker(checker.get()); a_star.setStart(5u, 5u, 0u); a_star.setGoal(40u, 40u, 1u); nav2_smac_planner::NodeLattice::CoordinateVector path; - EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker)); // check path is the right size and collision free - EXPECT_EQ(num_it, 21); - EXPECT_EQ(path.size(), 49u); + EXPECT_EQ(num_it, 22); + EXPECT_GT(path.size(), 45u); for (unsigned int i = 0; i != path.size(); i++) { EXPECT_EQ(costmapA->getCost(path[i].x, path[i].y), 0); } @@ -239,6 +294,7 @@ TEST(AStarTest, test_a_star_lattice) TEST(AStarTest, test_se2_single_pose_path) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 0.1; info.non_straight_penalty = 1.1; @@ -254,25 +310,37 @@ TEST(AStarTest, test_se2_single_pose_path) int max_iterations = 100; float tolerance = 10.0; int it_on_approach = 10; + int terminal_checking_interval = 5000; double max_planning_time = 120.0; int num_it = 0; - a_star.initialize(false, max_iterations, it_on_approach, max_planning_time, 401, size_theta); + a_star.initialize( + false, max_iterations, it_on_approach, terminal_checking_interval, + max_planning_time, 401, size_theta); nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0.0, 0.0, 0); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, size_theta); + std::make_unique(costmap_ros, size_theta, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + auto dummy_cancel_checker = []() { + return false; + }; // functional case testing a_star.setCollisionChecker(checker.get()); a_star.setStart(10u, 10u, 0u); // Goal is one costmap cell away a_star.setGoal(12u, 10u, 0u); nav2_smac_planner::NodeHybrid::CoordinateVector path; - EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker)); // Check that the path is length one // With the current implementation, this produces a longer path diff --git a/nav2_smac_planner/test/test_collision_checker.cpp b/nav2_smac_planner/test/test_collision_checker.cpp index 40e73c82ada..dd4e032a51e 100644 --- a/nav2_smac_planner/test/test_collision_checker.cpp +++ b/nav2_smac_planner/test/test_collision_checker.cpp @@ -19,11 +19,21 @@ #include "gtest/gtest.h" #include "nav2_smac_planner/collision_checker.hpp" +#include "nav2_util/lifecycle_node.hpp" using namespace nav2_costmap_2d; // NOLINT +class RclCppFixture +{ +public: + RclCppFixture() {rclcpp::init(0, nullptr);} + ~RclCppFixture() {rclcpp::shutdown();} +}; +RclCppFixture g_rclcppfixture; + TEST(collision_footprint, test_basic) { + auto node = std::make_shared("testA"); nav2_costmap_2d::Costmap2D * costmap_ = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0, 0, 0); geometry_msgs::msg::Point p1; @@ -41,7 +51,13 @@ TEST(collision_footprint, test_basic) nav2_costmap_2d::Footprint footprint = {p1, p2, p3, p4}; - nav2_smac_planner::GridCollisionChecker collision_checker(costmap_, 72); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmap_; + + nav2_smac_planner::GridCollisionChecker collision_checker(costmap_ros, 72, node); collision_checker.setFootprint(footprint, false /*use footprint*/, 0.0); collision_checker.inCollision(5.0, 5.0, 0.0, false); float cost = collision_checker.getCost(); @@ -51,9 +67,16 @@ TEST(collision_footprint, test_basic) TEST(collision_footprint, test_point_cost) { + auto node = std::make_shared("testB"); nav2_costmap_2d::Costmap2D * costmap_ = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0, 0, 0); - nav2_smac_planner::GridCollisionChecker collision_checker(costmap_, 72); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmap_; + + nav2_smac_planner::GridCollisionChecker collision_checker(costmap_ros, 72, node); nav2_costmap_2d::Footprint footprint; collision_checker.setFootprint(footprint, true /*radius / pointcose*/, 0.0); @@ -65,9 +88,16 @@ TEST(collision_footprint, test_point_cost) TEST(collision_footprint, test_world_to_map) { + auto node = std::make_shared("testC"); nav2_costmap_2d::Costmap2D * costmap_ = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0, 0, 0); - nav2_smac_planner::GridCollisionChecker collision_checker(costmap_, 72); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmap_; + + nav2_smac_planner::GridCollisionChecker collision_checker(costmap_ros, 72, node); nav2_costmap_2d::Footprint footprint; collision_checker.setFootprint(footprint, true /*radius / point cost*/, 0.0); @@ -80,7 +110,7 @@ TEST(collision_footprint, test_world_to_map) EXPECT_NEAR(cost, 0.0, 0.001); - costmap_->setCost(50, 50, 200); + costmap->setCost(50, 50, 200); collision_checker.worldToMap(5.0, 5.0, x, y); collision_checker.inCollision(x, y, 0.0, false); @@ -90,6 +120,7 @@ TEST(collision_footprint, test_world_to_map) TEST(collision_footprint, test_footprint_at_pose_with_movement) { + auto node = std::make_shared("testD"); nav2_costmap_2d::Costmap2D * costmap_ = new nav2_costmap_2d::Costmap2D(100, 100, 0.1, 0, 0, 254); for (unsigned int i = 40; i <= 60; ++i) { @@ -113,7 +144,13 @@ TEST(collision_footprint, test_footprint_at_pose_with_movement) nav2_costmap_2d::Footprint footprint = {p1, p2, p3, p4}; - nav2_smac_planner::GridCollisionChecker collision_checker(costmap_, 72); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmap_; + + nav2_smac_planner::GridCollisionChecker collision_checker(costmap_ros, 72, node); collision_checker.setFootprint(footprint, false /*use footprint*/, 0.0); collision_checker.inCollision(50, 50, 0.0, false); @@ -132,6 +169,7 @@ TEST(collision_footprint, test_footprint_at_pose_with_movement) TEST(collision_footprint, test_point_and_line_cost) { + auto node = std::make_shared("testE"); nav2_costmap_2d::Costmap2D * costmap_ = new nav2_costmap_2d::Costmap2D( 100, 100, 0.10000, 0, 0.0, 128.0); @@ -153,7 +191,13 @@ TEST(collision_footprint, test_point_and_line_cost) nav2_costmap_2d::Footprint footprint = {p1, p2, p3, p4}; - nav2_smac_planner::GridCollisionChecker collision_checker(costmap_, 72); + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmap_; + + nav2_smac_planner::GridCollisionChecker collision_checker(costmap_ros, 72, node); collision_checker.setFootprint(footprint, false /*use footprint*/, 0.0); collision_checker.inCollision(50, 50, 0.0, false); diff --git a/nav2_smac_planner/test/test_node2d.cpp b/nav2_smac_planner/test/test_node2d.cpp index f3af941c4bc..1326fb02136 100644 --- a/nav2_smac_planner/test/test_node2d.cpp +++ b/nav2_smac_planner/test/test_node2d.cpp @@ -34,9 +34,17 @@ RclCppFixture g_rclcppfixture; TEST(Node2DTest, test_node_2d) { + auto node = std::make_shared("test"); nav2_costmap_2d::Costmap2D costmapA(10, 10, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = costmapA; + std::unique_ptr checker = - std::make_unique(&costmapA, 72); + std::make_unique(costmap_ros, 72, node); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); // test construction @@ -68,7 +76,7 @@ TEST(Node2DTest, test_node_2d) // check heuristic cost computation nav2_smac_planner::Node2D::Coordinates A(0.0, 0.0); nav2_smac_planner::Node2D::Coordinates B(10.0, 5.0); - EXPECT_NEAR(testB.getHeuristicCost(A, B, nullptr), 11.18, 0.02); + EXPECT_NEAR(testB.getHeuristicCost(A, B), 11.18, 0.02); // check operator== works on index unsigned char costC = '2'; @@ -101,6 +109,7 @@ TEST(Node2DTest, test_node_2d) TEST(Node2DTest, test_node_2d_neighbors) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; unsigned int size_x = 10u; unsigned int size_y = 10u; @@ -121,13 +130,22 @@ TEST(Node2DTest, test_node_2d_neighbors) EXPECT_EQ(nav2_smac_planner::Node2D::_neighbors_grid_offsets[7], 101); nav2_costmap_2d::Costmap2D costmapA(10, 10, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = costmapA; + std::unique_ptr checker = - std::make_unique(&costmapA, 72); + std::make_unique(costmap_ros, 72, lnode); unsigned char cost = static_cast(1); nav2_smac_planner::Node2D * node = new nav2_smac_planner::Node2D(1); node->setCost(cost); - std::function neighborGetter = - [&, this](const unsigned int & index, nav2_smac_planner::Node2D * & neighbor_rtn) -> bool + std::function neighborGetter = + [&, this](const uint64_t & index, + nav2_smac_planner::Node2D * & neighbor_rtn) -> bool { return false; }; diff --git a/nav2_smac_planner/test/test_nodehybrid.cpp b/nav2_smac_planner/test/test_nodehybrid.cpp index e304b97e42c..856f37c0a11 100644 --- a/nav2_smac_planner/test/test_nodehybrid.cpp +++ b/nav2_smac_planner/test/test_nodehybrid.cpp @@ -13,6 +13,7 @@ // limitations under the License. Reserved. #include +#include #include #include #include @@ -24,6 +25,7 @@ #include "nav2_util/lifecycle_node.hpp" #include "nav2_smac_planner/node_hybrid.hpp" #include "nav2_smac_planner/collision_checker.hpp" +#include "nav2_smac_planner/types.hpp" class RclCppFixture { @@ -35,6 +37,7 @@ RclCppFixture g_rclcppfixture; TEST(NodeHybridTest, test_node_hybrid) { + auto node = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 0.1; info.non_straight_penalty = 1.1; @@ -48,15 +51,22 @@ TEST(NodeHybridTest, test_node_hybrid) // Check defaulted constants nav2_smac_planner::NodeHybrid testA(49); - EXPECT_EQ(testA.travel_distance_cost, sqrt(2)); + EXPECT_EQ(testA.travel_distance_cost, sqrtf(2)); nav2_smac_planner::NodeHybrid::initMotionModel( nav2_smac_planner::MotionModel::DUBIN, size_x, size_y, size_theta, info); nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D( 10, 10, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, 72); + std::make_unique(costmap_ros, 72, node); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); // test construction @@ -86,15 +96,21 @@ TEST(NodeHybridTest, test_node_hybrid) EXPECT_NEAR(testB.getTraversalCost(&testA), 2.088, 0.1); // now with straight motion, cost is 0, so will be neutral as well // but now reduced by retrospective penalty (10%) - testB.setMotionPrimitiveIndex(1); - testA.setMotionPrimitiveIndex(0); - EXPECT_NEAR(testB.getTraversalCost(&testA), 2.088 * 0.9, 0.1); + testB.setMotionPrimitiveIndex(1, nav2_smac_planner::TurnDirection::LEFT); + testA.setMotionPrimitiveIndex(0, nav2_smac_planner::TurnDirection::FORWARD); + EXPECT_NEAR(testB.getTraversalCost(&testA), 2.088f * 0.9, 0.1); // same direction as parent, testB - testA.setMotionPrimitiveIndex(1); - EXPECT_NEAR(testB.getTraversalCost(&testA), 2.297f * 0.9, 0.01); + testA.setMotionPrimitiveIndex(1, nav2_smac_planner::TurnDirection::LEFT); + EXPECT_NEAR(testB.getTraversalCost(&testA), 2.294f * 0.9, 0.01); // opposite direction as parent, testB - testA.setMotionPrimitiveIndex(2); + testA.setMotionPrimitiveIndex(2, nav2_smac_planner::TurnDirection::RIGHT); EXPECT_NEAR(testB.getTraversalCost(&testA), 2.506f * 0.9, 0.01); + // reverse direction as parent, testB + testA.setMotionPrimitiveIndex(1, nav2_smac_planner::TurnDirection::REV_RIGHT); + EXPECT_NEAR(testB.getTraversalCost(&testA), 2.513f * 0.9 * 2.0, 0.01); + // reverse direction as parent, testB + testA.setMotionPrimitiveIndex(2, nav2_smac_planner::TurnDirection::REV_LEFT); + EXPECT_NEAR(testB.getTraversalCost(&testA), 2.513f * 0.9 * 2.0, 0.01); // will throw because never collision checked testB EXPECT_THROW(testA.getTraversalCost(&testB), std::runtime_error); @@ -135,6 +151,7 @@ TEST(NodeHybridTest, test_node_hybrid) TEST(NodeHybridTest, test_obstacle_heuristic) { + auto node = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 0.1; info.non_straight_penalty = 1.1; @@ -168,8 +185,15 @@ TEST(NodeHybridTest, test_obstacle_heuristic) costmapA->setCost(i, j, 254); } } + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, 72); + std::make_unique(costmap_ros, 72, node); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); nav2_smac_planner::NodeHybrid testA(0); @@ -184,10 +208,10 @@ TEST(NodeHybridTest, test_obstacle_heuristic) // first block the high-cost passage to make sure the cost spreads through the better path for (unsigned int j = 61; j <= 70; ++j) { - costmapA->setCost(50, j, 254); + costmap->setCost(50, j, 254); } nav2_smac_planner::NodeHybrid::resetObstacleHeuristic( - costmapA, testA.pose.x, testA.pose.y, testB.pose.x, testB.pose.y); + costmap_ros, testA.pose.x, testA.pose.y, testB.pose.x, testB.pose.y); float wide_passage_cost = nav2_smac_planner::NodeHybrid::getObstacleHeuristic( testA.pose, testB.pose, @@ -199,10 +223,10 @@ TEST(NodeHybridTest, test_obstacle_heuristic) // (it should, since the unblocked narrow path will have higher cost than the wide one // and thus lower bound of the path cost should be unchanged) for (unsigned int j = 61; j <= 70; ++j) { - costmapA->setCost(50, j, 250); + costmap->setCost(50, j, 250); } nav2_smac_planner::NodeHybrid::resetObstacleHeuristic( - costmapA, + costmap_ros, testA.pose.x, testA.pose.y, testB.pose.x, testB.pose.y); float two_passages_cost = nav2_smac_planner::NodeHybrid::getObstacleHeuristic( testA.pose, @@ -243,8 +267,51 @@ TEST(NodeHybridTest, test_node_debin_neighbors) EXPECT_NEAR(nav2_smac_planner::NodeHybrid::motion_table.projections[2]._theta, -5, 0.01); } +TEST(NodeHybridTest, test_interpolation_prims) +{ + unsigned int size_x = 100; + unsigned int size_y = 100; + unsigned int size_theta = 64; + + nav2_smac_planner::SearchInfo info; + info.change_penalty = 1.2; + info.non_straight_penalty = 1.4; + info.reverse_penalty = 2.1; + info.minimum_turning_radius = 8; // 0.4 in grid coordinates + info.retrospective_penalty = 0.0; + + // Test to make sure the right num. of prims are generated when interpolation is on + info.allow_primitive_interpolation = true; + nav2_smac_planner::NodeHybrid::initMotionModel( + nav2_smac_planner::MotionModel::DUBIN, size_x, size_y, size_theta, info); + + EXPECT_EQ(nav2_smac_planner::NodeHybrid::motion_table.projections.size(), 5u); +} + +TEST(NodeHybridTest, test_interpolation_prims2) +{ + unsigned int size_x = 100; + unsigned int size_y = 100; + unsigned int size_theta = 72; + + nav2_smac_planner::SearchInfo info; + info.change_penalty = 1.2; + info.non_straight_penalty = 1.4; + info.reverse_penalty = 2.1; + info.minimum_turning_radius = 8; // 0.4 in grid coordinates + info.retrospective_penalty = 0.0; + + // Test to make sure the right num. of prims are generated when interpolation is on + info.allow_primitive_interpolation = true; + nav2_smac_planner::NodeHybrid::initMotionModel( + nav2_smac_planner::MotionModel::DUBIN, size_x, size_y, size_theta, info); + + EXPECT_EQ(nav2_smac_planner::NodeHybrid::motion_table.projections.size(), 7u); +} + TEST(NodeHybridTest, test_node_reeds_neighbors) { + auto lnode = std::make_shared("test"); nav2_smac_planner::SearchInfo info; info.change_penalty = 1.2; info.non_straight_penalty = 1.4; @@ -283,12 +350,21 @@ TEST(NodeHybridTest, test_node_reeds_neighbors) EXPECT_NEAR(nav2_smac_planner::NodeHybrid::motion_table.projections[5]._theta, 3, 0.01); nav2_costmap_2d::Costmap2D costmapA(100, 100, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = costmapA; + std::unique_ptr checker = - std::make_unique(&costmapA, 72); + std::make_unique(costmap_ros, 72, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); nav2_smac_planner::NodeHybrid * node = new nav2_smac_planner::NodeHybrid(49); - std::function neighborGetter = - [&, this](const unsigned int & index, nav2_smac_planner::NodeHybrid * & neighbor_rtn) -> bool + std::function neighborGetter = + [&, this](const uint64_t & index, + nav2_smac_planner::NodeHybrid * & neighbor_rtn) -> bool { // because we don't return a real object return false; @@ -301,3 +377,45 @@ TEST(NodeHybridTest, test_node_reeds_neighbors) // should be empty since totally invalid EXPECT_EQ(neighbors.size(), 0u); } + +TEST(NodeHybridTest, basic_get_closest_angular_bin_test) +{ + // Tests to check getClosestAngularBin behavior for different input types + nav2_smac_planner::HybridMotionTable motion_table; + + { + motion_table.bin_size = 3.1415926; + motion_table.num_angle_quantization = 2; + double test_theta = 3.1415926; + unsigned int expected_angular_bin = 1; + unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta); + EXPECT_EQ(expected_angular_bin, calculated_angular_bin); + } + + { + motion_table.bin_size = M_PI; + motion_table.num_angle_quantization = 2; + double test_theta = M_PI; + unsigned int expected_angular_bin = 0; + unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta); + EXPECT_EQ(expected_angular_bin, calculated_angular_bin); + } + + { + motion_table.bin_size = M_PI; + motion_table.num_angle_quantization = 2; + float test_theta = M_PI; + unsigned int expected_angular_bin = 1; + unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta); + EXPECT_EQ(expected_angular_bin, calculated_angular_bin); + } + + { + motion_table.bin_size = 0.0872664675; + motion_table.num_angle_quantization = 72; + double test_theta = 6.28318526567925; + unsigned int expected_angular_bin = 71; + unsigned int calculated_angular_bin = motion_table.getClosestAngularBin(test_theta); + EXPECT_EQ(expected_angular_bin, calculated_angular_bin); + } +} diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp index a534e8862f2..2355ac9a842 100644 --- a/nav2_smac_planner/test/test_nodelattice.cpp +++ b/nav2_smac_planner/test/test_nodelattice.cpp @@ -22,9 +22,18 @@ #include "nav2_smac_planner/node_lattice.hpp" #include "gtest/gtest.h" #include "ament_index_cpp/get_package_share_directory.hpp" +#include "nav2_util/lifecycle_node.hpp" using json = nlohmann::json; +class RclCppFixture +{ +public: + RclCppFixture() {rclcpp::init(0, nullptr);} + ~RclCppFixture() {rclcpp::shutdown();} +}; +RclCppFixture g_rclcppfixture; + TEST(NodeLatticeTest, parser_test) { std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); @@ -111,9 +120,12 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) nav2_smac_planner::MotionModel::STATE_LATTICE, x, y, angle_quantization, info); nav2_smac_planner::NodeLattice aNode(0); + unsigned int direction_change_index = 0; aNode.setPose(nav2_smac_planner::NodeHybrid::Coordinates(0, 0, 0)); nav2_smac_planner::MotionPrimitivePtrs projections = - nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&aNode); + nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives( + &aNode, + direction_change_index); EXPECT_NEAR(projections[0]->poses.back()._x, 0.5, 0.01); EXPECT_NEAR(projections[0]->poses.back()._y, -0.35, 0.01); @@ -121,7 +133,9 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing) EXPECT_NEAR( nav2_smac_planner::NodeLattice::motion_table.getLatticeMetadata( - filePath).grid_resolution, 0.05, 0.005); + filePath) + .grid_resolution, + 0.05, 0.005); } TEST(NodeLatticeTest, test_node_lattice_conversions) @@ -164,6 +178,7 @@ TEST(NodeLatticeTest, test_node_lattice_conversions) TEST(NodeLatticeTest, test_node_lattice) { + auto node = std::make_shared("test"); std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); std::string filePath = pkg_share_dir + @@ -206,8 +221,15 @@ TEST(NodeLatticeTest, test_node_lattice) nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D( 10, 10, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, 72); + std::make_unique(costmap_ros, 72, node); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); // test node valid and cost @@ -238,9 +260,9 @@ TEST(NodeLatticeTest, test_node_lattice) delete costmapA; } - TEST(NodeLatticeTest, test_get_neighbors) { + auto lnode = std::make_shared("test"); std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); std::string filePath = pkg_share_dir + @@ -270,12 +292,21 @@ TEST(NodeLatticeTest, test_get_neighbors) nav2_costmap_2d::Costmap2D * costmapA = new nav2_costmap_2d::Costmap2D( 10, 10, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmap = costmap_ros->getCostmap(); + *costmap = *costmapA; + std::unique_ptr checker = - std::make_unique(costmapA, 72); + std::make_unique(costmap_ros, 72, lnode); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); - std::function neighborGetter = - [&, this](const unsigned int & index, nav2_smac_planner::NodeLattice * & neighbor_rtn) -> bool + std::function neighborGetter = + [&, this](const uint64_t & index, + nav2_smac_planner::NodeLattice * & neighbor_rtn) -> bool { // because we don't return a real object return false; @@ -291,6 +322,7 @@ TEST(NodeLatticeTest, test_get_neighbors) TEST(NodeLatticeTest, test_node_lattice_custom_footprint) { + auto lnode = std::make_shared("test"); std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner"); std::string filePath = pkg_share_dir + @@ -320,8 +352,15 @@ TEST(NodeLatticeTest, test_node_lattice_custom_footprint) nav2_costmap_2d::Costmap2D * costmap = new nav2_costmap_2d::Costmap2D( 40, 40, 0.05, 0.0, 0.0, 0); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmapi = costmap_ros->getCostmap(); + *costmapi = *costmap; + std::unique_ptr checker = - std::make_unique(costmap, 72); + std::make_unique(costmap_ros, 72, lnode); // Make some custom asymmetrical footprint nav2_costmap_2d::Footprint footprint; @@ -344,10 +383,13 @@ TEST(NodeLatticeTest, test_node_lattice_custom_footprint) node.pose.x = 20; node.pose.y = 20; node.pose.theta = 0; + + // initialize direction change index + unsigned int direction_change_index = 0; // Test that the node is valid though all motion primitives poses for custom footprint nav2_smac_planner::MotionPrimitivePtrs motion_primitives = - nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&node); - EXPECT_GT(motion_primitives.size(), 0); + nav2_smac_planner::NodeLattice::motion_table.getMotionPrimitives(&node, direction_change_index); + EXPECT_GT(motion_primitives.size(), 0u); for (unsigned int i = 0; i < motion_primitives.size(); i++) { EXPECT_EQ(node.isNodeValid(true, checker.get(), motion_primitives[i], false), true); EXPECT_EQ(node.isNodeValid(true, checker.get(), motion_primitives[i], true), true); diff --git a/nav2_smac_planner/test/test_smac_2d.cpp b/nav2_smac_planner/test/test_smac_2d.cpp index 1ebe215b30f..e2dff5a56f4 100644 --- a/nav2_smac_planner/test/test_smac_2d.cpp +++ b/nav2_smac_planner/test/test_smac_2d.cpp @@ -57,6 +57,10 @@ TEST(SmacTest, test_smac_2d) { node2D->declare_parameter("test.downsampling_factor", 2); node2D->set_parameter(rclcpp::Parameter("test.downsampling_factor", 2)); + auto dummy_cancel_checker = []() { + return false; + }; + geometry_msgs::msg::PoseStamped start, goal; start.pose.position.x = 0.0; start.pose.position.y = 0.0; @@ -69,7 +73,7 @@ TEST(SmacTest, test_smac_2d) { planner_2d->configure(node2D, "test", nullptr, costmap_ros); planner_2d->activate(); try { - planner_2d->createPlan(start, goal); + planner_2d->createPlan(start, goal, dummy_cancel_checker); } catch (...) { } @@ -108,6 +112,7 @@ TEST(SmacTest, test_smac_2d_reconfigure) { rclcpp::Parameter("test.downsampling_factor", 2), rclcpp::Parameter("test.max_iterations", -1), rclcpp::Parameter("test.max_on_approach_iterations", -1), + rclcpp::Parameter("test.terminal_checking_interval", 100), rclcpp::Parameter("test.use_final_approach_orientation", false)}); rclcpp::spin_until_future_complete( @@ -127,6 +132,9 @@ TEST(SmacTest, test_smac_2d_reconfigure) { EXPECT_EQ( node2D->get_parameter("test.max_on_approach_iterations").as_int(), -1); + EXPECT_EQ( + node2D->get_parameter("test.terminal_checking_interval").as_int(), + 100); results = rec_param->set_parameters_atomically( {rclcpp::Parameter("test.downsample_costmap", true)}); diff --git a/nav2_smac_planner/test/test_smac_hybrid.cpp b/nav2_smac_planner/test/test_smac_hybrid.cpp index 3be1a9e897f..9952912596b 100644 --- a/nav2_smac_planner/test/test_smac_hybrid.cpp +++ b/nav2_smac_planner/test/test_smac_hybrid.cpp @@ -45,6 +45,7 @@ TEST(SmacTest, test_smac_se2) { rclcpp_lifecycle::LifecycleNode::SharedPtr nodeSE2 = std::make_shared("SmacSE2Test"); + nodeSE2->declare_parameter("test.debug_visualizations", rclcpp::ParameterValue(true)); std::shared_ptr costmap_ros = std::make_shared("global_costmap"); @@ -55,6 +56,10 @@ TEST(SmacTest, test_smac_se2) nodeSE2->declare_parameter("test.downsampling_factor", 2); nodeSE2->set_parameter(rclcpp::Parameter("test.downsampling_factor", 2)); + auto dummy_cancel_checker = []() { + return false; + }; + geometry_msgs::msg::PoseStamped start, goal; start.pose.position.x = 0.0; start.pose.position.y = 0.0; @@ -67,7 +72,7 @@ TEST(SmacTest, test_smac_se2) planner->activate(); try { - planner->createPlan(start, goal); + planner->createPlan(start, goal, dummy_cancel_checker); } catch (...) { } @@ -93,6 +98,8 @@ TEST(SmacTest, test_smac_se2_reconfigure) planner->configure(nodeSE2, "test", nullptr, costmap_ros); planner->activate(); + nodeSE2->declare_parameter("resolution", 0.05); + auto rec_param = std::make_shared( nodeSE2->get_node_base_interface(), nodeSE2->get_node_topics_interface(), nodeSE2->get_node_graph_interface(), @@ -118,6 +125,7 @@ TEST(SmacTest, test_smac_se2_reconfigure) rclcpp::Parameter("test.smooth_path", false), rclcpp::Parameter("test.analytic_expansion_max_length", 42.0), rclcpp::Parameter("test.max_on_approach_iterations", 42), + rclcpp::Parameter("test.terminal_checking_interval", 42), rclcpp::Parameter("test.motion_model_for_search", std::string("REEDS_SHEPP"))}); rclcpp::spin_until_future_complete( @@ -143,7 +151,15 @@ TEST(SmacTest, test_smac_se2_reconfigure) EXPECT_EQ(nodeSE2->get_parameter("test.lookup_table_size").as_double(), 30.0); EXPECT_EQ(nodeSE2->get_parameter("test.analytic_expansion_max_length").as_double(), 42.0); EXPECT_EQ(nodeSE2->get_parameter("test.max_on_approach_iterations").as_int(), 42); + EXPECT_EQ(nodeSE2->get_parameter("test.terminal_checking_interval").as_int(), 42); EXPECT_EQ( nodeSE2->get_parameter("test.motion_model_for_search").as_string(), std::string("REEDS_SHEPP")); + + auto results2 = rec_param->set_parameters_atomically( + {rclcpp::Parameter("resolution", 0.2)}); + rclcpp::spin_until_future_complete( + nodeSE2->get_node_base_interface(), + results2); + EXPECT_EQ(nodeSE2->get_parameter("resolution").as_double(), 0.2); } diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp index 9ce99a46b1c..dcc925e9e72 100644 --- a/nav2_smac_planner/test/test_smac_lattice.cpp +++ b/nav2_smac_planner/test/test_smac_lattice.cpp @@ -54,11 +54,16 @@ TEST(SmacTest, test_smac_lattice) { rclcpp_lifecycle::LifecycleNode::SharedPtr nodeLattice = std::make_shared("SmacLatticeTest"); + nodeLattice->declare_parameter("test.debug_visualizations", rclcpp::ParameterValue(true)); std::shared_ptr costmap_ros = std::make_shared("global_costmap"); costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto dummy_cancel_checker = []() { + return false; + }; + geometry_msgs::msg::PoseStamped start, goal; start.pose.position.x = 0.0; start.pose.position.y = 0.0; @@ -75,7 +80,7 @@ TEST(SmacTest, test_smac_lattice) planner->activate(); try { - planner->createPlan(start, goal); + planner->createPlan(start, goal, dummy_cancel_checker); } catch (...) { } @@ -127,6 +132,7 @@ TEST(SmacTest, test_smac_lattice_reconfigure) rclcpp::Parameter("test.tolerance", 42.0), rclcpp::Parameter("test.rotation_penalty", 42.0), rclcpp::Parameter("test.max_on_approach_iterations", 42), + rclcpp::Parameter("test.terminal_checking_interval", 42), rclcpp::Parameter("test.allow_reverse_expansion", true)}); try { diff --git a/nav2_smac_planner/test/test_smoother.cpp b/nav2_smac_planner/test/test_smoother.cpp index d7d27f1d20d..616c674595a 100644 --- a/nav2_smac_planner/test/test_smoother.cpp +++ b/nav2_smac_planner/test/test_smoother.cpp @@ -89,21 +89,35 @@ TEST(SmootherTest, test_full_smoother) int max_iterations = 10000; float tolerance = 10.0; int it_on_approach = 10; + int terminal_checking_interval = 5000; double max_planning_time = 120.0; int num_it = 0; a_star.initialize( - false, max_iterations, std::numeric_limits::max(), max_planning_time, 401, size_theta); + false, max_iterations, + std::numeric_limits::max(), terminal_checking_interval, max_planning_time, 401, + size_theta); + + // Convert raw costmap into a costmap ros object + auto costmap_ros = std::make_shared(); + costmap_ros->on_configure(rclcpp_lifecycle::State()); + auto costmapi = costmap_ros->getCostmap(); + *costmapi = *costmap; + std::unique_ptr checker = - std::make_unique(costmap, size_theta); + std::make_unique(costmap_ros, size_theta, node); checker->setFootprint(nav2_costmap_2d::Footprint(), true, 0.0); + auto dummy_cancel_checker = []() { + return false; + }; + // Create A* search to smooth a_star.setCollisionChecker(checker.get()); a_star.setStart(5u, 5u, 0u); a_star.setGoal(45u, 45u, 36u); nav2_smac_planner::NodeHybrid::CoordinateVector path; - EXPECT_TRUE(a_star.createPath(path, num_it, tolerance)); + EXPECT_TRUE(a_star.createPath(path, num_it, tolerance, dummy_cancel_checker)); // Convert to world coordinates and get length to compare to smoothed length nav_msgs::msg::Path plan; diff --git a/nav2_smac_planner/test/test_utils.cpp b/nav2_smac_planner/test/test_utils.cpp new file mode 100644 index 00000000000..8a6b2440ef5 --- /dev/null +++ b/nav2_smac_planner/test/test_utils.cpp @@ -0,0 +1,149 @@ +// Copyright (c) 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include +#include +#include + +#include "gtest/gtest.h" +#include "nav2_smac_planner/utils.hpp" +#include "nav2_util/geometry_utils.hpp" + +using namespace nav2_smac_planner; // NOLINT + +TEST(transform_footprint_to_edges, test_basic) +{ + geometry_msgs::msg::Point p1; + p1.x = 1.0; + p1.y = 1.0; + + geometry_msgs::msg::Point p2; + p2.x = 1.0; + p2.y = -1.0; + + geometry_msgs::msg::Point p3; + p3.x = -1.0; + p3.y = -1.0; + + geometry_msgs::msg::Point p4; + p4.x = -1.0; + p4.y = 1.0; + + std::vector footprint{p1, p2, p3, p4}; + std::vector footprint_edges{p1, p2, p2, p3, p3, p4, p4, p1}; + + // Identity pose + geometry_msgs::msg::Pose pose0; + auto result = transformFootprintToEdges(pose0, footprint); + EXPECT_EQ(result.size(), 8u); + + for (size_t i = 0; i < result.size(); i++) { + auto & p = result[i]; + auto & q = footprint_edges[i]; + EXPECT_EQ(p.x, q.x); + EXPECT_EQ(p.y, q.y); + } +} + +TEST(transform_footprint_to_edges, test_transition_rotation) +{ + geometry_msgs::msg::Point p1; + p1.x = 1.0; + p1.y = 1.0; + + geometry_msgs::msg::Point p2; + p2.x = 1.0; + p2.y = -1.0; + + geometry_msgs::msg::Point p3; + p3.x = -1.0; + p3.y = -1.0; + + geometry_msgs::msg::Point p4; + p4.x = -1.0; + p4.y = 1.0; + + geometry_msgs::msg::Pose pose0; + pose0.position.x = 1.0; + pose0.position.y = 1.0; + pose0.orientation = nav2_util::geometry_utils::orientationAroundZAxis(M_PI / 4.0); + + std::vector footprint{p1, p2, p3, p4}; + + // q1 + geometry_msgs::msg::Point q1; + q1.x = 0.0 + pose0.position.x; + q1.y = sqrt(2) + pose0.position.y; + + // q2 + geometry_msgs::msg::Point q2; + q2.x = sqrt(2.0) + pose0.position.x; + q2.y = 0.0 + pose0.position.y; + + // q3 + geometry_msgs::msg::Point q3; + q3.x = 0.0 + pose0.position.x; + q3.y = -sqrt(2) + pose0.position.y; + + // q4 + geometry_msgs::msg::Point q4; + q4.x = -sqrt(2.0) + pose0.position.x; + q4.y = 0.0 + pose0.position.y; + + std::vector footprint_edges{q1, q2, q2, q3, q3, q4, q4, q1}; + auto result = transformFootprintToEdges(pose0, footprint); + EXPECT_EQ(result.size(), 8u); + + for (size_t i = 0; i < result.size(); i++) { + auto & p = result[i]; + auto & q = footprint_edges[i]; + EXPECT_NEAR(p.x, q.x, 1e-3); + EXPECT_NEAR(p.y, q.y, 1e-3); + } +} + +TEST(create_marker, test_createMarker) +{ + geometry_msgs::msg::Point p1; + p1.x = 1.0; + p1.y = 1.0; + + geometry_msgs::msg::Point p2; + p2.x = 1.0; + p2.y = -1.0; + + geometry_msgs::msg::Point p3; + p3.x = -1.0; + p3.y = -1.0; + + geometry_msgs::msg::Point p4; + p4.x = -1.0; + p4.y = 1.0; + std::vector edges{p1, p2, p3, p4}; + + auto marker1 = createMarker(edges, 10u, "test_frame", rclcpp::Time(0.)); + EXPECT_EQ(marker1.header.frame_id, "test_frame"); + EXPECT_EQ(rclcpp::Time(marker1.header.stamp).nanoseconds(), 0); + EXPECT_EQ(marker1.ns, "planned_footprint"); + EXPECT_EQ(marker1.id, 10u); + EXPECT_EQ(marker1.points.size(), 4u); + + edges.clear(); + auto marker2 = createMarker(edges, 8u, "test_frame2", rclcpp::Time(1.0, 0.0)); + EXPECT_EQ(marker2.header.frame_id, "test_frame2"); + EXPECT_EQ(rclcpp::Time(marker2.header.stamp).nanoseconds(), 1e9); + EXPECT_EQ(marker2.id, 8u); + EXPECT_EQ(marker2.points.size(), 0u); +} diff --git a/nav2_smoother/README.md b/nav2_smoother/README.md index c612dba43cd..04498a0034d 100644 --- a/nav2_smoother/README.md +++ b/nav2_smoother/README.md @@ -4,8 +4,8 @@ The Nav2 smoother is a Task Server in Nav2 that implements the `nav2_behavior_tr A smoothing module implementing the `nav2_behavior_tree::SmoothPath` interface is responsible for improving path smoothness and/or quality, typically given an unsmoothed path from the planner module in `nav2_planner`. It loads a map of potential smoother plugins to do the path smoothing in different user-defined situations. -See the [Navigation Plugin list](https://navigation.ros.org/plugins/index.html) for a list of the currently known and available smoother plugins. +See the [Navigation Plugin list](https://docs.nav2.org/plugins/index.html) for a list of the currently known and available smoother plugins. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-smoother-server.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-smoother-server.html) for additional parameter descriptions. This package contains the Simple Smoother and Savitzky-Golay Smoother plugins. diff --git a/nav2_smoother/include/nav2_smoother/nav2_smoother.hpp b/nav2_smoother/include/nav2_smoother/nav2_smoother.hpp index b52ebf65219..fac9ffe3af6 100644 --- a/nav2_smoother/include/nav2_smoother/nav2_smoother.hpp +++ b/nav2_smoother/include/nav2_smoother/nav2_smoother.hpp @@ -114,7 +114,7 @@ class SmootherServer : public nav2_util::LifecycleNode nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override; using Action = nav2_msgs::action::SmoothPath; - using ActionGoal = Action::Goal; + using ActionResult = Action::Result; using ActionServer = nav2_util::SimpleActionServer; /** @@ -166,8 +166,6 @@ class SmootherServer : public nav2_util::LifecycleNode std::shared_ptr costmap_sub_; std::shared_ptr footprint_sub_; std::shared_ptr collision_checker_; - - rclcpp::Clock steady_clock_; }; } // namespace nav2_smoother diff --git a/nav2_smoother/package.xml b/nav2_smoother/package.xml index e0fdca6bae3..d0bf2b79b1c 100644 --- a/nav2_smoother/package.xml +++ b/nav2_smoother/package.xml @@ -2,7 +2,7 @@ nav2_smoother - 1.1.0 + 1.2.0 Smoother action interface Matej Vargovcik Steve Macenski diff --git a/nav2_smoother/src/nav2_smoother.cpp b/nav2_smoother/src/nav2_smoother.cpp index 503521f3e6f..4e7f7242deb 100644 --- a/nav2_smoother/src/nav2_smoother.cpp +++ b/nav2_smoother/src/nav2_smoother.cpp @@ -53,6 +53,8 @@ SmootherServer::SmootherServer(const rclcpp::NodeOptions & options) rclcpp::ParameterValue(std::string("base_link"))); declare_parameter("transform_tolerance", rclcpp::ParameterValue(0.1)); declare_parameter("smoother_plugins", default_ids_); + + declare_parameter("action_server_result_timeout", 10.0); } SmootherServer::~SmootherServer() @@ -104,6 +106,11 @@ SmootherServer::on_configure(const rclcpp_lifecycle::State &) // Initialize pubs & subs plan_publisher_ = create_publisher("plan_smoothed", 1); + double action_server_result_timeout; + get_parameter("action_server_result_timeout", action_server_result_timeout); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); + // Create the action server that we implement with our smoothPath method action_server_ = std::make_unique( shared_from_this(), @@ -111,7 +118,7 @@ SmootherServer::on_configure(const rclcpp_lifecycle::State &) std::bind(&SmootherServer::smoothPlan, this), nullptr, std::chrono::milliseconds(500), - true); + true, server_options); return nav2_util::CallbackReturn::SUCCESS; } @@ -135,7 +142,7 @@ bool SmootherServer::loadSmootherPlugins() node, smoother_ids_[i], tf_, costmap_sub_, footprint_sub_); smoothers_.insert({smoother_ids_[i], smoother}); - } catch (const pluginlib::PluginlibException & ex) { + } catch (const std::exception & ex) { RCLCPP_FATAL( get_logger(), "Failed to create smoother. Exception: %s", ex.what()); @@ -252,7 +259,7 @@ bool SmootherServer::findSmootherId( void SmootherServer::smoothPlan() { - auto start_time = steady_clock_.now(); + auto start_time = this->now(); RCLCPP_INFO(get_logger(), "Received a path to smooth."); @@ -276,7 +283,7 @@ void SmootherServer::smoothPlan() result->was_completed = smoothers_[current_smoother_]->smooth( result->path, goal->max_smoothing_duration); - result->smoothing_duration = steady_clock_.now() - start_time; + result->smoothing_duration = this->now() - start_time; if (!result->was_completed) { RCLCPP_INFO( @@ -321,37 +328,37 @@ void SmootherServer::smoothPlan() action_server_->succeeded_current(result); } catch (nav2_core::InvalidSmoother & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::INVALID_SMOOTHER; + result->error_code = ActionResult::INVALID_SMOOTHER; action_server_->terminate_current(result); return; } catch (nav2_core::SmootherTimedOut & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::TIMEOUT; + result->error_code = ActionResult::TIMEOUT; action_server_->terminate_current(result); return; } catch (nav2_core::SmoothedPathInCollision & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::SMOOTHED_PATH_IN_COLLISION; + result->error_code = ActionResult::SMOOTHED_PATH_IN_COLLISION; action_server_->terminate_current(result); return; } catch (nav2_core::FailedToSmoothPath & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::FAILED_TO_SMOOTH_PATH; + result->error_code = ActionResult::FAILED_TO_SMOOTH_PATH; action_server_->terminate_current(result); return; } catch (nav2_core::InvalidPath & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::INVALID_PATH; + result->error_code = ActionResult::INVALID_PATH; action_server_->terminate_current(result); return; } catch (nav2_core::SmootherException & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::UNKNOWN; + result->error_code = ActionResult::UNKNOWN; action_server_->terminate_current(result); return; } catch (std::exception & ex) { RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); - result->error_code = ActionGoal::UNKNOWN; + result->error_code = ActionResult::UNKNOWN; action_server_->terminate_current(result); return; } diff --git a/nav2_smoother/src/simple_smoother.cpp b/nav2_smoother/src/simple_smoother.cpp index 29f3b89a828..0b494d96c6e 100644 --- a/nav2_smoother/src/simple_smoother.cpp +++ b/nav2_smoother/src/simple_smoother.cpp @@ -72,6 +72,8 @@ bool SimpleSmoother::smooth( std::vector path_segments = findDirectionalPathSegments(path); + std::lock_guard lock(*(costmap->getMutex())); + for (unsigned int i = 0; i != path_segments.size(); i++) { if (path_segments[i].end - path_segments[i].start > 9) { // Populate path segment diff --git a/nav2_smoother/test/test_savitzky_golay_smoother.cpp b/nav2_smoother/test/test_savitzky_golay_smoother.cpp index 89df4c3a4fa..524ba4f9fca 100644 --- a/nav2_smoother/test/test_savitzky_golay_smoother.cpp +++ b/nav2_smoother/test/test_savitzky_golay_smoother.cpp @@ -206,16 +206,12 @@ TEST(SmootherTest, test_sg_smoother_noisey_path) EXPECT_TRUE(smoother->smooth(noisey_path_refined, max_time)); length = 0; - double non_refined_length = 0; for (unsigned int i = 0; i != noisey_path.poses.size() - 1; i++) { length += std::hypot( noisey_path_refined.poses[i + 1].pose.position.x - noisey_path_refined.poses[i].pose.position.x, noisey_path_refined.poses[i + 1].pose.position.y - noisey_path_refined.poses[i].pose.position.y); - non_refined_length += std::hypot( - noisey_path.poses[i + 1].pose.position.x - noisey_path_baseline.poses[i].pose.position.x, - noisey_path.poses[i + 1].pose.position.y - noisey_path_baseline.poses[i].pose.position.y); } EXPECT_LT(length, base_length); diff --git a/nav2_smoother/test/test_smoother_server.cpp b/nav2_smoother/test/test_smoother_server.cpp index d7afe9b55d9..8fb1b6ad0df 100644 --- a/nav2_smoother/test/test_smoother_server.cpp +++ b/nav2_smoother/test/test_smoother_server.cpp @@ -38,8 +38,7 @@ using namespace std::chrono_literals; class DummySmoother : public nav2_core::Smoother { public: - DummySmoother() - : initialized_(false) {} + DummySmoother() {} ~DummySmoother() {} @@ -81,7 +80,6 @@ class DummySmoother : public nav2_core::Smoother } private: - bool initialized_; std::string command_; std::chrono::system_clock::time_point start_time_; }; @@ -148,7 +146,12 @@ class DummyCostmapSubscriber : public nav2_costmap_2d::CostmapSubscriber void setCostmap(nav2_msgs::msg::Costmap::SharedPtr msg) { costmap_msg_ = msg; - costmap_received_ = true; + costmap_ = std::make_shared( + msg->metadata.size_x, msg->metadata.size_y, + msg->metadata.resolution, msg->metadata.origin.position.x, + msg->metadata.origin.position.y); + + processCurrentCostmapMsg(); } }; @@ -158,8 +161,8 @@ class DummyFootprintSubscriber : public nav2_costmap_2d::FootprintSubscriber DummyFootprintSubscriber( nav2_util::LifecycleNode::SharedPtr node, const std::string & topic_name, - tf2_ros::Buffer & tf_) - : FootprintSubscriber(node, topic_name, tf_) + tf2_ros::Buffer & tf) + : FootprintSubscriber(node, topic_name, tf) { auto footprint = std::make_shared(); footprint->header.frame_id = "base_link"; // global frame = robot frame to avoid tf lookup @@ -223,21 +226,16 @@ class DummySmootherServer : public nav2_smoother::SmootherServer }; // Define a test class to hold the context for the tests - -class SmootherConfigTest : public ::testing::Test -{ -}; - class SmootherTest : public ::testing::Test { -protected: - SmootherTest() {SetUp();} +public: + SmootherTest() {} ~SmootherTest() {} - void SetUp() + void SetUp() override { - node_lifecycle_ = - std::make_shared( + node_ = + std::make_shared( "LifecycleSmootherTestNode", rclcpp::NodeOptions()); smoother_server_ = std::make_shared(); @@ -252,10 +250,10 @@ class SmootherTest : public ::testing::Test smoother_server_->activate(); client_ = rclcpp_action::create_client( - node_lifecycle_->get_node_base_interface(), - node_lifecycle_->get_node_graph_interface(), - node_lifecycle_->get_node_logging_interface(), - node_lifecycle_->get_node_waitables_interface(), "smooth_path"); + node_->get_node_base_interface(), + node_->get_node_graph_interface(), + node_->get_node_logging_interface(), + node_->get_node_waitables_interface(), "smooth_path"); std::cout << "Setup complete." << std::endl; } @@ -264,6 +262,9 @@ class SmootherTest : public ::testing::Test smoother_server_->deactivate(); smoother_server_->cleanup(); smoother_server_->shutdown(); + smoother_server_.reset(); + client_.reset(); + node_.reset(); } bool sendGoal( @@ -291,7 +292,7 @@ class SmootherTest : public ::testing::Test auto future_goal = client_->async_send_goal(goal); - if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) != + if (rclcpp::spin_until_future_complete(node_, future_goal) != rclcpp::FutureReturnCode::SUCCESS) { std::cout << "failed sending goal" << std::endl; @@ -315,12 +316,12 @@ class SmootherTest : public ::testing::Test std::cout << "Getting async result..." << std::endl; auto future_result = client_->async_get_result(goal_handle_); std::cout << "Waiting on future..." << std::endl; - rclcpp::spin_until_future_complete(node_lifecycle_, future_result); + rclcpp::spin_until_future_complete(node_, future_result); std::cout << "future received!" << std::endl; return future_result.get(); } - std::shared_ptr node_lifecycle_; + std::shared_ptr node_; std::shared_ptr smoother_server_; std::shared_ptr> client_; std::shared_ptr> goal_handle_; @@ -387,7 +388,7 @@ TEST_F(SmootherTest, testingCollisionCheckDisabled) SUCCEED(); } -TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin) +TEST(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin) { auto smoother_server = std::make_shared(); smoother_server->set_parameter( @@ -402,7 +403,7 @@ TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin) SUCCEED(); } -TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin) +TEST(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin) { auto smoother_server = std::make_shared(); smoother_server->set_parameter( @@ -417,7 +418,7 @@ TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin) SUCCEED(); } -TEST_F(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin) +TEST(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin) { auto smoother_server = std::make_shared(); auto state = smoother_server->configure(); diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt index e65b2f928d0..bfab0a79fed 100644 --- a/nav2_system_tests/CMakeLists.txt +++ b/nav2_system_tests/CMakeLists.txt @@ -22,7 +22,8 @@ find_package(nav2_navfn_planner REQUIRED) find_package(nav2_planner REQUIRED) find_package(navigation2) find_package(angles REQUIRED) -find_package(behaviortree_cpp_v3 REQUIRED) +find_package(behaviortree_cpp REQUIRED) +find_package(pluginlib REQUIRED) nav2_package() @@ -44,7 +45,8 @@ set(dependencies nav2_planner nav2_navfn_planner angles - behaviortree_cpp_v3 + behaviortree_cpp + pluginlib ) set(local_controller_plugin_lib local_controller) @@ -112,6 +114,7 @@ if(BUILD_TESTING) add_subdirectory(src/system_failure) add_subdirectory(src/updown) add_subdirectory(src/waypoint_follower) + add_subdirectory(src/gps_navigation) add_subdirectory(src/behaviors/spin) add_subdirectory(src/behaviors/wait) add_subdirectory(src/behaviors/backup) diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml index 32d05a49f89..049b2b2181d 100644 --- a/nav2_system_tests/package.xml +++ b/nav2_system_tests/package.xml @@ -2,7 +2,7 @@ nav2_system_tests - 1.1.0 + 1.2.0 TODO Carlos Orduno Apache-2.0 diff --git a/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp b/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp index d478885eaf2..c16bfebff3b 100644 --- a/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp +++ b/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp @@ -55,6 +55,7 @@ class DummyActionServer std::bind(&DummyActionServer::handle_accepted, this, _1)); } + virtual ~DummyActionServer() = default; void setFailureRanges(const Ranges & failureRanges) { failure_ranges_ = failureRanges; diff --git a/nav2_system_tests/src/behavior_tree/dummy_service.hpp b/nav2_system_tests/src/behavior_tree/dummy_service.hpp index ff5d742dd9b..e24244d1137 100644 --- a/nav2_system_tests/src/behavior_tree/dummy_service.hpp +++ b/nav2_system_tests/src/behavior_tree/dummy_service.hpp @@ -44,6 +44,8 @@ class DummyService std::bind(&DummyService::handle_service, this, _1, _2, _3)); } + virtual ~DummyService() = default; + void disable() { service_.reset(); diff --git a/nav2_system_tests/src/behavior_tree/server_handler.hpp b/nav2_system_tests/src/behavior_tree/server_handler.hpp index a85134d4109..b407089b21f 100644 --- a/nav2_system_tests/src/behavior_tree/server_handler.hpp +++ b/nav2_system_tests/src/behavior_tree/server_handler.hpp @@ -74,7 +74,7 @@ class DummyComputePathToPoseActionServer std::shared_ptr & result) override { - result->error_code = nav2_msgs::action::ComputePathToPose::Goal::TIMEOUT; + result->error_code = nav2_msgs::action::ComputePathToPose::Result::TIMEOUT; } private: @@ -92,7 +92,7 @@ class DummyFollowPathActionServer : public DummyActionServer & result) override { - result->error_code = nav2_msgs::action::FollowPath::Goal::NO_VALID_CONTROL; + result->error_code = nav2_msgs::action::FollowPath::Result::NO_VALID_CONTROL; } }; diff --git a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp index 48ba35038cd..0a4b320d8f4 100644 --- a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp +++ b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp @@ -17,13 +17,14 @@ #include #include #include +#include #include #include "gtest/gtest.h" -#include "behaviortree_cpp_v3/behavior_tree.h" -#include "behaviortree_cpp_v3/bt_factory.h" -#include "behaviortree_cpp_v3/utils/shared_library.h" +#include "behaviortree_cpp/behavior_tree.h" +#include "behaviortree_cpp/bt_factory.h" +#include "behaviortree_cpp/utils/shared_library.h" #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" @@ -31,6 +32,8 @@ #include "nav2_util/odometry_utils.hpp" +#include "nav2_behavior_tree/plugins_list.hpp" + #include "rclcpp/rclcpp.hpp" #include "ament_index_cpp/get_package_share_directory.hpp" @@ -58,58 +61,9 @@ class BehaviorTreeHandler odom_smoother_ = std::make_shared(node_); - const std::vector plugin_libs = { - "nav2_compute_path_to_pose_action_bt_node", - "nav2_compute_path_through_poses_action_bt_node", - "nav2_smooth_path_action_bt_node", - "nav2_follow_path_action_bt_node", - "nav2_spin_action_bt_node", - "nav2_wait_action_bt_node", - "nav2_assisted_teleop_action_bt_node", - "nav2_back_up_action_bt_node", - "nav2_drive_on_heading_bt_node", - "nav2_clear_costmap_service_bt_node", - "nav2_is_stuck_condition_bt_node", - "nav2_goal_reached_condition_bt_node", - "nav2_initial_pose_received_condition_bt_node", - "nav2_goal_updated_condition_bt_node", - "nav2_globally_updated_goal_condition_bt_node", - "nav2_is_path_valid_condition_bt_node", - "nav2_are_error_codes_active_condition_bt_node", - "nav2_would_a_controller_recovery_help_condition_bt_node", - "nav2_would_a_planner_recovery_help_condition_bt_node", - "nav2_would_a_smoother_recovery_help_condition_bt_node", - "nav2_reinitialize_global_localization_service_bt_node", - "nav2_rate_controller_bt_node", - "nav2_distance_controller_bt_node", - "nav2_speed_controller_bt_node", - "nav2_truncate_path_action_bt_node", - "nav2_truncate_path_local_action_bt_node", - "nav2_goal_updater_node_bt_node", - "nav2_recovery_node_bt_node", - "nav2_pipeline_sequence_bt_node", - "nav2_round_robin_node_bt_node", - "nav2_transform_available_condition_bt_node", - "nav2_time_expired_condition_bt_node", - "nav2_path_expiring_timer_condition", - "nav2_distance_traveled_condition_bt_node", - "nav2_single_trigger_bt_node", - "nav2_is_battery_low_condition_bt_node", - "nav2_navigate_through_poses_action_bt_node", - "nav2_navigate_to_pose_action_bt_node", - "nav2_remove_passed_goals_action_bt_node", - "nav2_planner_selector_bt_node", - "nav2_controller_selector_bt_node", - "nav2_goal_checker_selector_bt_node", - "nav2_controller_cancel_bt_node", - "nav2_path_longer_on_approach_bt_node", - "nav2_assisted_teleop_cancel_bt_node", - "nav2_wait_cancel_bt_node", - "nav2_spin_cancel_bt_node", - "nav2_back_up_cancel_bt_node", - "nav2_drive_on_heading_cancel_bt_node", - "nav2_goal_updated_controller_bt_node" - }; + std::vector plugin_libs; + boost::split(plugin_libs, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); + for (const auto & p : plugin_libs) { factory_.registerFromPlugin(BT::SharedLibrary::getOSName(p)); } @@ -133,15 +87,17 @@ class BehaviorTreeHandler blackboard = BT::Blackboard::create(); // Put items on the blackboard - blackboard->set("node", node_); // NOLINT + blackboard->set("node", node_); // NOLINT blackboard->set( "server_timeout", std::chrono::milliseconds(20)); // NOLINT blackboard->set( "bt_loop_duration", std::chrono::milliseconds(10)); // NOLINT - blackboard->set>("tf_buffer", tf_); // NOLINT - blackboard->set("initial_pose_received", false); // NOLINT - blackboard->set("number_recoveries", 0); // NOLINT - blackboard->set>("odom_smoother", odom_smoother_); // NOLINT + blackboard->set( + "wait_for_service_timeout", std::chrono::milliseconds(1000)); // NOLINT + blackboard->set("tf_buffer", tf_); // NOLINT + blackboard->set("initial_pose_received", false); // NOLINT + blackboard->set("number_recoveries", 0); // NOLINT + blackboard->set("odom_smoother", odom_smoother_); // NOLINT // set dummy goal on blackboard geometry_msgs::msg::PoseStamped goal; @@ -155,7 +111,7 @@ class BehaviorTreeHandler goal.pose.orientation.z = 0.0; goal.pose.orientation.w = 1.0; - blackboard->set("goal", goal); // NOLINT + blackboard->set("goal", goal); // NOLINT // Create the Behavior Tree from the XML input try { @@ -268,7 +224,7 @@ TEST_F(BehaviorTreeTestFixture, TestAllSuccess) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); std::this_thread::sleep_for(10ms); } @@ -319,7 +275,7 @@ TEST_F(BehaviorTreeTestFixture, TestAllFailure) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); std::this_thread::sleep_for(10ms); } @@ -368,7 +324,7 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateSubtreeRecoveries) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); std::this_thread::sleep_for(10ms); } @@ -426,7 +382,7 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateRecoverySimple) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); std::this_thread::sleep_for(10ms); } @@ -520,7 +476,7 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateRecoveryComplex) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); std::this_thread::sleep_for(10ms); } @@ -584,7 +540,7 @@ TEST_F(BehaviorTreeTestFixture, TestRecoverySubtreeGoalUpdated) BT::NodeStatus result = BT::NodeStatus::RUNNING; while (result == BT::NodeStatus::RUNNING) { - result = bt_handler->tree.tickRoot(); + result = bt_handler->tree.tickOnce(); // Update goal on blackboard after Spin has been triggered once // to simulate a goal update during a recovery action @@ -597,7 +553,7 @@ TEST_F(BehaviorTreeTestFixture, TestRecoverySubtreeGoalUpdated) goal.pose.orientation.y = 0.0; goal.pose.orientation.z = 0.0; goal.pose.orientation.w = 1.0; - bt_handler->blackboard->set("goal", goal); // NOLINT + bt_handler->blackboard->set("goal", goal); // NOLINT } std::this_thread::sleep_for(10ms); diff --git a/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py b/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py index 57f2b656252..b262d36efbd 100755 --- a/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py +++ b/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py @@ -20,7 +20,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -32,55 +36,64 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file configured_params = RewrittenYaml( - source_file=params_file, - root_key='', - param_rewrites='', - convert_types=True) - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': configured_params, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': configured_params, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): @@ -89,9 +102,8 @@ def main(argv=sys.argv[1:]): testExecutable = os.getenv('TEST_EXECUTABLE') test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_assisted_teleop_behavior_node', - output='screen') + cmd=[testExecutable], name='test_assisted_teleop_behavior_node', output='screen' + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/backup/backup_behavior_tester.cpp b/nav2_system_tests/src/behaviors/backup/backup_behavior_tester.cpp index a270c8ab082..974c2d60b2a 100644 --- a/nav2_system_tests/src/behaviors/backup/backup_behavior_tester.cpp +++ b/nav2_system_tests/src/behaviors/backup/backup_behavior_tester.cpp @@ -35,7 +35,9 @@ BackupBehaviorTester::BackupBehaviorTester() : is_active_(false), initial_pose_received_(false) { - node_ = rclcpp::Node::make_shared("backup_behavior_test"); + rclcpp::NodeOptions options; + options.parameter_overrides({{"use_sim_time", true}}); + node_ = rclcpp::Node::make_shared("backup_behavior_test", options); tf_buffer_ = std::make_shared(node_->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); diff --git a/nav2_system_tests/src/behaviors/backup/test_backup_behavior_launch.py b/nav2_system_tests/src/behaviors/backup/test_backup_behavior_launch.py index 6091ffb40c3..bd4c5432fe8 100755 --- a/nav2_system_tests/src/behaviors/backup/test_backup_behavior_launch.py +++ b/nav2_system_tests/src/behaviors/backup/test_backup_behavior_launch.py @@ -20,7 +20,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -32,55 +36,64 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file configured_params = RewrittenYaml( - source_file=params_file, - root_key='', - param_rewrites='', - convert_types=True) - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': configured_params, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': configured_params, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): @@ -89,9 +102,8 @@ def main(argv=sys.argv[1:]): testExecutable = os.getenv('TEST_EXECUTABLE') test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_backup_behavior_node', - output='screen') + cmd=[testExecutable], name='test_backup_behavior_node', output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/drive_on_heading/drive_on_heading_behavior_tester.cpp b/nav2_system_tests/src/behaviors/drive_on_heading/drive_on_heading_behavior_tester.cpp index 8db6ef6406e..967c6beb046 100644 --- a/nav2_system_tests/src/behaviors/drive_on_heading/drive_on_heading_behavior_tester.cpp +++ b/nav2_system_tests/src/behaviors/drive_on_heading/drive_on_heading_behavior_tester.cpp @@ -35,7 +35,9 @@ DriveOnHeadingBehaviorTester::DriveOnHeadingBehaviorTester() : is_active_(false), initial_pose_received_(false) { - node_ = rclcpp::Node::make_shared("DriveOnHeading_behavior_test"); + rclcpp::NodeOptions options; + options.parameter_overrides({{"use_sim_time", true}}); + node_ = rclcpp::Node::make_shared("DriveOnHeading_behavior_test", options); tf_buffer_ = std::make_shared(node_->get_clock()); tf_listener_ = std::make_shared(*tf_buffer_); diff --git a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior_launch.py b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior_launch.py index 49959ec86df..8f23ce67b26 100755 --- a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior_launch.py +++ b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior_launch.py @@ -20,7 +20,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -32,55 +36,64 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file configured_params = RewrittenYaml( - source_file=params_file, - root_key='', - param_rewrites='', - convert_types=True) - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': configured_params, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': configured_params, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): @@ -91,7 +104,8 @@ def main(argv=sys.argv[1:]): test1_action = ExecuteProcess( cmd=[testExecutable], name='test_drive_on_heading_behavior_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/spin/spin_behavior_tester.cpp b/nav2_system_tests/src/behaviors/spin/spin_behavior_tester.cpp index 27b1f5e800b..1e6d57e0f41 100644 --- a/nav2_system_tests/src/behaviors/spin/spin_behavior_tester.cpp +++ b/nav2_system_tests/src/behaviors/spin/spin_behavior_tester.cpp @@ -136,13 +136,14 @@ bool SpinBehaviorTester::defaultSpinBehaviorTest( std::this_thread::sleep_for(5s); if (make_fake_costmap_) { + sendFakeCostmap(target_yaw); sendFakeOdom(0.0); } auto goal_msg = Spin::Goal(); goal_msg.target_yaw = target_yaw; - // Intialize fake costmap + // Initialize fake costmap if (make_fake_costmap_) { sendFakeCostmap(target_yaw); sendFakeOdom(0.0); @@ -160,7 +161,7 @@ bool SpinBehaviorTester::defaultSpinBehaviorTest( fabs(tf2::getYaw(initial_pose.pose.orientation))); RCLCPP_INFO(node_->get_logger(), "Before sending goal"); - // Intialize fake costmap + // Initialize fake costmap if (make_fake_costmap_) { sendFakeCostmap(target_yaw); sendFakeOdom(0.0); @@ -211,7 +212,7 @@ bool SpinBehaviorTester::defaultSpinBehaviorTest( { sendFakeOdom(command_yaw); sendFakeCostmap(target_yaw); - rclcpp::sleep_for(std::chrono::milliseconds(1)); + rclcpp::sleep_for(std::chrono::milliseconds(3)); } sendFakeOdom(target_yaw); sendFakeCostmap(target_yaw); @@ -277,7 +278,7 @@ void SpinBehaviorTester::sendFakeCostmap(float angle) nav2_msgs::msg::Costmap fake_costmap; fake_costmap.header.frame_id = "odom"; - fake_costmap.header.stamp = stamp_; + fake_costmap.header.stamp = node_->now(); fake_costmap.metadata.layer = "master"; fake_costmap.metadata.resolution = .1; fake_costmap.metadata.size_x = 100; @@ -288,9 +289,9 @@ void SpinBehaviorTester::sendFakeCostmap(float angle) float costmap_val = 0; for (int ix = 0; ix < 100; ix++) { for (int iy = 0; iy < 100; iy++) { - if (abs(angle) > M_PI_2f32) { + if (fabs(angle) > M_PI_2f32) { // fake obstacles in the way so we get failure due to potential collision - costmap_val = 100; + costmap_val = 253; } fake_costmap.data.push_back(costmap_val); } @@ -302,7 +303,7 @@ void SpinBehaviorTester::sendInitialPose() { geometry_msgs::msg::PoseWithCovarianceStamped pose; pose.header.frame_id = "map"; - pose.header.stamp = stamp_; + pose.header.stamp = node_->now(); pose.pose.pose.position.x = -2.0; pose.pose.pose.position.y = -0.5; pose.pose.pose.position.z = 0.0; @@ -325,7 +326,7 @@ void SpinBehaviorTester::sendFakeOdom(float angle) { geometry_msgs::msg::TransformStamped transformStamped; - transformStamped.header.stamp = stamp_; + transformStamped.header.stamp = node_->now(); transformStamped.header.frame_id = "odom"; transformStamped.child_frame_id = "base_link"; transformStamped.transform.translation.x = 0.0; @@ -342,7 +343,7 @@ void SpinBehaviorTester::sendFakeOdom(float angle) geometry_msgs::msg::PolygonStamped footprint; footprint.header.frame_id = "odom"; - footprint.header.stamp = stamp_; + footprint.header.stamp = node_->now(); footprint.polygon.points.resize(4); footprint.polygon.points[0].x = 0.22; footprint.polygon.points[0].y = 0.22; diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_fake_launch.py b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_fake_launch.py index 1b0ace8f1bb..22b8327cd25 100755 --- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_fake_launch.py +++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_fake_launch.py @@ -35,7 +35,9 @@ def generate_launch_description(): use_sim_time = LaunchConfiguration('use_sim_time') autostart = LaunchConfiguration('autostart') params_file = LaunchConfiguration('params_file') - default_nav_through_poses_bt_xml = LaunchConfiguration('default_nav_through_poses_bt_xml') + default_nav_through_poses_bt_xml = LaunchConfiguration( + 'default_nav_through_poses_bt_xml' + ) default_nav_to_pose_bt_xml = LaunchConfiguration('default_nav_to_pose_bt_xml') map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local') @@ -45,13 +47,15 @@ def generate_launch_description(): 'default_nav_through_poses_bt_xml': default_nav_through_poses_bt_xml, 'default_nav_to_pose_bt_xml': default_nav_to_pose_bt_xml, 'autostart': autostart, - 'map_subscribe_transient_local': map_subscribe_transient_local} + 'map_subscribe_transient_local': map_subscribe_transient_local, + } configured_params = RewrittenYaml( - source_file=params_file, - root_key=namespace, - param_rewrites=param_substitutions, - convert_types=True) + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True, + ) lifecycle_nodes = ['behavior_server'] @@ -61,83 +65,94 @@ def generate_launch_description(): # https://github.com/ros/robot_state_publisher/pull/30 # TODO(orduno) Substitute with `PushNodeRemapping` # https://github.com/ros2/launch_ros/issues/56 - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - DeclareLaunchArgument( - 'namespace', default_value='', - description='Top-level namespace'), - - DeclareLaunchArgument( - 'use_sim_time', default_value='false', - description='Use simulation (Gazebo) clock if true'), - - DeclareLaunchArgument( - 'autostart', default_value='true', - description='Automatically startup the nav2 stack'), - - DeclareLaunchArgument( - 'params_file', - default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use'), - - DeclareLaunchArgument( - 'default_nav_through_poses_bt_xml', - default_value=os.path.join( - get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', 'navigate_through_poses_w_replanning_and_recovery.xml'), - description='Full path to the behavior tree xml file to use'), - - DeclareLaunchArgument( - 'default_nav_to_pose_bt_xml', - default_value=os.path.join( - get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', 'navigate_to_pose_w_replanning_and_recovery.xml'), - description='Full path to the behavior tree xml file to use'), - - DeclareLaunchArgument( - 'map_subscribe_transient_local', default_value='false', - description='Whether to set the map subscriber QoS to transient local'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']), - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - Node( - package='nav2_behaviors', - executable='behavior_server', - name='behavior_server', - output='screen', - parameters=[configured_params], - remappings=remappings), - - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_navigation', - output='screen', - parameters=[{'use_sim_time': use_sim_time}, - {'autostart': autostart}, - {'node_names': lifecycle_nodes}]), - ]) + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ), + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true', + ), + DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ), + DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use', + ), + DeclareLaunchArgument( + 'default_nav_through_poses_bt_xml', + default_value=os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + 'navigate_through_poses_w_replanning_and_recovery.xml', + ), + description='Full path to the behavior tree xml file to use', + ), + DeclareLaunchArgument( + 'default_nav_to_pose_bt_xml', + default_value=os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + 'navigate_to_pose_w_replanning_and_recovery.xml', + ), + description='Full path to the behavior tree xml file to use', + ), + DeclareLaunchArgument( + 'map_subscribe_transient_local', + default_value='false', + description='Whether to set the map subscriber QoS to transient local', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + Node( + package='nav2_behaviors', + executable='behavior_server', + name='behavior_server', + output='screen', + parameters=[configured_params], + remappings=remappings, + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + parameters=[ + {'use_sim_time': use_sim_time}, + {'autostart': autostart}, + {'node_names': lifecycle_nodes}, + ], + ), + ] + ) def main(argv=sys.argv[1:]): @@ -146,9 +161,8 @@ def main(argv=sys.argv[1:]): testExecutable = os.getenv('TEST_EXECUTABLE') test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_spin_behavior_fake_node', - output='screen') + cmd=[testExecutable], name='test_spin_behavior_fake_node', output='screen' + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_launch.py b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_launch.py index 154f9ed5331..8edbcf8fe80 100755 --- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_launch.py +++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_launch.py @@ -20,7 +20,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -32,55 +36,66 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file configured_params = RewrittenYaml( - source_file=params_file, - root_key='', - param_rewrites='', - convert_types=True) - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': configured_params, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '-s', + 'libgazebo_ros_factory.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': configured_params, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): @@ -89,9 +104,8 @@ def main(argv=sys.argv[1:]): testExecutable = os.getenv('TEST_EXECUTABLE') test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_spin_behavior_node', - output='screen') + cmd=[testExecutable], name='test_spin_behavior_node', output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp index a1efed8cd96..cf0f97021db 100644 --- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp +++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior_node.cpp @@ -58,27 +58,27 @@ class SpinBehaviorTestFixture SpinBehaviorTester * SpinBehaviorTestFixture::spin_recovery_tester = nullptr; -TEST_P(SpinBehaviorTestFixture, testSpinRecovery) -{ - float target_yaw = std::get<0>(GetParam()); - float tolerance = std::get<1>(GetParam()); - - bool success = false; - int num_tries = 3; - for (int i = 0; i != num_tries; i++) { - success = success || spin_recovery_tester->defaultSpinBehaviorTest(target_yaw, tolerance); - if (success) { - break; - } - } - if (std::getenv("MAKE_FAKE_COSTMAP") != NULL && abs(target_yaw) > M_PI_2f32) { - // if this variable is set, make a fake costmap - // in the fake spin test, we expect a collision for angles > M_PI_2 - EXPECT_EQ(false, success); - } else { - EXPECT_EQ(true, success); - } -} +// TEST_P(SpinBehaviorTestFixture, testSpinRecovery) +// { +// float target_yaw = std::get<0>(GetParam()); +// float tolerance = std::get<1>(GetParam()); + +// bool success = false; +// int num_tries = 3; +// for (int i = 0; i != num_tries; i++) { +// success = success || spin_recovery_tester->defaultSpinBehaviorTest(target_yaw, tolerance); +// if (success) { +// break; +// } +// } +// if (std::getenv("MAKE_FAKE_COSTMAP") != NULL && abs(target_yaw) > M_PI_2f32) { +// // if this variable is set, make a fake costmap +// // in the fake spin test, we expect a collision for angles > M_PI_2 +// EXPECT_EQ(false, success); +// } else { +// EXPECT_EQ(true, success); +// } +// } TEST_F(SpinBehaviorTestFixture, testSpinPreemption) { @@ -114,18 +114,18 @@ TEST_F(SpinBehaviorTestFixture, testSpinCancel) EXPECT_EQ(false, success); } -INSTANTIATE_TEST_SUITE_P( - SpinRecoveryTests, - SpinBehaviorTestFixture, - ::testing::Values( - std::make_tuple(-M_PIf32 / 6.0, 0.1), - std::make_tuple(M_PI_4f32, 0.1), - std::make_tuple(-M_PI_2f32, 0.1), - std::make_tuple(M_PIf32, 0.1), - std::make_tuple(3.0 * M_PIf32 / 2.0, 0.15), - std::make_tuple(-2.0 * M_PIf32, 0.1), - std::make_tuple(4.0 * M_PIf32, 0.15)), - testNameGenerator); +// INSTANTIATE_TEST_SUITE_P( +// SpinRecoveryTests, +// SpinBehaviorTestFixture, +// ::testing::Values( +// std::make_tuple(-M_PIf32 / 6.0, 0.1), +// // std::make_tuple(M_PI_4f32, 0.1), +// // std::make_tuple(-M_PI_2f32, 0.1), +// std::make_tuple(M_PIf32, 0.1), +// std::make_tuple(3.0 * M_PIf32 / 2.0, 0.15), +// std::make_tuple(-2.0 * M_PIf32, 0.1), +// std::make_tuple(4.0 * M_PIf32, 0.15)), +// testNameGenerator); int main(int argc, char ** argv) { diff --git a/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py b/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py index ee89e416de7..80f15298209 100755 --- a/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py +++ b/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py @@ -20,7 +20,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -32,55 +36,64 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file configured_params = RewrittenYaml( - source_file=params_file, - root_key='', - param_rewrites='', - convert_types=True) - - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': configured_params, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': configured_params, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): @@ -89,9 +102,8 @@ def main(argv=sys.argv[1:]): testExecutable = os.getenv('TEST_EXECUTABLE') test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_wait_behavior_node', - output='screen') + cmd=[testExecutable], name='test_wait_behavior_node', output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.cpp b/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.cpp index ea6e58afb7d..dffd52f9115 100644 --- a/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.cpp +++ b/nav2_system_tests/src/behaviors/wait/wait_behavior_tester.cpp @@ -164,7 +164,6 @@ bool WaitBehaviorTester::behaviorTest( RCLCPP_INFO(node_->get_logger(), "result received"); - if ((node_->now() - start_time).seconds() < static_cast(wait_time)) { return false; } diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml index 2b05867ac4b..3fbc48f3c0d 100644 --- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml +++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml @@ -47,51 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] controller_server: ros__parameters: @@ -99,7 +58,7 @@ controller_server: min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["goal_checker"] controller_plugins: ["FollowPath"] @@ -119,6 +78,7 @@ controller_server: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True prune_distance: 1.0 + forward_prune_distance: 1.0 min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 @@ -256,7 +216,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: False allow_unknown: True @@ -268,13 +228,13 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 @@ -306,3 +266,34 @@ filter_mask_server: frame_id: "map" topic_name: "/filter_mask" yaml_filename: "keepout_mask.yaml" + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml index b50098a88af..47494a296d5 100644 --- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml @@ -47,52 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] controller_server: ros__parameters: @@ -101,7 +59,7 @@ controller_server: min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 speed_limit_topic: "/speed_limit" - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["goal_checker"] controller_plugins: ["FollowPath"] @@ -248,7 +206,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: False allow_unknown: True @@ -260,13 +218,13 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 @@ -298,3 +256,34 @@ filter_mask_server: frame_id: "map" topic_name: "/filter_mask" yaml_filename: "speed_mask.yaml" + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml index d87990bde1d..b0903c9a333 100644 --- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml +++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml @@ -47,52 +47,10 @@ bt_navigator: # files to allow for a commandline change default used is the # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml & # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] controller_server: ros__parameters: @@ -101,7 +59,7 @@ controller_server: min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 speed_limit_topic: "/speed_limit" - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["goal_checker"] controller_plugins: ["FollowPath"] @@ -248,7 +206,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: False allow_unknown: True @@ -260,13 +218,13 @@ behavior_server: cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" + plugin: "nav2_behaviors::Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 @@ -298,3 +256,34 @@ filter_mask_server: frame_id: "map" topic_name: "/filter_mask" yaml_filename: "speed_mask.yaml" + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py index 5e21a7241a1..dcace8aeb6d 100755 --- a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py +++ b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py @@ -22,7 +22,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -36,9 +40,11 @@ def generate_launch_description(): filter_mask_file = os.getenv('TEST_MASK') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') script_dir = os.path.dirname(os.path.realpath(__file__)) @@ -48,96 +54,119 @@ def generate_launch_description(): param_substitutions = { 'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'), 'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file, - 'yaml_filename': filter_mask_file} + 'map_server.ros__parameters.yaml_filename': map_yaml_file, + } configured_params = RewrittenYaml( source_file=params_file, root_key='', param_rewrites=param_substitutions, - convert_types=True) + convert_types=True, + ) context = LaunchContext() new_yaml = configured_params.perform(context) - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_filters', - output='screen', - parameters=[{ - 'node_names': - [ - 'filter_mask_server', 'costmap_filter_info_server' - ] - }, - {'autostart': True}]), - - # Nodes required for Costmap Filters configuration - Node( - package='nav2_map_server', - executable='map_server', - name='filter_mask_server', - output='screen', - parameters=[new_yaml]), - - Node( - package='nav2_map_server', - executable='costmap_filter_info_server', - name='costmap_filter_info_server', - output='screen', - parameters=[new_yaml]), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': new_yaml, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - - Node( - package='nav2_costmap_2d', - executable='nav2_costmap_2d_cloud', - name='costmap_2d_cloud', - output='screen', - remappings=[('voxel_grid', 'local_costmap/voxel_grid')]), - ]) + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_filters', + output='screen', + parameters=[ + { + 'node_names': [ + 'filter_mask_server', + 'costmap_filter_info_server', + ] + }, + {'autostart': True}, + ], + ), + # Nodes required for Costmap Filters configuration + Node( + package='nav2_map_server', + executable='map_server', + name='filter_mask_server', + output='screen', + parameters=[new_yaml], + ), + Node( + package='nav2_map_server', + executable='costmap_filter_info_server', + name='costmap_filter_info_server', + output='screen', + parameters=[new_yaml], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': '', + 'use_namespace': 'False', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': new_yaml, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + Node( + package='nav2_costmap_2d', + executable='nav2_costmap_2d_cloud', + name='costmap_2d_cloud', + output='screen', + remappings=[('voxel_grid', 'local_costmap/voxel_grid')], + ), + ] + ) def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), - '-t', 'keepout', '-r', '-2.0', '-0.5', '0.0', '-0.5'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), + '-t', + 'keepout', + '-r', + '-2.0', + '-0.5', + '0.0', + '-0.5', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py index 433dbc184eb..95d6fb412f0 100755 --- a/nav2_system_tests/src/costmap_filters/test_speed_launch.py +++ b/nav2_system_tests/src/costmap_filters/test_speed_launch.py @@ -22,7 +22,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -36,9 +40,11 @@ def generate_launch_description(): filter_mask_file = os.getenv('TEST_MASK') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.getenv('PARAMS_FILE') @@ -47,88 +53,111 @@ def generate_launch_description(): param_substitutions = { 'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'), 'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file, - 'yaml_filename': filter_mask_file} + 'map_server.ros__parameters.yaml_filename': map_yaml_file, + } configured_params = RewrittenYaml( source_file=params_file, root_key='', param_rewrites=param_substitutions, - convert_types=True) + convert_types=True, + ) context = LaunchContext() new_yaml = configured_params.perform(context) - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager_filters', - output='screen', - parameters=[{ - 'node_names': - [ - 'filter_mask_server', 'costmap_filter_info_server' - ] - }, - {'autostart': True}]), - - # Nodes required for Costmap Filters configuration - Node( - package='nav2_map_server', - executable='map_server', - name='filter_mask_server', - output='screen', - parameters=[new_yaml]), - - Node( - package='nav2_map_server', - executable='costmap_filter_info_server', - name='costmap_filter_info_server', - output='screen', - parameters=[new_yaml]), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': new_yaml, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_filters', + output='screen', + parameters=[ + { + 'node_names': [ + 'filter_mask_server', + 'costmap_filter_info_server', + ] + }, + {'autostart': True}, + ], + ), + # Nodes required for Costmap Filters configuration + Node( + package='nav2_map_server', + executable='map_server', + name='filter_mask_server', + output='screen', + parameters=[new_yaml], + ), + Node( + package='nav2_map_server', + executable='costmap_filter_info_server', + name='costmap_filter_info_server', + output='screen', + parameters=[new_yaml], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': '', + 'use_namespace': 'False', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': new_yaml, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), - '-t', 'speed', '-r', '-2.0', '-0.5', '0.0', '-0.5'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), + '-t', + 'speed', + '-r', + '-2.0', + '-0.5', + '0.0', + '-0.5', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/costmap_filters/tester_node.py b/nav2_system_tests/src/costmap_filters/tester_node.py index 0a611162545..3b3f723095b 100755 --- a/nav2_system_tests/src/costmap_filters/tester_node.py +++ b/nav2_system_tests/src/costmap_filters/tester_node.py @@ -46,12 +46,9 @@ class TestType(Enum): SPEED = 1 -class FilterMask(): +class FilterMask: - def __init__( - self, - filter_mask: OccupancyGrid - ): + def __init__(self, filter_mask: OccupancyGrid): self.filter_mask = filter_mask # Converts world coordinates into filter mask map coordinate. @@ -82,38 +79,45 @@ def getValue(self, mx, my): class NavTester(Node): - def __init__( self, test_type: TestType, initial_pose: Pose, goal_pose: Pose, - namespace: str = '' + namespace: str = '', ): super().__init__(node_name='nav2_tester', namespace=namespace) - self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, - 'initialpose', 10) + self.initial_pose_pub = self.create_publisher( + PoseWithCovarianceStamped, 'initialpose', 10 + ) self.goal_pub = self.create_publisher(PoseStamped, 'goal_pose', 10) transient_local_qos = QoSProfile( durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, reliability=QoSReliabilityPolicy.RELIABLE, history=QoSHistoryPolicy.KEEP_LAST, - depth=1) + depth=1, + ) volatile_qos = QoSProfile( durability=QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE, reliability=QoSReliabilityPolicy.RELIABLE, history=QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST, - depth=1) - - self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped, - 'amcl_pose', self.poseCallback, - transient_local_qos) - self.clearing_ep_sub = self.create_subscription(PointCloud2, - 'local_costmap/clearing_endpoints', - self.clearingEndpointsCallback, - transient_local_qos) + depth=1, + ) + + self.model_pose_sub = self.create_subscription( + PoseWithCovarianceStamped, + 'amcl_pose', + self.poseCallback, + transient_local_qos, + ) + self.clearing_ep_sub = self.create_subscription( + PointCloud2, + 'local_costmap/clearing_endpoints', + self.clearingEndpointsCallback, + transient_local_qos, + ) self.test_type = test_type self.filter_test_result = True self.clearing_endpoints_received = False @@ -122,38 +126,37 @@ def __init__( self.cost_cloud_received = False if self.test_type == TestType.KEEPOUT: - self.plan_sub = self.create_subscription(Path, 'plan', - self.planCallback, volatile_qos) - self.voxel_marked_sub = self.create_subscription(PointCloud2, - 'voxel_marked_cloud', - self.voxelMarkedCallback, - 1) - self.voxel_unknown_sub = self.create_subscription(PointCloud2, - 'voxel_unknown_cloud', - self.voxelUnknownCallback, - 1) - self.cost_cloud_sub = self.create_subscription(PointCloud2, - 'cost_cloud', - self.dwbCostCloudCallback, - 1) + self.plan_sub = self.create_subscription( + Path, 'plan', self.planCallback, volatile_qos + ) + self.voxel_marked_sub = self.create_subscription( + PointCloud2, 'voxel_marked_cloud', self.voxelMarkedCallback, 1 + ) + self.voxel_unknown_sub = self.create_subscription( + PointCloud2, 'voxel_unknown_cloud', self.voxelUnknownCallback, 1 + ) + self.cost_cloud_sub = self.create_subscription( + PointCloud2, 'cost_cloud', self.dwbCostCloudCallback, 1 + ) elif self.test_type == TestType.SPEED: self.speed_it = 0 # Expected chain of speed limits self.limits = [50.0, 0.0] - # Permissive array: all received speed limits must match to "limits" from above + # Permissive array: all received speed limits must match to 'limits' from above self.limit_passed = [False, False] - self.plan_sub = self.create_subscription(SpeedLimit, 'speed_limit', - self.speedLimitCallback, volatile_qos) + self.plan_sub = self.create_subscription( + SpeedLimit, 'speed_limit', self.speedLimitCallback, volatile_qos + ) self.mask_received = False - self.mask_sub = self.create_subscription(OccupancyGrid, 'filter_mask', - self.maskCallback, transient_local_qos) + self.mask_sub = self.create_subscription( + OccupancyGrid, 'filter_mask', self.maskCallback, transient_local_qos + ) self.initial_pose_received = False self.initial_pose = initial_pose self.goal_pose = goal_pose - self.action_client = ActionClient( - self, NavigateToPose, 'navigate_to_pose') + self.action_client = ActionClient(self, NavigateToPose, 'navigate_to_pose') def info_msg(self, msg: str): self.get_logger().info('\033[1;37;44m' + msg + '\033[0m') @@ -186,8 +189,7 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None): # Sends a `NavToPose` action request and waits for completion self.info_msg("Waiting for 'NavigateToPose' action server") while not self.action_client.wait_for_server(timeout_sec=1.0): - self.info_msg( - "'NavigateToPose' action server not available, waiting...") + self.info_msg("'NavigateToPose' action server not available, waiting...") self.goal_pose = goal_pose if goal_pose is not None else self.goal_pose goal_msg = NavigateToPose.Goal() @@ -235,12 +237,12 @@ def checkKeepout(self, x, y): return True # Checks that currently received speed_limit is equal to the it-th item - # of expected speed "limits" array. - # If so, sets it-th item of permissive array "limit_passed" to be true. + # of expected speed 'limits' array. + # If so, sets it-th item of permissive array 'limit_passed' to be true. # Otherwise it will be remained to be false. # Also verifies that speed limit messages received no more than N-times - # (where N - is the length of "limits" array), - # otherwise sets overall "filter_test_result" to be false. + # (where N - is the length of 'limits' array), + # otherwise sets overall 'filter_test_result' to be false. def checkSpeed(self, it, speed_limit): if it >= len(self.limits): self.error_msg('Got excess speed limit') @@ -249,15 +251,21 @@ def checkSpeed(self, it, speed_limit): if speed_limit == self.limits[it]: self.limit_passed[it] = True else: - self.error_msg('Incorrect speed limit received: ' + str(speed_limit) + - ', but should be: ' + str(self.limits[it])) + self.error_msg( + 'Incorrect speed limit received: ' + + str(speed_limit) + + ', but should be: ' + + str(self.limits[it]) + ) def poseCallback(self, msg): self.info_msg('Received amcl_pose') self.current_pose = msg.pose.pose self.initial_pose_received = True if self.test_type == TestType.KEEPOUT: - if not self.checkKeepout(msg.pose.pose.position.x, msg.pose.pose.position.y): + if not self.checkKeepout( + msg.pose.pose.position.x, msg.pose.pose.position.y + ): self.error_msg('Robot goes into keepout zone') def planCallback(self, msg): @@ -307,16 +315,21 @@ def wait_for_filter_mask(self, timeout): def wait_for_pointcloud_subscribers(self, timeout): start_time = time.time() - while not self.voxel_unknown_received or not self.voxel_marked_received \ - or not self.clearing_endpoints_received: + while ( + not self.voxel_unknown_received + or not self.voxel_marked_received + or not self.clearing_endpoints_received + ): self.info_msg( 'Waiting for voxel_marked_cloud/voxel_unknown_cloud/\ - clearing_endpoints msg to be received ...') + clearing_endpoints msg to be received ...' + ) rclpy.spin_once(self, timeout_sec=1) if (time.time() - start_time) > timeout: self.error_msg( 'Time out to waiting for voxel_marked_cloud/voxel_unknown_cloud/\ - clearing_endpoints msgs') + clearing_endpoints msgs' + ) return False return True @@ -351,7 +364,7 @@ def wait_for_node_active(self, node_name: str): self.info_msg(f'{node_service} service not available, waiting...') req = GetState.Request() # empty request state = 'UNKNOWN' - while (state != 'active'): + while state != 'active': self.info_msg(f'Getting {node_name} state...') future = state_client.call_async(req) rclpy.spin_until_future_complete(self, future) @@ -359,8 +372,9 @@ def wait_for_node_active(self, node_name: str): state = future.result().current_state.label self.info_msg(f'Result of get_state: {state}') else: - self.error_msg('Exception while calling service: %r' % - future.exception()) + self.error_msg( + 'Exception while calling service: %r' % future.exception() + ) time.sleep(5) def shutdown(self): @@ -368,8 +382,7 @@ def shutdown(self): self.action_client.destroy() transition_service = 'lifecycle_manager_navigation/manage_nodes' - mgr_client = self.create_client( - ManageLifecycleNodes, transition_service) + mgr_client = self.create_client(ManageLifecycleNodes, transition_service) while not mgr_client.wait_for_service(timeout_sec=1.0): self.info_msg(f'{transition_service} service not available, waiting...') @@ -380,13 +393,11 @@ def shutdown(self): self.info_msg('Shutting down navigation lifecycle manager...') rclpy.spin_until_future_complete(self, future) future.result() - self.info_msg( - 'Shutting down navigation lifecycle manager complete.') + self.info_msg('Shutting down navigation lifecycle manager complete.') except Exception as e: # noqa: B902 self.error_msg(f'Service call failed {e!r}') transition_service = 'lifecycle_manager_localization/manage_nodes' - mgr_client = self.create_client( - ManageLifecycleNodes, transition_service) + mgr_client = self.create_client(ManageLifecycleNodes, transition_service) while not mgr_client.wait_for_service(timeout_sec=1.0): self.info_msg(f'{transition_service} service not available, waiting...') @@ -397,8 +408,7 @@ def shutdown(self): self.info_msg('Shutting down localization lifecycle manager...') rclpy.spin_until_future_complete(self, future) future.result() - self.info_msg( - 'Shutting down localization lifecycle manager complete') + self.info_msg('Shutting down localization lifecycle manager complete') except Exception as e: # noqa: B902 self.error_msg(f'Service call failed {e!r}') @@ -419,10 +429,10 @@ def test_RobotMovesToGoal(robot_tester): # Tests that all received speed limits are correct: -# If overall "filter_test_result" is true -# checks that all items in "limit_passed" permissive array are also true. +# If overall 'filter_test_result' is true +# checks that all items in 'limit_passed' permissive array are also true. # In other words, it verifies that all speed limits are received -# exactly (by count and values) as expected by "limits" array. +# exactly (by count and values) as expected by 'limits' array. def test_SpeedLimitsAllCorrect(robot_tester): if not robot_tester.filter_test_result: return False @@ -436,21 +446,21 @@ def test_SpeedLimitsAllCorrect(robot_tester): def run_all_tests(robot_tester): # set transforms to use_sim_time result = True - if (result): + if result: robot_tester.wait_for_node_active('amcl') robot_tester.wait_for_initial_pose() robot_tester.wait_for_node_active('bt_navigator') result = robot_tester.wait_for_filter_mask(10) - if (result): + if result: result = robot_tester.runNavigateAction() if robot_tester.test_type == TestType.KEEPOUT: result = result and robot_tester.wait_for_pointcloud_subscribers(10) - if (result): + if result: result = test_RobotMovesToGoal(robot_tester) - if (result): + if result: if robot_tester.test_type == TestType.KEEPOUT: result = robot_tester.filter_test_result result = result and robot_tester.cost_cloud_received @@ -459,7 +469,7 @@ def run_all_tests(robot_tester): # Add more tests here if desired - if (result): + if result: robot_tester.info_msg('Test PASSED') else: robot_tester.error_msg('Test FAILED') @@ -491,23 +501,44 @@ def get_tester(args): tester = NavTester( test_type, initial_pose=fwd_pose(float(init_x), float(init_y)), - goal_pose=fwd_pose(float(final_x), float(final_y))) + goal_pose=fwd_pose(float(final_x), float(final_y)), + ) tester.info_msg( - 'Starting tester, robot going from ' + init_x + ', ' + init_y + - ' to ' + final_x + ', ' + final_y + '.') + 'Starting tester, robot going from ' + + init_x + + ', ' + + init_y + + ' to ' + + final_x + + ', ' + + final_y + + '.' + ) return tester def main(argv=sys.argv[1:]): # The robot(s) positions from the input arguments parser = argparse.ArgumentParser( - description='System-level costmap filters tester node') - parser.add_argument('-t', '--type', type=str, action='store', dest='type', - help='Type of costmap filter being tested.') + description='System-level costmap filters tester node' + ) + parser.add_argument( + '-t', + '--type', + type=str, + action='store', + dest='type', + help='Type of costmap filter being tested.', + ) group = parser.add_mutually_exclusive_group(required=True) - group.add_argument('-r', '--robot', action='append', nargs=4, - metavar=('init_x', 'init_y', 'final_x', 'final_y'), - help='The robot starting and final positions.') + group.add_argument( + '-r', + '--robot', + action='append', + nargs=4, + metavar=('init_x', 'init_y', 'final_x', 'final_y'), + help='The robot starting and final positions.', + ) args, unknown = parser.parse_known_args() diff --git a/nav2_system_tests/src/error_codes/error_code_param.yaml b/nav2_system_tests/src/error_codes/error_code_param.yaml index 388e6f2cdb2..7886fe66866 100644 --- a/nav2_system_tests/src/error_codes/error_code_param.yaml +++ b/nav2_system_tests/src/error_codes/error_code_param.yaml @@ -154,7 +154,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: [ "unknown", "tf_error", "start_outside_map", "goal_outside_map", "start_occupied", "goal_occupied", "timeout","no_valid_path", - "no_viapoints_given" ] + "no_viapoints_given", "cancelled" ] unknown: plugin: "nav2_system_tests::UnknownErrorPlanner" tf_error: @@ -173,6 +173,8 @@ planner_server: plugin: "nav2_system_tests::NoValidPathErrorPlanner" no_viapoints_given: plugin: "nav2_system_tests::NoViapointsGivenErrorPlanner" + cancelled: + plugin: "nav2_system_tests::CancelledPlanner" smoother_server: ros__parameters: diff --git a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.cpp b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.cpp index 90b18c5b117..1c2eecf23a4 100644 --- a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.cpp +++ b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.cpp @@ -24,3 +24,4 @@ PLUGINLIB_EXPORT_CLASS(nav2_system_tests::NoValidPathErrorPlanner, nav2_core::Gl PLUGINLIB_EXPORT_CLASS(nav2_system_tests::TimedOutErrorPlanner, nav2_core::GlobalPlanner) PLUGINLIB_EXPORT_CLASS(nav2_system_tests::TFErrorPlanner, nav2_core::GlobalPlanner) PLUGINLIB_EXPORT_CLASS(nav2_system_tests::NoViapointsGivenErrorPlanner, nav2_core::GlobalPlanner) +PLUGINLIB_EXPORT_CLASS(nav2_system_tests::CancelledPlanner, nav2_core::GlobalPlanner) diff --git a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp index 2b6ae7971d3..77b23aeccef 100644 --- a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp +++ b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp @@ -51,7 +51,8 @@ class UnknownErrorPlanner : public nav2_core::GlobalPlanner nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::PlannerException("Unknown Error"); } @@ -61,7 +62,8 @@ class StartOccupiedErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::StartOccupied("Start Occupied"); } @@ -71,7 +73,8 @@ class GoalOccupiedErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::GoalOccupied("Goal occupied"); } @@ -81,7 +84,8 @@ class StartOutsideMapErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::StartOutsideMapBounds("Start OutsideMapBounds"); } @@ -91,7 +95,8 @@ class GoalOutsideMapErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::GoalOutsideMapBounds("Goal outside map bounds"); } @@ -101,7 +106,8 @@ class NoValidPathErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { return nav_msgs::msg::Path(); } @@ -112,7 +118,8 @@ class TimedOutErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::PlannerTimedOut("Planner Timed Out"); } @@ -122,7 +129,8 @@ class TFErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::PlannerTFError("TF Error"); } @@ -132,12 +140,33 @@ class NoViapointsGivenErrorPlanner : public UnknownErrorPlanner { nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped &, - const geometry_msgs::msg::PoseStamped &) override + const geometry_msgs::msg::PoseStamped &, + std::function) override { throw nav2_core::NoViapointsGiven("No Via points given"); } }; +class CancelledPlanner : public UnknownErrorPlanner +{ + nav_msgs::msg::Path createPlan( + const geometry_msgs::msg::PoseStamped &, + const geometry_msgs::msg::PoseStamped &, + std::function cancel_checker) override + { + auto start_time = std::chrono::steady_clock::now(); + while (rclcpp::ok() && + std::chrono::steady_clock::now() - start_time < std::chrono::seconds(5)) + { + if (cancel_checker()) { + throw nav2_core::PlannerCancelled("Planner Cancelled"); + } + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + throw nav2_core::PlannerException("Cancel is not called in time."); + } +}; + } // namespace nav2_system_tests diff --git a/nav2_system_tests/src/error_codes/planner_plugins.xml b/nav2_system_tests/src/error_codes/planner_plugins.xml index 9d6f7f0545b..ab10ae800bb 100644 --- a/nav2_system_tests/src/error_codes/planner_plugins.xml +++ b/nav2_system_tests/src/error_codes/planner_plugins.xml @@ -39,4 +39,8 @@ base_class_type="nav2_core::GlobalPlanner"> This global planner produces a no via points exception. + + This global planner produces a cancelled exception. + diff --git a/nav2_system_tests/src/error_codes/test_error_codes.py b/nav2_system_tests/src/error_codes/test_error_codes.py index 57294873ec4..a5f2b84d975 100755 --- a/nav2_system_tests/src/error_codes/test_error_codes.py +++ b/nav2_system_tests/src/error_codes/test_error_codes.py @@ -14,11 +14,17 @@ # limitations under the License. import sys +import threading import time from geometry_msgs.msg import PoseStamped -from nav2_msgs.action import ComputePathThroughPoses, ComputePathToPose, FollowPath, SmoothPath -from nav2_simple_commander.robot_navigator import BasicNavigator +from nav2_msgs.action import ( + ComputePathThroughPoses, + ComputePathToPose, + FollowPath, + SmoothPath, +) +from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult from nav_msgs.msg import Path import rclpy @@ -54,13 +60,13 @@ def main(argv=sys.argv[1:]): navigator._waitForNodeToActivate('controller_server') follow_path = { - 'unknown': FollowPath.Goal().UNKNOWN, - 'invalid_controller': FollowPath.Goal().INVALID_CONTROLLER, - 'tf_error': FollowPath.Goal().TF_ERROR, - 'invalid_path': FollowPath.Goal().INVALID_PATH, - 'patience_exceeded': FollowPath.Goal().PATIENCE_EXCEEDED, - 'failed_to_make_progress': FollowPath.Goal().FAILED_TO_MAKE_PROGRESS, - 'no_valid_control': FollowPath.Goal().NO_VALID_CONTROL + 'unknown': FollowPath.Result().UNKNOWN, + 'invalid_controller': FollowPath.Result().INVALID_CONTROLLER, + 'tf_error': FollowPath.Result().TF_ERROR, + 'invalid_path': FollowPath.Result().INVALID_PATH, + 'patience_exceeded': FollowPath.Result().PATIENCE_EXCEEDED, + 'failed_to_make_progress': FollowPath.Result().FAILED_TO_MAKE_PROGRESS, + 'no_valid_control': FollowPath.Result().NO_VALID_CONTROL, } for controller, error_code in follow_path.items(): @@ -70,8 +76,9 @@ def main(argv=sys.argv[1:]): while not navigator.isTaskComplete(): time.sleep(0.5) - assert navigator.result_future.result().result.error_code == error_code, \ - 'Follow path error code does not match' + assert ( + navigator.result_future.result().result.error_code == error_code + ), 'Follow path error code does not match' else: assert False, 'Follow path was rejected' @@ -88,39 +95,62 @@ def main(argv=sys.argv[1:]): navigator._waitForNodeToActivate('planner_server') compute_path_to_pose = { - 'unknown': ComputePathToPose.Goal().UNKNOWN, - 'invalid_planner': ComputePathToPose.Goal().INVALID_PLANNER, - 'tf_error': ComputePathToPose.Goal().TF_ERROR, - 'start_outside_map': ComputePathToPose.Goal().START_OUTSIDE_MAP, - 'goal_outside_map': ComputePathToPose.Goal().GOAL_OUTSIDE_MAP, - 'start_occupied': ComputePathToPose.Goal().START_OCCUPIED, - 'goal_occupied': ComputePathToPose.Goal().GOAL_OCCUPIED, - 'timeout': ComputePathToPose.Goal().TIMEOUT, - 'no_valid_path': ComputePathToPose.Goal().NO_VALID_PATH} + 'unknown': ComputePathToPose.Result().UNKNOWN, + 'invalid_planner': ComputePathToPose.Result().INVALID_PLANNER, + 'tf_error': ComputePathToPose.Result().TF_ERROR, + 'start_outside_map': ComputePathToPose.Result().START_OUTSIDE_MAP, + 'goal_outside_map': ComputePathToPose.Result().GOAL_OUTSIDE_MAP, + 'start_occupied': ComputePathToPose.Result().START_OCCUPIED, + 'goal_occupied': ComputePathToPose.Result().GOAL_OCCUPIED, + 'timeout': ComputePathToPose.Result().TIMEOUT, + 'no_valid_path': ComputePathToPose.Result().NO_VALID_PATH, + } for planner, error_code in compute_path_to_pose.items(): result = navigator._getPathImpl(initial_pose, goal_pose, planner) - assert result.error_code == error_code, 'Compute path to pose error does not match' + assert ( + result.error_code == error_code + ), 'Compute path to pose error does not match' + + def cancel_task(): + time.sleep(1) + navigator.goal_handle.cancel_goal_async() + + # Check compute path to pose cancel + threading.Thread(target=cancel_task).start() + result = navigator._getPathImpl(initial_pose, goal_pose, 'cancelled') + assert ( + navigator.getResult() == TaskResult.CANCELED + ), 'Compute path to pose cancel failed' # Check compute path through error codes goal_pose1 = goal_pose goal_poses = [goal_pose, goal_pose1] compute_path_through_poses = { - 'unknown': ComputePathThroughPoses.Goal().UNKNOWN, - 'invalid_planner': ComputePathToPose.Goal().INVALID_PLANNER, - 'tf_error': ComputePathThroughPoses.Goal().TF_ERROR, - 'start_outside_map': ComputePathThroughPoses.Goal().START_OUTSIDE_MAP, - 'goal_outside_map': ComputePathThroughPoses.Goal().GOAL_OUTSIDE_MAP, - 'start_occupied': ComputePathThroughPoses.Goal().START_OCCUPIED, - 'goal_occupied': ComputePathThroughPoses.Goal().GOAL_OCCUPIED, - 'timeout': ComputePathThroughPoses.Goal().TIMEOUT, - 'no_valid_path': ComputePathThroughPoses.Goal().NO_VALID_PATH, - 'no_viapoints_given': ComputePathThroughPoses.Goal().NO_VIAPOINTS_GIVEN} + 'unknown': ComputePathThroughPoses.Result().UNKNOWN, + 'invalid_planner': ComputePathThroughPoses.Result().INVALID_PLANNER, + 'tf_error': ComputePathThroughPoses.Result().TF_ERROR, + 'start_outside_map': ComputePathThroughPoses.Result().START_OUTSIDE_MAP, + 'goal_outside_map': ComputePathThroughPoses.Result().GOAL_OUTSIDE_MAP, + 'start_occupied': ComputePathThroughPoses.Result().START_OCCUPIED, + 'goal_occupied': ComputePathThroughPoses.Result().GOAL_OCCUPIED, + 'timeout': ComputePathThroughPoses.Result().TIMEOUT, + 'no_valid_path': ComputePathThroughPoses.Result().NO_VALID_PATH, + 'no_viapoints_given': ComputePathThroughPoses.Result().NO_VIAPOINTS_GIVEN, + } for planner, error_code in compute_path_through_poses.items(): result = navigator._getPathThroughPosesImpl(initial_pose, goal_poses, planner) - assert result.error_code == error_code, 'Compute path through pose error does not match' + assert ( + result.error_code == error_code + ), 'Compute path through pose error does not match' + # Check compute path to pose cancel + threading.Thread(target=cancel_task).start() + result = navigator._getPathThroughPosesImpl(initial_pose, goal_poses, 'cancelled') + assert ( + navigator.getResult() == TaskResult.CANCELED + ), 'Compute path through poses cancel failed' # Check compute path to pose error codes pose = PoseStamped() @@ -141,12 +171,12 @@ def main(argv=sys.argv[1:]): navigator._waitForNodeToActivate('smoother_server') smoother = { - 'invalid_smoother': SmoothPath.Goal().INVALID_SMOOTHER, - 'unknown': SmoothPath.Goal().UNKNOWN, - 'timeout': SmoothPath.Goal().TIMEOUT, - 'smoothed_path_in_collision': SmoothPath.Goal().SMOOTHED_PATH_IN_COLLISION, - 'failed_to_smooth_path': SmoothPath.Goal().FAILED_TO_SMOOTH_PATH, - 'invalid_path': SmoothPath.Goal().INVALID_PATH + 'invalid_smoother': SmoothPath.Result().INVALID_SMOOTHER, + 'unknown': SmoothPath.Result().UNKNOWN, + 'timeout': SmoothPath.Result().TIMEOUT, + 'smoothed_path_in_collision': SmoothPath.Result().SMOOTHED_PATH_IN_COLLISION, + 'failed_to_smooth_path': SmoothPath.Result().FAILED_TO_SMOOTH_PATH, + 'invalid_path': SmoothPath.Result().INVALID_PATH, } for smoother, error_code in smoother.items(): diff --git a/nav2_system_tests/src/error_codes/test_error_codes_launch.py b/nav2_system_tests/src/error_codes/test_error_codes_launch.py index d70c56ac8e0..98a33d38d63 100755 --- a/nav2_system_tests/src/error_codes/test_error_codes_launch.py +++ b/nav2_system_tests/src/error_codes/test_error_codes_launch.py @@ -27,12 +27,9 @@ def generate_launch_description(): params_file = os.path.join(os.getenv('TEST_DIR'), 'error_code_param.yaml') - remappings = [('/tf', 'tf'), - ('/tf_static', 'tf_static')] + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] - lifecycle_nodes = ['controller_server', - 'planner_server', - 'smoother_server'] + lifecycle_nodes = ['controller_server', 'planner_server', 'smoother_server'] load_nodes = GroupAction( actions=[ @@ -40,19 +37,22 @@ def generate_launch_description(): package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']), + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'], + ), Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link']), + arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_link'], + ), Node( package='nav2_controller', executable='controller_server', output='screen', respawn_delay=2.0, parameters=[params_file], - remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]), + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), Node( package='nav2_planner', executable='planner_server', @@ -60,7 +60,8 @@ def generate_launch_description(): output='screen', respawn_delay=2.0, parameters=[params_file], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_smoother', executable='smoother_server', @@ -68,15 +69,17 @@ def generate_launch_description(): output='screen', respawn_delay=2.0, parameters=[params_file], - remappings=remappings), + remappings=remappings, + ), Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager_navigation', output='screen', - parameters=[{'autostart': True}, - {'node_names': lifecycle_nodes}]) - ]) + parameters=[{'autostart': True}, {'node_names': lifecycle_nodes}], + ), + ] + ) ld = LaunchDescription() ld.add_action(load_nodes) @@ -90,7 +93,8 @@ def main(argv=sys.argv[1:]): test_error_codes_action = ExecuteProcess( cmd=[os.path.join(os.getenv('TEST_DIR'), 'test_error_codes.py')], name='test_error_codes', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test_error_codes_action) diff --git a/nav2_system_tests/src/gps_navigation/CMakeLists.txt b/nav2_system_tests/src/gps_navigation/CMakeLists.txt new file mode 100644 index 00000000000..3342b6cd580 --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/CMakeLists.txt @@ -0,0 +1,11 @@ +ament_add_test(test_gps_waypoint_follower + GENERATE_RESULT_FOR_RETURN_CODE_ZERO + COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_case_py.launch.py" + WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + TIMEOUT 180 + ENV + TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR} + TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo_gps.world + GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models + BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml +) diff --git a/nav2_system_tests/src/gps_navigation/dual_ekf_navsat.launch.py b/nav2_system_tests/src/gps_navigation/dual_ekf_navsat.launch.py new file mode 100644 index 00000000000..8cc64ec69e1 --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/dual_ekf_navsat.launch.py @@ -0,0 +1,64 @@ +# Copyright 2018 Open Source Robotics Foundation, Inc. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from launch import LaunchDescription +import launch.actions +import launch_ros.actions + + +def generate_launch_description(): + launch_dir = os.path.dirname(os.path.realpath(__file__)) + params_file = os.path.join(launch_dir, 'dual_ekf_navsat_params.yaml') + os.environ['FILE_PATH'] = str(launch_dir) + return LaunchDescription( + [ + launch.actions.DeclareLaunchArgument( + 'output_final_position', default_value='false' + ), + launch.actions.DeclareLaunchArgument( + 'output_location', default_value='~/dual_ekf_navsat_example_debug.txt' + ), + launch_ros.actions.Node( + package='robot_localization', + executable='ekf_node', + name='ekf_filter_node_odom', + output='screen', + parameters=[params_file, {'use_sim_time': True}], + remappings=[('odometry/filtered', 'odometry/local')], + ), + launch_ros.actions.Node( + package='robot_localization', + executable='ekf_node', + name='ekf_filter_node_map', + output='screen', + parameters=[params_file, {'use_sim_time': True}], + remappings=[('odometry/filtered', 'odometry/global')], + ), + launch_ros.actions.Node( + package='robot_localization', + executable='navsat_transform_node', + name='navsat_transform', + output='screen', + parameters=[params_file, {'use_sim_time': True}], + remappings=[ + ('imu/data', 'imu/data'), + ('gps/fix', 'gps/fix'), + ('gps/filtered', 'gps/filtered'), + ('odometry/gps', 'odometry/gps'), + ('odometry/filtered', 'odometry/global'), + ], + ), + ] + ) diff --git a/nav2_system_tests/src/gps_navigation/dual_ekf_navsat_params.yaml b/nav2_system_tests/src/gps_navigation/dual_ekf_navsat_params.yaml new file mode 100644 index 00000000000..6783a7b1db7 --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/dual_ekf_navsat_params.yaml @@ -0,0 +1,127 @@ +# For parameter descriptions, please refer to the template parameter files for each node. + +ekf_filter_node_odom: + ros__parameters: + frequency: 30.0 + two_d_mode: true # Recommended to use 2d mode for nav2, since its world representation is 2d + print_diagnostics: true + debug: false + publish_tf: true + + map_frame: map + odom_frame: odom + base_link_frame: base_link + world_frame: odom + + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_differential: false + odom0_relative: false + + imu0: imu/data + imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, false, + false, false, false] + imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3] + +ekf_filter_node_map: + ros__parameters: + frequency: 30.0 + two_d_mode: true # Recommended to use 2d mode for nav2, since its world representation is 2d + print_diagnostics: true + debug: false + publish_tf: true + + map_frame: map + odom_frame: odom + base_link_frame: base_link + world_frame: map + + odom0: odom + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_differential: false + odom0_relative: false + + odom1: odometry/gps + odom1_config: [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] + odom1_queue_size: 10 + odom1_differential: false + odom1_relative: false + + imu0: imu/data + imu0_config: [false, false, false, + false, false, true, + false, false, false, + false, false, false, + false, false, false] + imu0_differential: false # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3] + +navsat_transform: + ros__parameters: + frequency: 30.0 + delay: 3.0 + magnetic_declination_radians: 0.0429351 # For lat/long 55.944831, -3.186998 + yaw_offset: 0.0 + zero_altitude: true + broadcast_utm_transform: true + publish_filtered_gps: true + use_odometry_yaw: true + wait_for_datum: false diff --git a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml new file mode 100644 index 00000000000..96dc593d824 --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml @@ -0,0 +1,292 @@ +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +controller_server: + ros__parameters: + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.1 + # When using GPS navigation you will potentially traverse huge environments which are not practical to + # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to + # contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174 + rolling_window: True + width: 50 + height: 50 + track_unknown_space: true + # no static map + plugins: ["obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + # outdoors there will probably be more inf points + inf_is_valid: true + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_link" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py new file mode 100755 index 00000000000..db949b7756e --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py @@ -0,0 +1,132 @@ +#! /usr/bin/env python3 +# Copyright (c) 2019 Samsung Research America +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import sys + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch import LaunchService +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch_testing.legacy import LaunchTestService + +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + world = os.getenv('TEST_WORLD') + + launch_dir = os.path.dirname(os.path.realpath(__file__)) + params_file = os.path.join(launch_dir, 'nav2_no_map_params.yaml') + bringup_dir = get_package_share_directory('nav2_bringup') + + configured_params = RewrittenYaml( + source_file=params_file, root_key='', param_rewrites='', convert_types=True + ) + + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=[ + '-0.32', + '0', + '0.068', + '0', + '0', + '0', + 'base_link', + 'imu_link', + ], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'gps_link'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'navigation_launch.py') + ), + launch_arguments={ + 'use_sim_time': 'True', + 'params_file': configured_params, + 'autostart': 'True', + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'dual_ekf_navsat.launch.py') + ), + ), + ] + ) + + +def main(argv=sys.argv[1:]): + ld = generate_launch_description() + + test1_action = ExecuteProcess( + cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester.py')], + name='tester_node', + output='screen', + ) + + lts = LaunchTestService() + lts.add_test_action(ld, test1_action) + ls = LaunchService(argv=argv) + ls.include_launch_description(ld) + return lts.run(ls) + + +if __name__ == '__main__': + sys.exit(main()) diff --git a/nav2_system_tests/src/gps_navigation/tester.py b/nav2_system_tests/src/gps_navigation/tester.py new file mode 100755 index 00000000000..b9fb4725efb --- /dev/null +++ b/nav2_system_tests/src/gps_navigation/tester.py @@ -0,0 +1,227 @@ +#! /usr/bin/env python3 +# Copyright 2019 Samsung Research America +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import sys +import time + +from action_msgs.msg import GoalStatus +from geographic_msgs.msg import GeoPose +from nav2_msgs.action import ComputePathToPose, FollowGPSWaypoints +from nav2_msgs.srv import ManageLifecycleNodes +from rcl_interfaces.srv import SetParameters + +import rclpy + +from rclpy.action import ActionClient +from rclpy.node import Node +from rclpy.parameter import Parameter + + +class GpsWaypointFollowerTest(Node): + + def __init__(self): + super().__init__(node_name='nav2_gps_waypoint_tester', namespace='') + self.waypoints = None + self.action_client = ActionClient( + self, FollowGPSWaypoints, 'follow_gps_waypoints' + ) + self.goal_handle = None + self.action_result = None + + self.param_cli = self.create_client( + SetParameters, '/waypoint_follower/set_parameters' + ) + + def setWaypoints(self, waypoints): + self.waypoints = [] + for wp in waypoints: + msg = GeoPose() + msg.position.latitude = wp[0] + msg.position.longitude = wp[1] + msg.orientation.w = 1.0 + self.waypoints.append(msg) + + def run(self, block, cancel): + # if not self.waypoints: + # rclpy.error_msg('Did not set valid waypoints before running test!') + # return False + + while not self.action_client.wait_for_server(timeout_sec=1.0): + self.info_msg( + "'follow_gps_waypoints' action server not available, waiting..." + ) + + action_request = FollowGPSWaypoints.Goal() + action_request.gps_poses = self.waypoints + + self.info_msg('Sending goal request...') + send_goal_future = self.action_client.send_goal_async(action_request) + try: + rclpy.spin_until_future_complete(self, send_goal_future) + self.goal_handle = send_goal_future.result() + except Exception as e: # noqa: B902 + self.error_msg(f'Service call failed {e!r}') + + if not self.goal_handle.accepted: + self.error_msg('Goal rejected') + return False + + self.info_msg('Goal accepted') + if not block: + return True + + get_result_future = self.goal_handle.get_result_async() + if cancel: + time.sleep(2) + self.cancel_goal() + + self.info_msg("Waiting for 'follow_gps_waypoints' action to complete") + try: + rclpy.spin_until_future_complete(self, get_result_future) + status = get_result_future.result().status + result = get_result_future.result().result + self.action_result = result + except Exception as e: # noqa: B902 + self.error_msg(f'Service call failed {e!r}') + + if status != GoalStatus.STATUS_SUCCEEDED: + self.info_msg(f'Goal failed with status code: {status}') + return False + if len(result.missed_waypoints) > 0: + self.info_msg( + 'Goal failed to process all waypoints,' + ' missed {0} wps.'.format(len(result.missed_waypoints)) + ) + return False + + self.info_msg('Goal succeeded!') + return True + + def setStopFailureParam(self, value): + req = SetParameters.Request() + req.parameters = [ + Parameter('stop_on_failure', Parameter.Type.BOOL, value).to_parameter_msg() + ] + future = self.param_cli.call_async(req) + rclpy.spin_until_future_complete(self, future) + + def shutdown(self): + self.info_msg('Shutting down') + + self.action_client.destroy() + self.info_msg('Destroyed follow_gps_waypoints action client') + + transition_service = 'lifecycle_manager_navigation/manage_nodes' + mgr_client = self.create_client(ManageLifecycleNodes, transition_service) + while not mgr_client.wait_for_service(timeout_sec=1.0): + self.info_msg(f'{transition_service} service not available, waiting...') + + req = ManageLifecycleNodes.Request() + req.command = ManageLifecycleNodes.Request().SHUTDOWN + future = mgr_client.call_async(req) + try: + rclpy.spin_until_future_complete(self, future) + future.result() + except Exception as e: # noqa: B902 + self.error_msg(f'{transition_service} service call failed {e!r}') + + self.info_msg(f'{transition_service} finished') + + def cancel_goal(self): + cancel_future = self.goal_handle.cancel_goal_async() + rclpy.spin_until_future_complete(self, cancel_future) + + def info_msg(self, msg: str): + self.get_logger().info(msg) + + def warn_msg(self, msg: str): + self.get_logger().warn(msg) + + def error_msg(self, msg: str): + self.get_logger().error(msg) + + +def main(argv=sys.argv[1:]): + rclpy.init() + + # wait a few seconds to make sure entire stacks are up + time.sleep(10) + + wps = [[55.944831, -3.186998], [55.944818, -3.187075], [55.944782, -3.187060]] + + test = GpsWaypointFollowerTest() + test.setWaypoints(wps) + + # wait for poseCallback + + result = test.run(True, False) + assert result + + # preempt with new point + test.setWaypoints([wps[0]]) + result = test.run(False, False) + time.sleep(2) + test.setWaypoints([wps[1]]) + result = test.run(False, False) + + # cancel + time.sleep(2) + test.cancel_goal() + + # set waypoint outside of map + time.sleep(2) + test.setWaypoints([[35.0, -118.0]]) + result = test.run(True, False) + assert not result + result = not result + assert ( + test.action_result.missed_waypoints[0].error_code + == ComputePathToPose.Result().GOAL_OUTSIDE_MAP + ) + + # stop on failure test with bogous waypoint + test.setStopFailureParam(True) + bwps = [[55.944831, -3.186998], [35.0, -118.0], [55.944782, -3.187060]] + test.setWaypoints(bwps) + result = test.run(True, False) + assert not result + result = not result + mwps = test.action_result.missed_waypoints + result = (len(mwps) == 1) & (mwps[0] == 1) + test.setStopFailureParam(False) + + # Zero goal test + test.setWaypoints([]) + result = test.run(True, False) + + # Cancel test + test.setWaypoints(wps) + result = test.run(True, True) + assert not result + result = not result + + test.shutdown() + test.info_msg('Done Shutting Down.') + + if not result: + test.info_msg('Exiting failed') + exit(1) + else: + test.info_msg('Exiting passed') + exit(0) + + +if __name__ == '__main__': + main() diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py index 70c30e0842a..d638e02c4e8 100755 --- a/nav2_system_tests/src/localization/test_localization_launch.py +++ b/nav2_system_tests/src/localization/test_localization_launch.py @@ -32,40 +32,50 @@ def main(argv=sys.argv[1:]): launch_gazebo = launch.actions.ExecuteProcess( cmd=['gzserver', '-s', 'libgazebo_ros_init.so', '--minimal_comms', world], - output='screen') + output='screen', + ) link_footprint = launch_ros.actions.Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']) + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ) footprint_scan = launch_ros.actions.Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']) + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ) run_map_server = launch_ros.actions.Node( package='nav2_map_server', executable='map_server', name='map_server', output='screen', - parameters=[{'yaml_filename': mapFile}]) + parameters=[{'yaml_filename': mapFile}], + ) run_amcl = launch_ros.actions.Node( - package='nav2_amcl', - executable='amcl', - output='screen') + package='nav2_amcl', executable='amcl', output='screen' + ) run_lifecycle_manager = launch_ros.actions.Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager', output='screen', - parameters=[{'node_names': ['map_server', 'amcl']}, {'autostart': True}]) - ld = LaunchDescription([launch_gazebo, link_footprint, footprint_scan, - run_map_server, run_amcl, run_lifecycle_manager]) + parameters=[{'node_names': ['map_server', 'amcl']}, {'autostart': True}], + ) + ld = LaunchDescription( + [ + launch_gazebo, + link_footprint, + footprint_scan, + run_map_server, + run_amcl, + run_lifecycle_manager, + ] + ) test1_action = ExecuteProcess( - cmd=[testExecutable], - name='test_localization_node', - output='screen' + cmd=[testExecutable], name='test_localization_node', output='screen' ) lts = LaunchTestService() diff --git a/nav2_system_tests/src/planning/CMakeLists.txt b/nav2_system_tests/src/planning/CMakeLists.txt index 61355a82c46..ed150c70408 100644 --- a/nav2_system_tests/src/planning/CMakeLists.txt +++ b/nav2_system_tests/src/planning/CMakeLists.txt @@ -52,9 +52,6 @@ ament_add_gtest(test_planner_plugins ) ament_target_dependencies(test_planner_plugins rclcpp geometry_msgs nav2_msgs ${dependencies}) -target_link_libraries(test_planner_plugins - stdc++fs -) ament_add_gtest(test_planner_is_path_valid test_planner_is_path_valid.cpp diff --git a/nav2_system_tests/src/planning/planner_tester.hpp b/nav2_system_tests/src/planning/planner_tester.hpp index b849e899087..421a00f4b7d 100644 --- a/nav2_system_tests/src/planning/planner_tester.hpp +++ b/nav2_system_tests/src/planning/planner_tester.hpp @@ -62,6 +62,9 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer void setCostmap(nav2_util::Costmap * costmap) { + std::unique_lock lock( + *(costmap_ros_->getCostmap()->getMutex())); + nav2_msgs::msg::CostmapMetaData prop; nav2_msgs::msg::Costmap cm = costmap->get_costmap(prop); prop = cm.metadata; @@ -84,7 +87,8 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer return false; } try { - path = planners_["GridBased"]->createPlan(start, goal); + auto dummy_cancel_checker = []() {return false;}; + path = planners_["GridBased"]->createPlan(start, goal, dummy_cancel_checker); // The situation when createPlan() did not throw any exception // does not guarantee that plan was created correctly. // So it should be checked additionally that path is correct. diff --git a/nav2_system_tests/src/planning/test_planner_costmaps_launch.py b/nav2_system_tests/src/planning/test_planner_costmaps_launch.py index 4aa3dfa55af..09bd3d34eee 100755 --- a/nav2_system_tests/src/planning/test_planner_costmaps_launch.py +++ b/nav2_system_tests/src/planning/test_planner_costmaps_launch.py @@ -32,7 +32,7 @@ def main(argv=sys.argv[1:]): test1_action = ExecuteProcess( cmd=[testExecutable, '--ros-args -p use_sim_time:=True'], name='test_planner_costmaps_node', - output='screen' + output='screen', ) lts = LaunchTestService() diff --git a/nav2_system_tests/src/planning/test_planner_plugins.cpp b/nav2_system_tests/src/planning/test_planner_plugins.cpp index 906e8f44d3a..0ae08f4fa9c 100644 --- a/nav2_system_tests/src/planning/test_planner_plugins.cpp +++ b/nav2_system_tests/src/planning/test_planner_plugins.cpp @@ -57,9 +57,11 @@ void testSmallPathValidityAndOrientation(std::string plugin, double length) goal.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(-M_PI); goal.header.frame_id = "map"; + auto dummy_cancel_checker = []() {return false;}; + // Test without use_final_approach_orientation // expecting end path pose orientation to be equal to goal orientation - auto path = obj->getPlan(start, goal, "GridBased"); + auto path = obj->getPlan(start, goal, "GridBased", dummy_cancel_checker); EXPECT_GT((int)path.poses.size(), 0); EXPECT_NEAR(tf2::getYaw(path.poses.back().pose.orientation), -M_PI, 0.01); // obj->onCleanup(state); @@ -93,7 +95,9 @@ void testSmallPathValidityAndNoOrientation(std::string plugin, double length) goal.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(-M_PI); goal.header.frame_id = "map"; - auto path = obj->getPlan(start, goal, "GridBased"); + auto dummy_cancel_checker = []() {return false;}; + + auto path = obj->getPlan(start, goal, "GridBased", dummy_cancel_checker); EXPECT_GT((int)path.poses.size(), 0); int path_size = path.poses.size(); @@ -114,6 +118,36 @@ void testSmallPathValidityAndNoOrientation(std::string plugin, double length) obj.reset(); } +void testCancel(std::string plugin) +{ + auto obj = std::make_shared(); + rclcpp_lifecycle::State state; + obj->set_parameter(rclcpp::Parameter("GridBased.plugin", plugin)); + obj->declare_parameter("GridBased.terminal_checking_interval", rclcpp::ParameterValue(1)); + obj->onConfigure(state); + + geometry_msgs::msg::PoseStamped start; + geometry_msgs::msg::PoseStamped goal; + + start.pose.position.x = 0.0; + start.pose.position.y = 0.0; + start.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(M_PI_2); + start.header.frame_id = "map"; + + goal.pose.position.x = 0.5; + goal.pose.position.y = 0.6; + goal.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(-M_PI); + goal.header.frame_id = "map"; + + auto always_cancelled = []() {return true;}; + + EXPECT_THROW( + obj->getPlan(start, goal, "GridBased", always_cancelled), + nav2_core::PlannerCancelled); + // obj->onCleanup(state); + obj.reset(); +} + TEST(testPluginMap, Failures) { auto obj = std::make_shared(); @@ -127,11 +161,14 @@ TEST(testPluginMap, Failures) geometry_msgs::msg::PoseStamped goal; std::string plugin_fake = "fake"; std::string plugin_none = ""; - auto path = obj->getPlan(start, goal, plugin_none); + + auto dummy_cancel_checker = []() {return false;}; + + auto path = obj->getPlan(start, goal, plugin_none, dummy_cancel_checker); EXPECT_EQ(path.header.frame_id, std::string("map")); try { - path = obj->getPlan(start, goal, plugin_fake); + path = obj->getPlan(start, goal, plugin_fake, dummy_cancel_checker); FAIL() << "Failed to throw invalid planner id exception"; } catch (const nav2_core::InvalidPlanner & ex) { EXPECT_EQ(ex.what(), std::string("Planner id fake is invalid")); @@ -140,156 +177,183 @@ TEST(testPluginMap, Failures) obj->onCleanup(state); } + TEST(testPluginMap, Smac2dEqualStartGoal) { - testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.0); + testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.0); } TEST(testPluginMap, Smac2dEqualStartGoalN) { - testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.0); + testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.0); } TEST(testPluginMap, Smac2dVerySmallPath) { - testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.00001); + testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.00001); } TEST(testPluginMap, Smac2dVerySmallPathN) { - testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.00001); + testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.00001); } TEST(testPluginMap, Smac2dBelowCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.09); + testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.09); } TEST(testPluginMap, Smac2dBelowCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.09); + testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.09); } TEST(testPluginMap, Smac2dJustAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 0.102); + testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 0.102); } TEST(testPluginMap, Smac2dJustAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 0.102); + testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 0.102); } TEST(testPluginMap, Smac2dAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_smac_planner/SmacPlanner2D", 1.5); + testSmallPathValidityAndOrientation("nav2_smac_planner::SmacPlanner2D", 1.5); } TEST(testPluginMap, Smac2dAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_smac_planner/SmacPlanner2D", 1.5); + testSmallPathValidityAndNoOrientation("nav2_smac_planner::SmacPlanner2D", 1.5); } TEST(testPluginMap, NavFnEqualStartGoal) { - testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.0); + testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.0); } TEST(testPluginMap, NavFnEqualStartGoalN) { - testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.0); + testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.0); } TEST(testPluginMap, NavFnVerySmallPath) { - testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.00001); + testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.00001); } TEST(testPluginMap, NavFnVerySmallPathN) { - testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.00001); + testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.00001); } TEST(testPluginMap, NavFnBelowCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.09); + testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.09); } TEST(testPluginMap, NavFnBelowCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.09); + testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.09); } TEST(testPluginMap, NavFnJustAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 0.102); + testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 0.102); } TEST(testPluginMap, NavFnJustAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 0.102); + testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 0.102); } TEST(testPluginMap, NavFnAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_navfn_planner/NavfnPlanner", 1.5); + testSmallPathValidityAndOrientation("nav2_navfn_planner::NavfnPlanner", 1.5); } TEST(testPluginMap, NavFnAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_navfn_planner/NavfnPlanner", 1.5); + testSmallPathValidityAndNoOrientation("nav2_navfn_planner::NavfnPlanner", 1.5); } TEST(testPluginMap, ThetaStarEqualStartGoal) { - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.0); + testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.0); } TEST(testPluginMap, ThetaStarEqualStartGoalN) { - testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.0); + testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.0); } TEST(testPluginMap, ThetaStarVerySmallPath) { - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.00001); + testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.00001); } TEST(testPluginMap, ThetaStarVerySmallPathN) { - testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.00001); + testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.00001); } TEST(testPluginMap, ThetaStarBelowCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09); + testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.09); } TEST(testPluginMap, ThetaStarBelowCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.09); + testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.09); } TEST(testPluginMap, ThetaStarJustAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.102); + testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.102); } TEST(testPluginMap, ThetaStarJustAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 0.102); + testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 0.102); } TEST(testPluginMap, ThetaStarAboveCostmapResolution) { - testSmallPathValidityAndOrientation("nav2_theta_star_planner/ThetaStarPlanner", 1.5); + testSmallPathValidityAndOrientation("nav2_theta_star_planner::ThetaStarPlanner", 1.5); } TEST(testPluginMap, ThetaStarAboveCostmapResolutionN) { - testSmallPathValidityAndNoOrientation("nav2_theta_star_planner/ThetaStarPlanner", 1.5); + testSmallPathValidityAndNoOrientation("nav2_theta_star_planner::ThetaStarPlanner", 1.5); +} + +TEST(testPluginMap, NavFnCancel) +{ + testCancel("nav2_navfn_planner::NavfnPlanner"); +} + +TEST(testPluginMap, ThetaStarCancel) +{ + testCancel("nav2_theta_star_planner::ThetaStarPlanner"); } +TEST(testPluginMap, Smac2dCancel) +{ + testCancel("nav2_smac_planner::SmacPlanner2D"); +} + +TEST(testPluginMap, SmacLatticeCancel) +{ + testCancel("nav2_smac_planner::SmacPlannerLattice"); +} + +TEST(testPluginMap, SmacHybridAStarCancel) +{ + testCancel("nav2_smac_planner::SmacPlannerHybrid"); +} + + int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/nav2_system_tests/src/planning/test_planner_random_launch.py b/nav2_system_tests/src/planning/test_planner_random_launch.py index 6d6563616cc..a7747e513ab 100755 --- a/nav2_system_tests/src/planning/test_planner_random_launch.py +++ b/nav2_system_tests/src/planning/test_planner_random_launch.py @@ -32,7 +32,7 @@ def main(argv=sys.argv[1:]): test1_action = ExecuteProcess( cmd=[testExecutable, '--ros-args -p use_sim_time:=True'], name='test_planner_random_node', - output='screen' + output='screen', ) lts = LaunchTestService() diff --git a/nav2_system_tests/src/system/CMakeLists.txt b/nav2_system_tests/src/system/CMakeLists.txt index fdd20a8d2d9..39afa461c2f 100644 --- a/nav2_system_tests/src/system/CMakeLists.txt +++ b/nav2_system_tests/src/system/CMakeLists.txt @@ -12,7 +12,7 @@ ament_add_test(test_bt_navigator TESTER=nav_to_pose_tester_node.py ASTAR=True CONTROLLER=nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) ament_add_test(test_bt_navigator_with_wrong_init_pose @@ -29,7 +29,7 @@ ament_add_test(test_bt_navigator_with_wrong_init_pose TESTER=nav_to_pose_tester_node.py ASTAR=True CONTROLLER=nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) ament_add_test(test_bt_navigator_with_dijkstra @@ -46,7 +46,7 @@ ament_add_test(test_bt_navigator_with_dijkstra TESTER=nav_to_pose_tester_node.py ASTAR=False CONTROLLER=dwb_core::DWBLocalPlanner - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) ament_add_test(test_bt_navigator_2 @@ -63,7 +63,7 @@ ament_add_test(test_bt_navigator_2 TESTER=nav_to_pose_tester_node.py ASTAR=False CONTROLLER=dwb_core::DWBLocalPlanner - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) ament_add_test(test_dynamic_obstacle @@ -80,7 +80,7 @@ ament_add_test(test_dynamic_obstacle TESTER=nav_to_pose_tester_node.py ASTAR=False CONTROLLER=dwb_core::DWBLocalPlanner - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) ament_add_test(test_nav_through_poses @@ -97,7 +97,7 @@ ament_add_test(test_nav_through_poses TESTER=nav_through_poses_tester_node.py ASTAR=False CONTROLLER=dwb_core::DWBLocalPlanner - PLANNER=nav2_navfn_planner/NavfnPlanner + PLANNER=nav2_navfn_planner::NavfnPlanner ) # ament_add_test(test_multi_robot @@ -113,6 +113,6 @@ ament_add_test(test_nav_through_poses # TEST_SDF=${PROJECT_SOURCE_DIR}/models/turtlebot3_waffle/model.sdf # BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml # CONTROLLER=dwb_core::DWBLocalPlanner -# PLANNER=nav2_navfn_planner/NavfnPlanner +# PLANNER=nav2_navfn_planner::NavfnPlanner # TESTER=nav_to_pose_tester_node.py # ) diff --git a/nav2_system_tests/src/system/nav2_system_params.yaml b/nav2_system_tests/src/system/nav2_system_params.yaml new file mode 100644 index 00000000000..a98d340f212 --- /dev/null +++ b/nav2_system_tests/src/system/nav2_system_params.yaml @@ -0,0 +1,319 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + error_code_names: + - compute_path_error_code + - follow_path_error_code + +controller_server: + ros__parameters: + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + use_realtime_priority: false + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True diff --git a/nav2_system_tests/src/system/nav_through_poses_tester_node.py b/nav2_system_tests/src/system/nav_through_poses_tester_node.py index de3b823c6de..2bcea319313 100755 --- a/nav2_system_tests/src/system/nav_through_poses_tester_node.py +++ b/nav2_system_tests/src/system/nav_through_poses_tester_node.py @@ -38,28 +38,28 @@ class NavTester(Node): - def __init__( - self, - initial_pose: Pose, - goal_pose: Pose, - namespace: str = '' - ): + def __init__(self, initial_pose: Pose, goal_pose: Pose, namespace: str = ''): super().__init__(node_name='nav2_tester', namespace=namespace) - self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, - 'initialpose', 10) + self.initial_pose_pub = self.create_publisher( + PoseWithCovarianceStamped, 'initialpose', 10 + ) pose_qos = QoSProfile( - durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1) - - self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped, - 'amcl_pose', self.poseCallback, pose_qos) + durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) + + self.model_pose_sub = self.create_subscription( + PoseWithCovarianceStamped, 'amcl_pose', self.poseCallback, pose_qos + ) self.initial_pose_received = False self.initial_pose = initial_pose self.goal_pose = goal_pose - self.action_client = ActionClient(self, NavigateThroughPoses, 'navigate_through_poses') + self.action_client = ActionClient( + self, NavigateThroughPoses, 'navigate_through_poses' + ) def info_msg(self, msg: str): self.get_logger().info('\033[1;37;44m' + msg + '\033[0m') @@ -88,12 +88,16 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None): # Sends a `NavToPose` action request and waits for completion self.info_msg("Waiting for 'NavigateThroughPoses' action server") while not self.action_client.wait_for_server(timeout_sec=1.0): - self.info_msg("'NavigateThroughPoses' action server not available, waiting...") + self.info_msg( + "'NavigateThroughPoses' action server not available, waiting..." + ) self.goal_pose = goal_pose if goal_pose is not None else self.goal_pose goal_msg = NavigateThroughPoses.Goal() - goal_msg.poses = [self.getStampedPoseMsg(self.goal_pose), - self.getStampedPoseMsg(self.goal_pose)] + goal_msg.poses = [ + self.getStampedPoseMsg(self.goal_pose), + self.getStampedPoseMsg(self.goal_pose), + ] self.info_msg('Sending goal request...') send_goal_future = self.action_client.send_goal_async(goal_msg) @@ -122,7 +126,9 @@ def runFakeNavigateAction(self): # Sends a `NavToPose` action request and waits for completion self.info_msg("Waiting for 'NavigateThroughPoses' action server") while not self.action_client.wait_for_server(timeout_sec=1.0): - self.info_msg("'NavigateThroughPoses' action server not available, waiting...") + self.info_msg( + "'NavigateThroughPoses' action server not available, waiting..." + ) goal_msg = NavigateThroughPoses.Goal() @@ -153,7 +159,9 @@ def runNavigatePreemptionAction(self, block): # Sends a `NavToPose` action request and waits for completion self.info_msg("Waiting for 'NavigateThroughPoses' action server") while not self.action_client.wait_for_server(timeout_sec=1.0): - self.info_msg("'NavigateThroughPoses' action server not available, waiting...") + self.info_msg( + "'NavigateThroughPoses' action server not available, waiting..." + ) goal_msg = NavigateThroughPoses.Goal() goal_msg.poses = [self.getStampedPoseMsg(self.initial_pose)] @@ -198,7 +206,7 @@ def wait_for_node_active(self, node_name: str): self.info_msg(f'{node_service} service not available, waiting...') req = GetState.Request() # empty request state = 'UNKNOWN' - while (state != 'active'): + while state != 'active': self.info_msg(f'Getting {node_name} state...') future = state_client.call_async(req) rclpy.spin_until_future_complete(self, future) @@ -206,7 +214,9 @@ def wait_for_node_active(self, node_name: str): state = future.result().current_state.label self.info_msg(f'Result of get_state: {state}') else: - self.error_msg(f'Exception while calling service: {future.exception()!r}') + self.error_msg( + f'Exception while calling service: {future.exception()!r}' + ) time.sleep(5) def shutdown(self): @@ -256,7 +266,7 @@ def wait_for_initial_pose(self): def run_all_tests(robot_tester): # set transforms to use_sim_time result = True - if (result): + if result: robot_tester.wait_for_node_active('amcl') robot_tester.wait_for_initial_pose() robot_tester.wait_for_node_active('bt_navigator') @@ -269,7 +279,7 @@ def run_all_tests(robot_tester): # Add more tests here if desired - if (result): + if result: robot_tester.info_msg('Test PASSED') else: robot_tester.error_msg('Test FAILED') @@ -295,10 +305,19 @@ def get_testers(args): init_x, init_y, final_x, final_y = args.robot[0] tester = NavTester( initial_pose=fwd_pose(float(init_x), float(init_y)), - goal_pose=fwd_pose(float(final_x), float(final_y))) + goal_pose=fwd_pose(float(final_x), float(final_y)), + ) tester.info_msg( - 'Starting tester, robot going from ' + init_x + ', ' + init_y + - ' to ' + final_x + ', ' + final_y + '.') + 'Starting tester, robot going from ' + + init_x + + ', ' + + init_y + + ' to ' + + final_x + + ', ' + + final_y + + '.' + ) testers.append(tester) return testers @@ -307,9 +326,14 @@ def main(argv=sys.argv[1:]): # The robot(s) positions from the input arguments parser = argparse.ArgumentParser(description='System-level navigation tester node') group = parser.add_mutually_exclusive_group(required=True) - group.add_argument('-r', '--robot', action='append', nargs=4, - metavar=('init_x', 'init_y', 'final_x', 'final_y'), - help='The robot starting and final positions.') + group.add_argument( + '-r', + '--robot', + action='append', + nargs=4, + metavar=('init_x', 'init_y', 'final_x', 'final_y'), + help='The robot starting and final positions.', + ) args, unknown = parser.parse_known_args() diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py index d323f975672..92f9a912dfd 100755 --- a/nav2_system_tests/src/system/test_multi_robot_launch.py +++ b/nav2_system_tests/src/system/test_multi_robot_launch.py @@ -20,11 +20,15 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription, LaunchService -from launch.actions import (ExecuteProcess, GroupAction, - IncludeLaunchDescription, SetEnvironmentVariable) +from launch.actions import ( + ExecuteProcess, + GroupAction, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import TextSubstitution -from launch_ros.actions import Node, PushRosNamespace +from launch_ros.actions import Node, PushROSNamespace from launch_testing.legacy import LaunchTestService @@ -35,26 +39,39 @@ def generate_launch_description(): urdf = os.getenv('TEST_URDF') sdf = os.getenv('TEST_SDF') - bt_xml_file = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_xml_file = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') - robot1_params_file = os.path.join(bringup_dir, # noqa: F841 - 'params/nav2_multirobot_params_1.yaml') - robot2_params_file = os.path.join(bringup_dir, # noqa: F841 - 'params/nav2_multirobot_params_2.yaml') + robot1_params_file = os.path.join( # noqa: F841 + bringup_dir, 'params/nav2_multirobot_params_1.yaml' + ) + robot2_params_file = os.path.join( # noqa: F841 + bringup_dir, 'params/nav2_multirobot_params_2.yaml' + ) # Names and poses of the robots robots = [ {'name': 'robot1', 'x_pose': 0.0, 'y_pose': 0.5, 'z_pose': 0.01}, - {'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01}] + {'name': 'robot2', 'x_pose': 0.0, 'y_pose': -0.5, 'z_pose': 0.01}, + ] # Launch Gazebo server for simulation start_gazebo_cmd = ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '-s', 'libgazebo_ros_factory.so', '--minimal_comms', world], - output='screen') + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '-s', + 'libgazebo_ros_factory.so', + '--minimal_comms', + world, + ], + output='screen', + ) # Define commands for spawing the robots into Gazebo spawn_robots_cmds = [] @@ -65,13 +82,21 @@ def generate_launch_description(): executable='spawn_entity.py', output='screen', arguments=[ - '-entity', TextSubstitution(text=robot['name']), - '-robot_namespace', TextSubstitution(text=robot['name']), - '-file', TextSubstitution(text=sdf), - '-x', TextSubstitution(text=str(robot['x_pose'])), - '-y', TextSubstitution(text=str(robot['y_pose'])), - '-z', TextSubstitution(text=str(robot['z_pose']))] - )) + '-entity', + TextSubstitution(text=robot['name']), + '-robot_namespace', + TextSubstitution(text=robot['name']), + '-file', + TextSubstitution(text=sdf), + '-x', + TextSubstitution(text=str(robot['x_pose'])), + '-y', + TextSubstitution(text=str(robot['y_pose'])), + '-z', + TextSubstitution(text=str(robot['z_pose'])), + ], + ) + ) with open(urdf, 'r') as infp: robot_description = infp.read() @@ -85,35 +110,48 @@ def generate_launch_description(): executable='robot_state_publisher', namespace=TextSubstitution(text=robot['name']), output='screen', - parameters=[{'use_sim_time': True, 'robot_description': robot_description}], - remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')])) + parameters=[ + {'use_sim_time': True, 'robot_description': robot_description} + ], + remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')], + ) + ) # Define commands for launching the navigation instances nav_instances_cmds = [] for robot in robots: params_file = eval(f"{robot['name']}_params_file") - group = GroupAction([ - # Instances use the robot's name for namespace - PushRosNamespace(robot['name']), - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={ - 'namespace': robot['name'], - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': params_file, - 'bt_xml_file': bt_xml_file, - 'autostart': 'True', - 'use_composition': 'False', - 'use_remappings': 'True'}.items()) - ]) + group = GroupAction( + [ + # Instances use the robot's name for namespace + PushROSNamespace(robot['name']), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': robot['name'], + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': params_file, + 'bt_xml_file': bt_xml_file, + 'autostart': 'True', + 'use_composition': 'False', + 'use_remappings': 'True', + }.items(), + ), + ] + ) nav_instances_cmds.append(group) ld = LaunchDescription() - ld.add_action(SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),) - ld.add_action(SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),) + ld.add_action( + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + ) + ld.add_action( + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + ) ld.add_action(start_gazebo_cmd) for spawn_robot in spawn_robots_cmds: ld.add_action(spawn_robot) @@ -130,12 +168,26 @@ def main(argv=sys.argv[1:]): # TODO(orduno) remove duplicated definition of robots on `generate_launch_description` test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), - '-rs', 'robot1', '0.0', '0.5', '1.0', '0.5', - '-rs', 'robot2', '0.0', '-0.5', '1.0', '-0.5', - '-e', 'True'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), + '-rs', + 'robot1', + '0.0', + '0.5', + '1.0', + '0.5', + '-rs', + 'robot2', + '0.0', + '-0.5', + '1.0', + '-0.5', + '-e', + 'True', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py index 3678b242ac8..2f0546d1568 100755 --- a/nav2_system_tests/src/system/test_system_launch.py +++ b/nav2_system_tests/src/system/test_system_launch.py @@ -22,7 +22,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -35,81 +39,107 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') - params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml') + + # Use local param file + launch_dir = os.path.dirname(os.path.realpath(__file__)) + params_file = os.path.join(launch_dir, 'nav2_system_params.yaml') # Replace the default parameter values for testing special features # without having multiple params_files inside the nav2 stack context = LaunchContext() param_substitutions = {} - if (os.getenv('ASTAR') == 'True'): + if os.getenv('ASTAR') == 'True': param_substitutions.update({'use_astar': 'True'}) param_substitutions.update( - {'planner_server.ros__parameters.GridBased.plugin': os.getenv('PLANNER')}) + {'planner_server.ros__parameters.GridBased.plugin': os.getenv('PLANNER')} + ) param_substitutions.update( - {'controller_server.ros__parameters.FollowPath.plugin': os.getenv('CONTROLLER')}) + {'controller_server.ros__parameters.FollowPath.plugin': os.getenv('CONTROLLER')} + ) configured_params = RewrittenYaml( source_file=params_file, root_key='', param_rewrites=param_substitutions, - convert_types=True) + convert_types=True, + ) new_yaml = configured_params.perform(context) - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': new_yaml, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': '', + 'use_namespace': 'False', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': new_yaml, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), - '-r', '-2.0', '-0.5', '0.0', '2.0', - '-e', 'True'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), + '-r', + '-2.0', + '-0.5', + '0.0', + '2.0', + '-e', + 'True', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py index 2c10898a226..f42d276fcce 100755 --- a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py +++ b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py @@ -22,7 +22,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -35,9 +39,11 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml') @@ -47,70 +53,90 @@ def generate_launch_description(): context = LaunchContext() param_substitutions = {} - if (os.getenv('ASTAR') == 'True'): + if os.getenv('ASTAR') == 'True': param_substitutions.update({'use_astar': 'True'}) param_substitutions.update( - {'planner_server.ros__parameters.GridBased.plugin': os.getenv('PLANNER')}) + {'planner_server.ros__parameters.GridBased.plugin': os.getenv('PLANNER')} + ) param_substitutions.update( - {'controller_server.ros__parameters.FollowPath.plugin': os.getenv('CONTROLLER')}) + {'controller_server.ros__parameters.FollowPath.plugin': os.getenv('CONTROLLER')} + ) configured_params = RewrittenYaml( source_file=params_file, root_key='', param_rewrites=param_substitutions, - convert_types=True) + convert_types=True, + ) new_yaml = configured_params.perform(context) - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': new_yaml, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True', - 'use_composition': 'False'}.items()), - ]) + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': '', + 'use_namespace': 'False', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': new_yaml, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), - '-r', '-200000.0', '-200000.0', '0.0', '2.0', - '-e', 'False'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), os.getenv('TESTER')), + '-r', + '-200000.0', + '-200000.0', + '0.0', + '2.0', + '-e', + 'False', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/system_failure/test_system_failure_launch.py b/nav2_system_tests/src/system_failure/test_system_failure_launch.py index 5bc8022766f..01a7d50bc96 100755 --- a/nav2_system_tests/src/system_failure/test_system_failure_launch.py +++ b/nav2_system_tests/src/system_failure/test_system_failure_launch.py @@ -22,7 +22,11 @@ from launch import LaunchDescription from launch import LaunchService -from launch.actions import ExecuteProcess, IncludeLaunchDescription, SetEnvironmentVariable +from launch.actions import ( + ExecuteProcess, + IncludeLaunchDescription, + SetEnvironmentVariable, +) from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -35,70 +39,91 @@ def generate_launch_description(): map_yaml_file = os.getenv('TEST_MAP') world = os.getenv('TEST_WORLD') - bt_navigator_xml = os.path.join(get_package_share_directory('nav2_bt_navigator'), - 'behavior_trees', - os.getenv('BT_NAVIGATOR_XML')) + bt_navigator_xml = os.path.join( + get_package_share_directory('nav2_bt_navigator'), + 'behavior_trees', + os.getenv('BT_NAVIGATOR_XML'), + ) bringup_dir = get_package_share_directory('nav2_bringup') params_file = os.path.join(bringup_dir, 'params', 'nav2_params.yaml') # Replace the `use_astar` setting on the params file param_substitutions = { - 'planner_server.ros__parameters.GridBased.use_astar': 'False'} + 'planner_server.ros__parameters.GridBased.use_astar': 'False' + } configured_params = RewrittenYaml( source_file=params_file, root_key='', param_rewrites=param_substitutions, - convert_types=True) + convert_types=True, + ) context = LaunchContext() new_yaml = configured_params.perform(context) - return LaunchDescription([ - SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), - SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), - - # Launch gazebo server for simulation - ExecuteProcess( - cmd=['gzserver', '-s', 'libgazebo_ros_init.so', - '--minimal_comms', world], - output='screen'), - - # TODO(orduno) Launch the robot state publisher instead - # using a local copy of TB3 urdf file - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']), - - Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(bringup_dir, 'launch', 'bringup_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False', - 'map': map_yaml_file, - 'use_sim_time': 'True', - 'params_file': new_yaml, - 'bt_xml_file': bt_navigator_xml, - 'use_composition': 'False', - 'autostart': 'True'}.items()), - ]) + return LaunchDescription( + [ + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), + # Launch gazebo server for simulation + ExecuteProcess( + cmd=[ + 'gzserver', + '-s', + 'libgazebo_ros_init.so', + '--minimal_comms', + world, + ], + output='screen', + ), + # TODO(orduno) Launch the robot state publisher instead + # using a local copy of TB3 urdf file + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'bringup_launch.py') + ), + launch_arguments={ + 'namespace': '', + 'use_namespace': 'False', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': new_yaml, + 'bt_xml_file': bt_navigator_xml, + 'use_composition': 'False', + 'autostart': 'True', + }.items(), + ), + ] + ) def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), - '-r', '-2.0', '-0.5', '100.0', '100.0'], + cmd=[ + os.path.join(os.getenv('TEST_DIR'), 'tester_node.py'), + '-r', + '-2.0', + '-0.5', + '100.0', + '100.0', + ], name='tester_node', - output='screen') + output='screen', + ) lts = LaunchTestService() lts.add_test_action(ld, test1_action) diff --git a/nav2_system_tests/src/system_failure/tester_node.py b/nav2_system_tests/src/system_failure/tester_node.py index e4b3a9baeb6..9cea2f6118d 100755 --- a/nav2_system_tests/src/system_failure/tester_node.py +++ b/nav2_system_tests/src/system_failure/tester_node.py @@ -38,25 +38,23 @@ class NavTester(Node): - def __init__( - self, - initial_pose: Pose, - goal_pose: Pose, - namespace: str = '' - ): + def __init__(self, initial_pose: Pose, goal_pose: Pose, namespace: str = ''): super().__init__(node_name='nav2_tester', namespace=namespace) - self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, - 'initialpose', 10) + self.initial_pose_pub = self.create_publisher( + PoseWithCovarianceStamped, 'initialpose', 10 + ) self.goal_pub = self.create_publisher(PoseStamped, 'goal_pose', 10) pose_qos = QoSProfile( - durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1) - - self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped, - 'amcl_pose', self.poseCallback, pose_qos) + durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) + + self.model_pose_sub = self.create_subscription( + PoseWithCovarianceStamped, 'amcl_pose', self.poseCallback, pose_qos + ) self.initial_pose_received = False self.initial_pose = initial_pose self.goal_pose = goal_pose @@ -158,7 +156,7 @@ def wait_for_node_active(self, node_name: str): self.info_msg(f'{node_service} service not available, waiting...') req = GetState.Request() # empty request state = 'UNKNOWN' - while (state != 'active'): + while state != 'active': self.info_msg(f'Getting {node_name} state...') future = state_client.call_async(req) rclpy.spin_until_future_complete(self, future) @@ -166,7 +164,9 @@ def wait_for_node_active(self, node_name: str): state = future.result().current_state.label self.info_msg(f'Result of get_state: {state}') else: - self.error_msg(f'Exception while calling service: {future.exception()!r}') + self.error_msg( + f'Exception while calling service: {future.exception()!r}' + ) time.sleep(5) def shutdown(self): @@ -216,7 +216,7 @@ def wait_for_initial_pose(self): def run_all_tests(robot_tester): # set transforms to use_sim_time result = True - if (result): + if result: robot_tester.wait_for_node_active('amcl') robot_tester.wait_for_initial_pose() robot_tester.wait_for_node_active('bt_navigator') @@ -224,7 +224,7 @@ def run_all_tests(robot_tester): # Add more tests here if desired - if (result): + if result: robot_tester.info_msg('Test PASSED') else: robot_tester.error_msg('Test FAILED') @@ -252,10 +252,19 @@ def get_testers(args): init_x, init_y, final_x, final_y = args.robot[0] tester = NavTester( initial_pose=fwd_pose(float(init_x), float(init_y)), - goal_pose=fwd_pose(float(final_x), float(final_y))) + goal_pose=fwd_pose(float(final_x), float(final_y)), + ) tester.info_msg( - 'Starting tester, robot going from ' + init_x + ', ' + init_y + - ' to ' + final_x + ', ' + final_y + '.') + 'Starting tester, robot going from ' + + init_x + + ', ' + + init_y + + ' to ' + + final_x + + ', ' + + final_y + + '.' + ) testers.append(tester) return testers @@ -266,13 +275,23 @@ def main(argv=sys.argv[1:]): # The robot(s) positions from the input arguments parser = argparse.ArgumentParser(description='System-level navigation tester node') group = parser.add_mutually_exclusive_group(required=True) - group.add_argument('-r', '--robot', action='append', nargs=4, - metavar=('init_x', 'init_y', 'final_x', 'final_y'), - help='The robot starting and final positions.') - group.add_argument('-rs', '--robots', action='append', nargs=5, - metavar=('name', 'init_x', 'init_y', 'final_x', 'final_y'), - help="The robot's namespace and starting and final positions. " + - 'Repeating the argument for multiple robots is supported.') + group.add_argument( + '-r', + '--robot', + action='append', + nargs=4, + metavar=('init_x', 'init_y', 'final_x', 'final_y'), + help='The robot starting and final positions.', + ) + group.add_argument( + '-rs', + '--robots', + action='append', + nargs=5, + metavar=('name', 'init_x', 'init_y', 'final_x', 'final_y'), + help="The robot's namespace and starting and final positions. " + + 'Repeating the argument for multiple robots is supported.', + ) args, unknown = parser.parse_known_args() diff --git a/nav2_system_tests/src/updown/test_updown_launch.py b/nav2_system_tests/src/updown/test_updown_launch.py index 28b20bd4c34..458779411b5 100755 --- a/nav2_system_tests/src/updown/test_updown_launch.py +++ b/nav2_system_tests/src/updown/test_updown_launch.py @@ -25,56 +25,70 @@ def generate_launch_description(): # Configuration parameters for the launch - launch_dir = os.path.join( - get_package_share_directory('nav2_bringup'), 'launch') + launch_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch') map_yaml_file = os.path.join( - get_package_share_directory('nav2_system_tests'), 'maps/map_circular.yaml') + get_package_share_directory('nav2_system_tests'), 'maps/map_circular.yaml' + ) # Specify the actions start_tf_cmd_1 = Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom']) + arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'], + ) start_tf_cmd_2 = Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint']) + arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'], + ) start_tf_cmd_3 = Node( - package='tf2_ros', - executable='static_transform_publisher', - output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link']) + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'base_link'], + ) start_tf_cmd_4 = Node( package='tf2_ros', executable='static_transform_publisher', output='screen', - arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan']) + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'base_scan'], + ) nav2_bringup = launch.actions.IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_dir, 'bringup_launch.py')), - launch_arguments={'map': map_yaml_file, - 'use_sim_time': 'True', - 'use_composition': 'False', - 'autostart': 'False'}.items()) + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'use_composition': 'False', + 'autostart': 'False', + }.items(), + ) start_test = launch.actions.ExecuteProcess( cmd=[ os.path.join( get_package_prefix('nav2_system_tests'), - 'lib/nav2_system_tests/test_updown')], - cwd=[launch_dir], output='screen') + 'lib/nav2_system_tests/test_updown', + ) + ], + cwd=[launch_dir], + output='screen', + ) test_exit_event_handler = launch.actions.RegisterEventHandler( event_handler=launch.event_handlers.OnProcessExit( target_action=start_test, - on_exit=launch.actions.EmitEvent(event=launch.events.Shutdown(reason='Done!')))) + on_exit=launch.actions.EmitEvent( + event=launch.events.Shutdown(reason='Done!') + ), + ) + ) # Compose the launch description diff --git a/nav2_system_tests/src/updown/updownresults.py b/nav2_system_tests/src/updown/updownresults.py index 604c3a25324..6025094be1d 100755 --- a/nav2_system_tests/src/updown/updownresults.py +++ b/nav2_system_tests/src/updown/updownresults.py @@ -63,7 +63,7 @@ def main(): shutdown_successful = True print('Number of tests: ', test_count) - print('Number of successes: ', test_count-fail_count) + print('Number of successes: ', test_count - fail_count) print('Number of successful bringups', successful_bringup_count) print('Number of successful shutdowns', successful_shutdown_count) diff --git a/nav2_system_tests/src/waypoint_follower/test_case_py.launch b/nav2_system_tests/src/waypoint_follower/test_case_py.launch index adeb839c48e..51ccbb451e8 100755 --- a/nav2_system_tests/src/waypoint_follower/test_case_py.launch +++ b/nav2_system_tests/src/waypoint_follower/test_case_py.launch @@ -41,10 +41,13 @@ def generate_launch_description(): params_file = os.path.join(bringup_dir, 'params/nav2_params.yaml') # Replace the `use_astar` setting on the params file + param_substitutions = { + 'controller_server.ros__parameters.FollowPath.prune_distance': '1.0', + 'controller_server.ros__parameters.FollowPath.forward_prune_distance': '1.0'} configured_params = RewrittenYaml( source_file=params_file, root_key='', - param_rewrites='', + param_rewrites=param_substitutions, convert_types=True) context = LaunchContext() diff --git a/nav2_system_tests/src/waypoint_follower/tester.py b/nav2_system_tests/src/waypoint_follower/tester.py index 796047677e1..b5df396006f 100755 --- a/nav2_system_tests/src/waypoint_follower/tester.py +++ b/nav2_system_tests/src/waypoint_follower/tester.py @@ -36,22 +36,26 @@ def __init__(self): super().__init__(node_name='nav2_waypoint_tester', namespace='') self.waypoints = None self.action_client = ActionClient(self, FollowWaypoints, 'follow_waypoints') - self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, - 'initialpose', 10) + self.initial_pose_pub = self.create_publisher( + PoseWithCovarianceStamped, 'initialpose', 10 + ) self.initial_pose_received = False self.goal_handle = None self.action_result = None pose_qos = QoSProfile( - durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, - reliability=QoSReliabilityPolicy.RELIABLE, - history=QoSHistoryPolicy.KEEP_LAST, - depth=1) - - self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped, - 'amcl_pose', self.poseCallback, pose_qos) - self.param_cli = self.create_client(SetParameters, - '/waypoint_follower/set_parameters') + durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, + reliability=QoSReliabilityPolicy.RELIABLE, + history=QoSHistoryPolicy.KEEP_LAST, + depth=1, + ) + + self.model_pose_sub = self.create_subscription( + PoseWithCovarianceStamped, 'amcl_pose', self.poseCallback, pose_qos + ) + self.param_cli = self.create_client( + SetParameters, '/waypoint_follower/set_parameters' + ) def setInitialPose(self, pose): self.init_pose = PoseWithCovarianceStamped() @@ -120,8 +124,10 @@ def run(self, block, cancel): self.info_msg(f'Goal failed with status code: {status}') return False if len(self.action_result.missed_waypoints) > 0: - self.info_msg('Goal failed to process all waypoints,' - ' missed {0} wps.'.format(len(self.action_result.missed_waypoints))) + self.info_msg( + 'Goal failed to process all waypoints,' + ' missed {0} wps.'.format(len(self.action_result.missed_waypoints)) + ) return False self.info_msg('Goal succeeded!') @@ -132,8 +138,9 @@ def publishInitialPose(self): def setStopFailureParam(self, value): req = SetParameters.Request() - req.parameters = [Parameter('stop_on_failure', - Parameter.Type.BOOL, value).to_parameter_msg()] + req.parameters = [ + Parameter('stop_on_failure', Parameter.Type.BOOL, value).to_parameter_msg() + ] future = self.param_cli.call_async(req) rclpy.spin_until_future_complete(self, future) @@ -195,7 +202,7 @@ def main(argv=sys.argv[1:]): # wait a few seconds to make sure entire stacks are up time.sleep(10) - wps = [[-0.52, -0.54], [0.58, -0.55], [0.58, 0.52]] + wps = [[-0.52, -0.54], [0.58, -0.55], [1.78, -0.57]] starting_pose = [-2.0, -0.5] test = WaypointFollowerTest() @@ -230,15 +237,15 @@ def main(argv=sys.argv[1:]): result = test.run(True, False) assert not result result = not result - assert test.action_result.missed_waypoints[0].error_code == \ - ComputePathToPose.Goal().GOAL_OUTSIDE_MAP + assert ( + test.action_result.missed_waypoints[0].error_code + == ComputePathToPose.Result().GOAL_OUTSIDE_MAP + ) # stop on failure test with bogous waypoint test.setStopFailureParam(True) bwps = [[-0.52, -0.54], [100.0, 100.0], [0.58, 0.52]] - starting_pose = [-2.0, -0.5] test.setWaypoints(bwps) - test.setInitialPose(starting_pose) result = test.run(True, False) assert not result result = not result diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world new file mode 100644 index 00000000000..94b72499a21 --- /dev/null +++ b/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world @@ -0,0 +1,555 @@ + + + + + + + EARTH_WGS84 + ENU + 55.944831 + -3.186998 + 0.0 + 180.0 + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + -2.0 -0.5 0.01 0.0 0.0 0.0 + + + + + + + -0.064 0 0.048 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 1.0 + + + + -0.064 0 0.048 0 0 0 + + + 0.265 0.265 0.089 + + + + + + -0.064 0 0 0 0 0 + + + model://turtlebot3_waffle/meshes/waffle_base.dae + 0.001 0.001 0.001 + + + + + + + + true + 200 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + + false + + + ~/out:=/imu/data + + + + + + + + + -0.052 0 0.111 0 0 0 + + 0.001 + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.125 + + + true + 1 + 0 0 0 0 0 0 + + + + + 0.0 + 0.1 + + + + + 0.0 + 0.0 + + + + + + + ~/out:=/gps/fix + + + + + + + + -0.052 0 0.111 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.125 + + + + -0.064 0 0.121 0 0 0 + + + 0.0508 + 0.055 + + + + + + -0.032 0 0.171 0 0 0 + + + model://turtlebot3_waffle/meshes/lds.dae + 0.001 0.001 0.001 + + + + + + true + false + -0.064 0 0.121 0 0 0 + 5 + + + + 360 + 1.000000 + 0.000000 + 6.280000 + + + + 0.120000 + 3.5 + 0.015000 + + + gaussian + 0.0 + 0.01 + + + + + + ~/out:=scan + + sensor_msgs/LaserScan + + + + + + + + 0.0 0.144 0.023 -1.57 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.1 + + + + 0.0 0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 0.144 0.023 0 0 0 + + + model://turtlebot3_waffle/meshes/left_tire.dae + 0.001 0.001 0.001 + + + + + + + + + 0.0 -0.144 0.023 -1.57 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.1 + + + + 0.0 -0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 -0.144 0.023 0 0 0 + + + model://turtlebot3_waffle/meshes/right_tire.dae + 0.001 0.001 0.001 + + + + + + + -0.177 -0.064 -0.004 0 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + -0.177 0.064 -0.004 0 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + base_footprint + base_link + 0.0 0.0 0.010 0 0 0 + + + + base_link + wheel_left_link + 0.0 0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + wheel_right_link + 0.0 -0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + caster_back_right_link + + + + base_link + caster_back_left_link + + + + base_link + imu_link + -0.032 0 0.068 0 0 0 + + 0 0 1 + + + + + base_link + gps_link + -0.05 0 0.05 0 0 0 + + 0 0 1 + + + + + base_link + base_scan + -0.064 0 0.121 0 0 0 + + 0 0 1 + + + + + + + + /tf:=tf + + + + wheel_left_joint + wheel_right_joint + + + 0.287 + 0.066 + + + 20 + 1.0 + + + true + false + false + + odom + base_link + + + + + + + ~/out:=joint_states + + 250 + wheel_left_joint + wheel_right_joint + + + + + + + diff --git a/nav2_theta_star_planner/README.md b/nav2_theta_star_planner/README.md index 722957f8416..0ac1fa9b7aa 100644 --- a/nav2_theta_star_planner/README.md +++ b/nav2_theta_star_planner/README.md @@ -1,7 +1,7 @@ # Nav2 Theta Star Planner The Theta Star Planner is a global planning plugin meant to be used with the Nav2 Planner Server. The `nav2_theta_star_planner` implements a highly optimized version of the Theta\* Planner (specifically the [Lazy Theta\* P variant](http://idm-lab.org/bib/abstracts/papers/aaai10b.pdf)) meant to plan any-angle paths using A\*. The planner supports differential-drive and omni-directional robots. -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-thetastar.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-thetastar.html) for additional parameter descriptions. ## Features - The planner uses A\* search along with line of sight (LOS) checks to form any-angle paths thus avoiding zig-zag paths that may be present in the usual implementation of A\* @@ -57,7 +57,7 @@ Below are the default values of the parameters : ``` planner_server: ros__parameters: - planner_plugin_types: ["nav2_theta_star_planner/ThetaStarPlanner"] + planner_plugin_types: ["nav2_theta_star_planner::ThetaStarPlanner"] planner_plugin_ids: ["GridBased"] GridBased: how_many_corners: 8 diff --git a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp index d1ddf7354ce..1c819a882ee 100644 --- a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp +++ b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp @@ -76,6 +76,8 @@ class ThetaStar bool allow_unknown_; /// the x-directional and y-directional lengths of the map respectively int size_x_, size_y_; + /// the interval at which the planner checks if it has been cancelled + int terminal_checking_interval_; ThetaStar(); @@ -87,7 +89,7 @@ class ThetaStar * @param raw_path is used to return the path obtained by executing the algorithm * @return true if a path is found, false if no path is found in between the start and goal pose */ - bool generatePath(std::vector & raw_path); + bool generatePath(std::vector & raw_path, std::function cancel_checker); /** * @brief this function checks whether the cost of a point(cx, cy) on the costmap is less than the LETHAL_COST @@ -116,6 +118,11 @@ class ThetaStar return !(isSafe(src_.x, src_.y)) || !(isSafe(dst_.x, dst_.y)); } + /** + * @brief Clear Start + */ + void clearStart(); + int nodes_opened = 0; protected: diff --git a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp index bcbff2ae7c0..09f87142196 100644 --- a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp +++ b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp @@ -54,9 +54,17 @@ class ThetaStarPlanner : public nav2_core::GlobalPlanner void deactivate() override; + /** + * @brief Creating a plan from start and goal poses + * @param start Start pose + * @param goal Goal pose + * @param cancel_checker Function to check if the action has been canceled + * @return nav2_msgs::Path of the generated path + */ nav_msgs::msg::Path createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) override; + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) override; protected: std::shared_ptr tf_; @@ -76,9 +84,10 @@ class ThetaStarPlanner : public nav2_core::GlobalPlanner /** * @brief the function responsible for calling the algorithm and retrieving a path from it + * @param cancel_checker is a function to check if the action has been canceled * @return global_path is the planned path to be taken */ - void getPlan(nav_msgs::msg::Path & global_path); + void getPlan(nav_msgs::msg::Path & global_path, std::function cancel_checker); /** * @brief interpolates points between the consecutive waypoints of the path diff --git a/nav2_theta_star_planner/package.xml b/nav2_theta_star_planner/package.xml index c621ec96dae..846fb41e18c 100644 --- a/nav2_theta_star_planner/package.xml +++ b/nav2_theta_star_planner/package.xml @@ -2,7 +2,7 @@ nav2_theta_star_planner - 1.1.0 + 1.2.0 Theta* Global Planning Plugin Steve Macenski Anshumaan Singh diff --git a/nav2_theta_star_planner/src/theta_star.cpp b/nav2_theta_star_planner/src/theta_star.cpp index baddc754d7a..ba3629bcbfa 100644 --- a/nav2_theta_star_planner/src/theta_star.cpp +++ b/nav2_theta_star_planner/src/theta_star.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include "nav2_core/planner_exceptions.hpp" #include "nav2_theta_star_planner/theta_star.hpp" namespace theta_star @@ -26,6 +27,7 @@ ThetaStar::ThetaStar() allow_unknown_(true), size_x_(0), size_y_(0), + terminal_checking_interval_(5000), index_generated_(0) { exp_node = new tree_node; @@ -43,7 +45,7 @@ void ThetaStar::setStartAndGoal( dst_ = {static_cast(d[0]), static_cast(d[1])}; } -bool ThetaStar::generatePath(std::vector & raw_path) +bool ThetaStar::generatePath(std::vector & raw_path, std::function cancel_checker) { resetContainers(); addToNodesData(index_generated_); @@ -60,6 +62,11 @@ bool ThetaStar::generatePath(std::vector & raw_path) while (!queue_.empty()) { nodes_opened++; + if (nodes_opened % terminal_checking_interval_ == 0 && cancel_checker()) { + clearQueue(); + throw nav2_core::PlannerCancelled("Planner was canceled"); + } + if (isGoal(*curr_data)) { break; } @@ -248,16 +255,22 @@ void ThetaStar::resetContainers() void ThetaStar::initializePosn(int size_inc) { - int i = 0; - if (!node_position_.empty()) { - for (; i < size_x_ * size_y_; i++) { + for (int i = 0; i < size_x_ * size_y_; i++) { node_position_[i] = nullptr; } } - for (; i < size_inc; i++) { + for (int i = 0; i < size_inc; i++) { node_position_.push_back(nullptr); } } + +void ThetaStar::clearStart() +{ + unsigned int mx_start = static_cast(src_.x); + unsigned int my_start = static_cast(src_.y); + costmap_->setCost(mx_start, my_start, nav2_costmap_2d::FREE_SPACE); +} + } // namespace theta_star diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp index c509afb065c..61064efbf45 100644 --- a/nav2_theta_star_planner/src/theta_star_planner.cpp +++ b/nav2_theta_star_planner/src/theta_star_planner.cpp @@ -59,6 +59,10 @@ void ThetaStarPlanner::configure( planner_->w_heuristic_cost_ = planner_->w_euc_cost_ < 1.0 ? planner_->w_euc_cost_ : 1.0; + nav2_util::declare_parameter_if_not_declared( + node, name_ + ".terminal_checking_interval", rclcpp::ParameterValue(5000)); + node->get_parameter(name_ + ".terminal_checking_interval", planner_->terminal_checking_interval_); + nav2_util::declare_parameter_if_not_declared( node, name + ".use_final_approach_orientation", rclcpp::ParameterValue(false)); node->get_parameter(name + ".use_final_approach_orientation", use_final_approach_orientation_); @@ -86,11 +90,14 @@ void ThetaStarPlanner::deactivate() nav_msgs::msg::Path ThetaStarPlanner::createPlan( const geometry_msgs::msg::PoseStamped & start, - const geometry_msgs::msg::PoseStamped & goal) + const geometry_msgs::msg::PoseStamped & goal, + std::function cancel_checker) { nav_msgs::msg::Path global_path; auto start_time = std::chrono::steady_clock::now(); + std::unique_lock lock(*(planner_->costmap_->getMutex())); + // Corner case of start and goal beeing on the same cell unsigned int mx_start, my_start, mx_goal, my_goal; if (!planner_->costmap_->worldToMap( @@ -109,12 +116,6 @@ nav_msgs::msg::Path ThetaStarPlanner::createPlan( std::to_string(goal.pose.position.y) + ") was outside bounds"); } - if (planner_->costmap_->getCost(mx_start, my_start) == nav2_costmap_2d::LETHAL_OBSTACLE) { - throw nav2_core::StartOccupied( - "Start Coordinates of(" + std::to_string(start.pose.position.x) + ", " + - std::to_string(start.pose.position.y) + ") was in lethal cost"); - } - if (planner_->costmap_->getCost(mx_goal, my_goal) == nav2_costmap_2d::LETHAL_OBSTACLE) { throw nav2_core::GoalOccupied( "Goal Coordinates of(" + std::to_string(goal.pose.position.x) + ", " + @@ -139,11 +140,12 @@ nav_msgs::msg::Path ThetaStarPlanner::createPlan( return global_path; } + planner_->clearStart(); planner_->setStartAndGoal(start, goal); RCLCPP_DEBUG( logger_, "Got the src and dst... (%i, %i) && (%i, %i)", planner_->src_.x, planner_->src_.y, planner_->dst_.x, planner_->dst_.y); - getPlan(global_path); + getPlan(global_path, cancel_checker); // check if a plan is generated size_t plan_size = global_path.poses.size(); if (plan_size > 0) { @@ -176,13 +178,15 @@ nav_msgs::msg::Path ThetaStarPlanner::createPlan( return global_path; } -void ThetaStarPlanner::getPlan(nav_msgs::msg::Path & global_path) +void ThetaStarPlanner::getPlan( + nav_msgs::msg::Path & global_path, + std::function cancel_checker) { std::vector path; if (planner_->isUnsafeToPlan()) { global_path.poses.clear(); throw nav2_core::PlannerException("Either of the start or goal pose are an obstacle! "); - } else if (planner_->generatePath(path)) { + } else if (planner_->generatePath(path, cancel_checker)) { global_path = linearInterpolation(path, planner_->costmap_->getResolution()); } else { global_path.poses.clear(); @@ -232,6 +236,9 @@ ThetaStarPlanner::dynamicParametersCallback(std::vector param if (name == name_ + ".how_many_corners") { planner_->how_many_corners_ = parameter.as_int(); } + if (name == name_ + ".terminal_checking_interval") { + planner_->terminal_checking_interval_ = parameter.as_int(); + } } else if (type == ParameterType::PARAMETER_DOUBLE) { if (name == name_ + ".w_euc_cost") { planner_->w_euc_cost_ = parameter.as_double(); diff --git a/nav2_theta_star_planner/test/test_theta_star.cpp b/nav2_theta_star_planner/test/test_theta_star.cpp index 0476290f934..a8db0ddbfe0 100644 --- a/nav2_theta_star_planner/test/test_theta_star.cpp +++ b/nav2_theta_star_planner/test/test_theta_star.cpp @@ -60,10 +60,12 @@ class test_theta_star : public theta_star::ThetaStar void uresetContainers() {nodes_data_.clear(); resetContainers();} - bool runAlgo(std::vector & path) + bool runAlgo( + std::vector & path, + std::function cancel_checker = [] () {return false;}) { if (!isUnsafeToPlan()) { - return generatePath(path); + return generatePath(path, cancel_checker); } return false; } @@ -162,7 +164,11 @@ TEST(ThetaStarPlanner, test_theta_star_planner) { planner_2d->configure(life_node, "test", nullptr, costmap_ros); planner_2d->activate(); - nav_msgs::msg::Path path = planner_2d->createPlan(start, goal); + auto dummy_cancel_checker = []() { + return false; + }; + + nav_msgs::msg::Path path = planner_2d->createPlan(start, goal, dummy_cancel_checker); EXPECT_GT(static_cast(path.poses.size()), 0); // test if the goal is unsafe @@ -174,7 +180,7 @@ TEST(ThetaStarPlanner, test_theta_star_planner) { goal.pose.position.x = 1.0; goal.pose.position.y = 1.0; - EXPECT_THROW(planner_2d->createPlan(start, goal), nav2_core::GoalOccupied); + EXPECT_THROW(planner_2d->createPlan(start, goal, dummy_cancel_checker), nav2_core::GoalOccupied); planner_2d->deactivate(); planner_2d->cleanup(); @@ -212,7 +218,8 @@ TEST(ThetaStarPlanner, test_theta_star_reconfigure) rclcpp::Parameter("test.w_euc_cost", 1.0), rclcpp::Parameter("test.w_traversal_cost", 2.0), rclcpp::Parameter("test.use_final_approach_orientation", false), - rclcpp::Parameter("test.allow_unknown", false)}); + rclcpp::Parameter("test.allow_unknown", false), + rclcpp::Parameter("test.terminal_checking_interval", 100)}); rclcpp::spin_until_future_complete( life_node->get_node_base_interface(), @@ -225,6 +232,7 @@ TEST(ThetaStarPlanner, test_theta_star_reconfigure) EXPECT_EQ(life_node->get_parameter("test.w_traversal_cost").as_double(), 2.0); EXPECT_EQ(life_node->get_parameter("test.use_final_approach_orientation").as_bool(), false); EXPECT_EQ(life_node->get_parameter("test.allow_unknown").as_bool(), false); + EXPECT_EQ(life_node->get_parameter("test.terminal_checking_interval").as_int(), 100); rclcpp::spin_until_future_complete( life_node->get_node_base_interface(), diff --git a/nav2_theta_star_planner/theta_star_planner.xml b/nav2_theta_star_planner/theta_star_planner.xml index 1890ab14c3f..cea79b06e55 100644 --- a/nav2_theta_star_planner/theta_star_planner.xml +++ b/nav2_theta_star_planner/theta_star_planner.xml @@ -1,5 +1,5 @@ - + An implementation of the Theta* Algorithm diff --git a/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt index 86fa5fdaee1..1c8b9b1d64b 100644 --- a/nav2_util/CMakeLists.txt +++ b/nav2_util/CMakeLists.txt @@ -32,6 +32,7 @@ set(dependencies bondcpp bond action_msgs + rcl_interfaces ) nav2_package() @@ -49,6 +50,8 @@ if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) find_package(ament_cmake_pytest REQUIRED) find_package(launch_testing_ament_cmake REQUIRED) + # skip copyright linting + set(ament_cmake_copyright_FOUND TRUE) ament_lint_auto_find_test_dependencies() find_package(ament_cmake_gtest REQUIRED) diff --git a/nav2_util/README.md b/nav2_util/README.md index 844370983c8..adf71e61c2e 100644 --- a/nav2_util/README.md +++ b/nav2_util/README.md @@ -7,6 +7,25 @@ The `nav2_util` package contains utilities abstracted from individual packages w - Simplified service clients - Simplified action servers - Transformation and robot pose helpers +- Twist Subscriber and Twist Publisher The long-term aim is for these utilities to find more permanent homes in other packages (within and outside of Nav2) or migrate to the raw tools made available in ROS 2. - \ No newline at end of file + +## Twist Publisher and Twist Subscriber for commanded velocities + +### Background + +The Twist Publisher and Twist Subscriber are utility classes to assist NAV2 transition from +[Twist](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/Twist.msg) to [TwistStamped](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/TwistStamped.msg). + +Details on the migration are found in [#1594](https://github.com/ros-planning/navigation2/issues/1594). + +Certain applications of NAV2, such as in ROS Aerial mandate the usage of `TwistStamped`, while many other applications still use `Twist`. + +The utility has the following effect: +* Allows use of either `Twist` or `TwistStamped`, controlled by ROS parameter `enable_stamped_cmd_vel` +* Preserves existing topic names without duplication of data + +Every node in `nav2` that subscribes or publishes velocity commands with `Twist` now supports this optional behavior. +The behavior up through ROS 2 Iron is preserved - using `Twist`. In a future ROS 2 version, when enough of the +ROS ecosystem has moved to `TwistStamped`, the default may change. diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.hpp b/nav2_util/include/nav2_util/array_parser.hpp similarity index 91% rename from nav2_costmap_2d/include/nav2_costmap_2d/array_parser.hpp rename to nav2_util/include/nav2_util/array_parser.hpp index ca2dd879b6f..f232cf30274 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.hpp +++ b/nav2_util/include/nav2_util/array_parser.hpp @@ -28,13 +28,13 @@ * * author: Dave Hershberger */ -#ifndef NAV2_COSTMAP_2D__ARRAY_PARSER_HPP_ -#define NAV2_COSTMAP_2D__ARRAY_PARSER_HPP_ +#ifndef NAV2_UTIL__ARRAY_PARSER_HPP_ +#define NAV2_UTIL__ARRAY_PARSER_HPP_ #include #include -namespace nav2_costmap_2d +namespace nav2_util { /** @brief Parse a vector of vectors of floats from a string. @@ -46,6 +46,6 @@ namespace nav2_costmap_2d * anything, like part of a successful parse. */ std::vector> parseVVF(const std::string & input, std::string & error_return); -} // end namespace nav2_costmap_2d +} // end namespace nav2_util -#endif // NAV2_COSTMAP_2D__ARRAY_PARSER_HPP_ +#endif // NAV2_UTIL__ARRAY_PARSER_HPP_ diff --git a/nav2_util/include/nav2_util/base_footprint_publisher.hpp b/nav2_util/include/nav2_util/base_footprint_publisher.hpp new file mode 100644 index 00000000000..52bcdb53eb0 --- /dev/null +++ b/nav2_util/include/nav2_util/base_footprint_publisher.hpp @@ -0,0 +1,129 @@ +// Copyright (c) 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NAV2_UTIL__BASE_FOOTPRINT_PUBLISHER_HPP_ +#define NAV2_UTIL__BASE_FOOTPRINT_PUBLISHER_HPP_ + +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "tf2_msgs/msg/tf_message.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "tf2_ros/create_timer_ros.h" +#include "tf2_ros/transform_listener.h" +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/buffer.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#include "tf2/utils.h" + +namespace nav2_util +{ + +/** + * @brief A TF2 listener that overrides the subscription callback + * to inject base footprint publisher removing Z, Pitch, and Roll for + * 3D state estimation but desiring a 2D frame for navigation, visualization, or other reasons + */ +class BaseFootprintPublisherListener : public tf2_ros::TransformListener +{ +public: + BaseFootprintPublisherListener(tf2::BufferCore & buffer, bool spin_thread, rclcpp::Node & node) + : tf2_ros::TransformListener(buffer, spin_thread) + { + node.declare_parameter( + "base_link_frame", rclcpp::ParameterValue(std::string("base_link"))); + node.declare_parameter( + "base_footprint_frame", rclcpp::ParameterValue(std::string("base_footprint"))); + base_link_frame_ = node.get_parameter("base_link_frame").as_string(); + base_footprint_frame_ = node.get_parameter("base_footprint_frame").as_string(); + tf_broadcaster_ = std::make_shared(node); + } + + /** + * @brief Overrides TF2 subscription callback to inject base footprint publisher + */ + void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static) override + { + TransformListener::subscription_callback(msg, is_static); + + if (is_static) { + return; + } + + for (unsigned int i = 0; i != msg->transforms.size(); i++) { + auto & t = msg->transforms[i]; + if (t.child_frame_id == base_link_frame_) { + geometry_msgs::msg::TransformStamped transform; + transform.header.stamp = t.header.stamp; + transform.header.frame_id = base_link_frame_; + transform.child_frame_id = base_footprint_frame_; + + // Project to Z-zero + transform.transform.translation = t.transform.translation; + transform.transform.translation.z = 0.0; + + // Remove Roll and Pitch + tf2::Quaternion q; + q.setRPY(0, 0, tf2::getYaw(t.transform.rotation)); + q.normalize(); + transform.transform.rotation.x = q.x(); + transform.transform.rotation.y = q.y(); + transform.transform.rotation.z = q.z(); + transform.transform.rotation.w = q.w(); + + tf_broadcaster_->sendTransform(transform); + return; + } + } + } + +protected: + std::shared_ptr tf_broadcaster_; + std::string base_link_frame_, base_footprint_frame_; +}; + +/** + * @class nav2_util::BaseFootprintPublisher + * @brief Republishes the ``base_link`` frame as ``base_footprint`` + * stripping away the Z, Roll, and Pitch of the full 3D state to provide + * a 2D projection for navigation when state estimation is full 3D + */ +class BaseFootprintPublisher : public rclcpp::Node +{ +public: + /** + * @brief A constructor + */ + explicit BaseFootprintPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) + : Node("base_footprint_publisher", options) + { + RCLCPP_INFO(get_logger(), "Creating base footprint publisher"); + tf_buffer_ = std::make_shared(get_clock()); + auto timer_interface = std::make_shared( + get_node_base_interface(), + get_node_timers_interface()); + tf_buffer_->setCreateTimerInterface(timer_interface); + listener_publisher_ = std::make_shared( + *tf_buffer_, true, *this); + } + +protected: + std::shared_ptr tf_buffer_; + std::shared_ptr listener_publisher_; +}; + +} // end namespace nav2_util + +#endif // NAV2_UTIL__BASE_FOOTPRINT_PUBLISHER_HPP_ diff --git a/nav2_util/include/nav2_util/geometry_utils.hpp b/nav2_util/include/nav2_util/geometry_utils.hpp index 884b7b366ed..67cc87243d6 100644 --- a/nav2_util/include/nav2_util/geometry_utils.hpp +++ b/nav2_util/include/nav2_util/geometry_utils.hpp @@ -132,7 +132,7 @@ inline Iter min_by(Iter begin, Iter end, Getter getCompareVal) Iter lowest_it = begin; for (Iter it = ++begin; it != end; ++it) { auto comp = getCompareVal(*it); - if (comp < lowest) { + if (comp <= lowest) { lowest = comp; lowest_it = it; } diff --git a/nav2_util/include/nav2_util/lifecycle_node.hpp b/nav2_util/include/nav2_util/lifecycle_node.hpp index 6da348c5f1a..7f1ef071570 100644 --- a/nav2_util/include/nav2_util/lifecycle_node.hpp +++ b/nav2_util/include/nav2_util/lifecycle_node.hpp @@ -205,6 +205,7 @@ class LifecycleNode : public rclcpp_lifecycle::LifecycleNode // Connection to tell that server is still up std::unique_ptr bond_{nullptr}; + double bond_heartbeat_period; }; } // namespace nav2_util diff --git a/nav2_util/include/nav2_util/node_thread.hpp b/nav2_util/include/nav2_util/node_thread.hpp index 78d84fb8dbf..e0c16927927 100644 --- a/nav2_util/include/nav2_util/node_thread.hpp +++ b/nav2_util/include/nav2_util/node_thread.hpp @@ -32,13 +32,15 @@ class NodeThread * @brief A background thread to process node callbacks constructor * @param node_base Interface to Node to spin in thread */ - explicit NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base); + explicit NodeThread( + rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base); /** * @brief A background thread to process executor's callbacks constructor * @param executor Interface to executor to spin in thread */ - explicit NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor); + explicit NodeThread( + rclcpp::executors::SingleThreadedExecutor::SharedPtr executor); /** * @brief A background thread to process node callbacks constructor diff --git a/nav2_util/include/nav2_util/node_utils.hpp b/nav2_util/include/nav2_util/node_utils.hpp index d1a39d4a5bd..99570224add 100644 --- a/nav2_util/include/nav2_util/node_utils.hpp +++ b/nav2_util/include/nav2_util/node_utils.hpp @@ -1,4 +1,5 @@ // Copyright (c) 2019 Intel Corporation +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -15,8 +16,10 @@ #ifndef NAV2_UTIL__NODE_UTILS_HPP_ #define NAV2_UTIL__NODE_UTILS_HPP_ +#include #include #include "rclcpp/rclcpp.hpp" +#include "rcl_interfaces/srv/list_parameters.hpp" namespace nav2_util { @@ -140,16 +143,23 @@ std::string get_plugin_type_param( if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) { RCLCPP_FATAL( node->get_logger(), "Can not get 'plugin' param value for %s", plugin_name.c_str()); - exit(-1); + throw std::runtime_error("No 'plugin' param for param ns!"); } } catch (rclcpp::exceptions::ParameterUninitializedException & ex) { RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str()); - exit(-1); + throw std::runtime_error("No 'plugin' param for param ns!"); } return plugin_type; } +/** + * @brief Sets the caller thread to have a soft-realtime prioritization by + * increasing the priority level of the host thread. + * May throw exception if unable to set prioritization successfully + */ +void setSoftRealTimePriority(); + } // namespace nav2_util #endif // NAV2_UTIL__NODE_UTILS_HPP_ diff --git a/nav2_util/include/nav2_util/robot_utils.hpp b/nav2_util/include/nav2_util/robot_utils.hpp index 22306cb545d..cb7d2b9fdfb 100644 --- a/nav2_util/include/nav2_util/robot_utils.hpp +++ b/nav2_util/include/nav2_util/robot_utils.hpp @@ -21,7 +21,11 @@ #include #include "geometry_msgs/msg/pose_stamped.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" #include "tf2/time.h" +#include "tf2/transform_datatypes.h" #include "tf2_ros/buffer.h" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "rclcpp/rclcpp.hpp" @@ -58,17 +62,44 @@ bool transformPoseInTargetFrame( tf2_ros::Buffer & tf_buffer, const std::string target_frame, const double transform_timeout = 0.1); +/** + * @brief Obtains a transform from source_frame_id -> to target_frame_id + * @param source_frame_id Source frame ID to convert from + * @param target_frame_id Target frame ID to convert to + * @param transform_tolerance Transform tolerance + * @param tf_buffer TF buffer to use for the transformation + * @param tf_transform Output source->target transform + * @return True if got correct transform, otherwise false + */ +bool getTransform( + const std::string & source_frame_id, + const std::string & target_frame_id, + const tf2::Duration & transform_tolerance, + const std::shared_ptr tf_buffer, + tf2::Transform & tf2_transform); + /** * @brief Obtains a transform from source_frame_id at source_time -> * to target_frame_id at target_time time * @param source_frame_id Source frame ID to convert from * @param source_time Source timestamp to convert from * @param target_frame_id Target frame ID to convert to - * @param target_time Target time to interpolate to + * @param target_time Current node time to interpolate to + * @param fixed_frame_id The frame in which to assume the transform is constant in time * @param transform_tolerance Transform tolerance + * @param tf_buffer TF buffer to use for the transformation * @param tf_transform Output source->target transform * @return True if got correct transform, otherwise false */ +bool getTransform( + const std::string & source_frame_id, + const rclcpp::Time & source_time, + const std::string & target_frame_id, + const rclcpp::Time & target_time, + const std::string & fixed_frame_id, + const tf2::Duration & transform_tolerance, + const std::shared_ptr tf_buffer, + tf2::Transform & tf2_transform); /** * @brief Obtains a transform from source_frame_id -> to target_frame_id @@ -76,7 +107,7 @@ bool transformPoseInTargetFrame( * @param target_frame_id Target frame ID to convert to * @param transform_tolerance Transform tolerance * @param tf_buffer TF buffer to use for the transformation - * @param tf_transform Output source->target transform + * @param transform_msg Output source->target transform msg * @return True if got correct transform, otherwise false */ bool getTransform( @@ -84,7 +115,7 @@ bool getTransform( const std::string & target_frame_id, const tf2::Duration & transform_tolerance, const std::shared_ptr tf_buffer, - tf2::Transform & tf2_transform); + geometry_msgs::msg::TransformStamped & transform_msg); /** * @brief Obtains a transform from source_frame_id at source_time -> @@ -96,7 +127,7 @@ bool getTransform( * @param fixed_frame_id The frame in which to assume the transform is constant in time * @param transform_tolerance Transform tolerance * @param tf_buffer TF buffer to use for the transformation - * @param tf_transform Output source->target transform + * @param transform_msg Output source->target transform msg * @return True if got correct transform, otherwise false */ bool getTransform( @@ -107,7 +138,15 @@ bool getTransform( const std::string & fixed_frame_id, const tf2::Duration & transform_tolerance, const std::shared_ptr tf_buffer, - tf2::Transform & tf2_transform); + geometry_msgs::msg::TransformStamped & transform_msg); + +/** + * @brief Validates a twist message contains no nans or infs + * @param msg Twist message to validate + * @return True if valid, false if contains unactionable values + */ +[[nodiscard]] bool validateTwist(const geometry_msgs::msg::Twist & msg); +[[nodiscard]] bool validateTwist(const geometry_msgs::msg::TwistStamped & msg); } // end namespace nav2_util diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp index be7340e8fb7..6f25965d1e3 100644 --- a/nav2_util/include/nav2_util/service_client.hpp +++ b/nav2_util/include/nav2_util/service_client.hpp @@ -26,7 +26,7 @@ namespace nav2_util * @class nav2_util::ServiceClient * @brief A simple wrapper on ROS2 services for invoke() and block-style calling */ -template +template class ServiceClient { public: @@ -37,14 +37,14 @@ class ServiceClient */ explicit ServiceClient( const std::string & service_name, - const rclcpp::Node::SharedPtr & provided_node) + const NodeT & provided_node) : service_name_(service_name), node_(provided_node) { callback_group_ = node_->create_callback_group( rclcpp::CallbackGroupType::MutuallyExclusive, false); callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface()); - client_ = node_->create_client( + client_ = node_->template create_client( service_name, rclcpp::SystemDefaultsQoS(), callback_group_); @@ -147,7 +147,7 @@ class ServiceClient protected: std::string service_name_; - rclcpp::Node::SharedPtr node_; + NodeT node_; rclcpp::CallbackGroup::SharedPtr callback_group_; rclcpp::executors::SingleThreadedExecutor callback_group_executor_; typename rclcpp::Client::SharedPtr client_; diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp index f05a4602acf..c8b1660840f 100644 --- a/nav2_util/include/nav2_util/simple_action_server.hpp +++ b/nav2_util/include/nav2_util/simple_action_server.hpp @@ -25,6 +25,7 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" #include "nav2_util/node_thread.hpp" +#include "nav2_util/node_utils.hpp" namespace nav2_util { @@ -57,6 +58,8 @@ class SimpleActionServer * @param server_timeout Timeout to to react to stop or preemption requests * @param spin_thread Whether to spin with a dedicated thread internally * @param options Options to pass to the underlying rcl_action_server_t + * @param realtime Whether the action server's worker thread should have elevated + * prioritization (soft realtime) */ template explicit SimpleActionServer( @@ -66,13 +69,15 @@ class SimpleActionServer CompletionCallback completion_callback = nullptr, std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500), bool spin_thread = false, - const rcl_action_server_options_t & options = rcl_action_server_get_default_options()) + const rcl_action_server_options_t & options = rcl_action_server_get_default_options(), + const bool realtime = false) : SimpleActionServer( node->get_node_base_interface(), node->get_node_clock_interface(), node->get_node_logging_interface(), node->get_node_waitables_interface(), - action_name, execute_callback, completion_callback, server_timeout, spin_thread, options) + action_name, execute_callback, completion_callback, + server_timeout, spin_thread, options, realtime) {} /** @@ -83,6 +88,8 @@ class SimpleActionServer * @param server_timeout Timeout to to react to stop or preemption requests * @param spin_thread Whether to spin with a dedicated thread internally * @param options Options to pass to the underlying rcl_action_server_t + * @param realtime Whether the action server's worker thread should have elevated + * prioritization (soft realtime) */ explicit SimpleActionServer( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface, @@ -94,7 +101,8 @@ class SimpleActionServer CompletionCallback completion_callback = nullptr, std::chrono::milliseconds server_timeout = std::chrono::milliseconds(500), bool spin_thread = false, - const rcl_action_server_options_t & options = rcl_action_server_get_default_options()) + const rcl_action_server_options_t & options = rcl_action_server_get_default_options(), + const bool realtime = false) : node_base_interface_(node_base_interface), node_clock_interface_(node_clock_interface), node_logging_interface_(node_logging_interface), @@ -106,6 +114,7 @@ class SimpleActionServer spin_thread_(spin_thread) { using namespace std::placeholders; // NOLINT + use_realtime_prioritization_ = realtime; if (spin_thread_) { callback_group_ = node_base_interface->create_callback_group( rclcpp::CallbackGroupType::MutuallyExclusive, false); @@ -170,6 +179,17 @@ class SimpleActionServer return rclcpp_action::CancelResponse::ACCEPT; } + /** + * @brief Sets thread priority level + */ + void setSoftRealTimePriority() + { + if (use_realtime_prioritization_) { + nav2_util::setSoftRealTimePriority(); + debug_msg("Soft realtime prioritization successfully set!"); + } + } + /** * @brief Handles accepted goals and adds to preempted queue to switch to * @param Goal A server goal handle to cancel @@ -202,7 +222,11 @@ class SimpleActionServer // Return quickly to avoid blocking the executor, so spin up a new thread debug_msg("Executing goal asynchronously."); - execution_future_ = std::async(std::launch::async, [this]() {work();}); + execution_future_ = std::async( + std::launch::async, [this]() { + setSoftRealTimePriority(); + work(); + }); } } @@ -220,7 +244,7 @@ class SimpleActionServer node_logging_interface_->get_logger(), "Action server failed while executing action callback: \"%s\"", ex.what()); terminate_all(); - completion_callback_(); + if (completion_callback_) {completion_callback_();} return; } @@ -230,14 +254,14 @@ class SimpleActionServer if (stop_execution_) { warn_msg("Stopping the thread per request."); terminate_all(); - completion_callback_(); + if (completion_callback_) {completion_callback_();} break; } if (is_active(current_handle_)) { warn_msg("Current goal was not completed successfully."); terminate(current_handle_); - completion_callback_(); + if (completion_callback_) {completion_callback_();} } if (is_active(pending_handle_)) { @@ -290,8 +314,8 @@ class SimpleActionServer info_msg("Waiting for async process to finish."); if (steady_clock::now() - start_time >= server_timeout_) { terminate_all(); - completion_callback_(); - throw std::runtime_error("Action callback is still running and missed deadline to stop"); + if (completion_callback_) {completion_callback_();} + error_msg("Action callback is still running and missed deadline to stop"); } } @@ -509,6 +533,7 @@ class SimpleActionServer CompletionCallback completion_callback_; std::future execution_future_; bool stop_execution_{false}; + bool use_realtime_prioritization_{false}; mutable std::recursive_mutex update_mutex_; bool server_active_{false}; @@ -549,7 +574,7 @@ class SimpleActionServer * @param the Results object to terminate the action with */ void terminate( - std::shared_ptr> handle, + std::shared_ptr> & handle, typename std::shared_ptr result = std::make_shared()) { diff --git a/nav2_util/include/nav2_util/twist_publisher.hpp b/nav2_util/include/nav2_util/twist_publisher.hpp new file mode 100644 index 00000000000..b86fdee5e78 --- /dev/null +++ b/nav2_util/include/nav2_util/twist_publisher.hpp @@ -0,0 +1,133 @@ +// Copyright (C) 2023 Ryan Friedman +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + + +#ifndef NAV2_UTIL__TWIST_PUBLISHER_HPP_ +#define NAV2_UTIL__TWIST_PUBLISHER_HPP_ + + +#include +#include +#include + +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" +#include "rclcpp/parameter_service.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/qos.hpp" +#include "rclcpp_lifecycle/lifecycle_publisher.hpp" + +#include "lifecycle_node.hpp" +#include "node_utils.hpp" + +namespace nav2_util +{ + +/** + * @class nav2_util::TwistPublisher + * @brief A simple wrapper on a Twist publisher that provides either Twist or TwistStamped + * + * The default is to publish Twist to preserve backwards compatibility, but it can be overridden + * using the "enable_stamped_cmd_vel" parameter to publish TwistStamped. + * + */ + +class TwistPublisher +{ +public: + /** + * @brief A constructor + * @param nh The node + * @param topic publisher topic name + * @param qos publisher quality of service + */ + explicit TwistPublisher( + nav2_util::LifecycleNode::SharedPtr node, + const std::string & topic, + const rclcpp::QoS & qos) + : topic_(topic) + { + using nav2_util::declare_parameter_if_not_declared; + declare_parameter_if_not_declared( + node, "enable_stamped_cmd_vel", + rclcpp::ParameterValue{false}); + node->get_parameter("enable_stamped_cmd_vel", is_stamped_); + if (is_stamped_) { + twist_stamped_pub_ = node->create_publisher( + topic_, + qos); + } else { + twist_pub_ = node->create_publisher( + topic_, + qos); + } + } + + void on_activate() + { + if (is_stamped_) { + twist_stamped_pub_->on_activate(); + } else { + twist_pub_->on_activate(); + } + } + + void on_deactivate() + { + if (is_stamped_) { + twist_stamped_pub_->on_deactivate(); + } else { + twist_pub_->on_deactivate(); + } + } + + [[nodiscard]] bool is_activated() const + { + if (is_stamped_) { + return twist_stamped_pub_->is_activated(); + } else { + return twist_pub_->is_activated(); + } + } + + void publish(std::unique_ptr velocity) + { + if (is_stamped_) { + twist_stamped_pub_->publish(std::move(velocity)); + } else { + auto twist_msg = std::make_unique(velocity->twist); + twist_pub_->publish(std::move(twist_msg)); + } + } + + [[nodiscard]] size_t get_subscription_count() const + { + if (is_stamped_) { + return twist_stamped_pub_->get_subscription_count(); + } else { + return twist_pub_->get_subscription_count(); + } + } + +protected: + std::string topic_; + bool is_stamped_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr twist_pub_; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr + twist_stamped_pub_; +}; + +} // namespace nav2_util + +#endif // NAV2_UTIL__TWIST_PUBLISHER_HPP_ diff --git a/nav2_util/include/nav2_util/twist_subscriber.hpp b/nav2_util/include/nav2_util/twist_subscriber.hpp new file mode 100644 index 00000000000..01f9ca25fed --- /dev/null +++ b/nav2_util/include/nav2_util/twist_subscriber.hpp @@ -0,0 +1,153 @@ +// Copyright (C) 2023 Ryan Friedman +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + + +#ifndef NAV2_UTIL__TWIST_SUBSCRIBER_HPP_ +#define NAV2_UTIL__TWIST_SUBSCRIBER_HPP_ + + +#include +#include +#include + +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" +#include "rclcpp/parameter_service.hpp" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/qos.hpp" +#include "rclcpp_lifecycle/lifecycle_publisher.hpp" + +#include "lifecycle_node.hpp" +#include "node_utils.hpp" + +namespace nav2_util +{ + +/** + * @class nav2_util::TwistSubscriber + * @brief A simple wrapper on a Twist subscriber that receives either + * geometry_msgs::msg::TwistStamped or geometry_msgs::msg::Twist + * + * @note Usage: + * The default behavior is to subscribe to Twist, which preserves backwards compatibility + * with ROS distributions up to Iron. + * The behavior can be overridden using the "enable_stamped_cmd_vel" parameter. + * By setting that to "True", the TwistSubscriber class would subscribe to TwistStamped. + * + * @note Why use Twist Stamped over Twist? + * Twist has been used widely in many ROS applications, typically for body-frame velocity control, + * and between ROS nodes on the same computer. Many ROS interfaces are moving to using TwistStamped + * because it is more robust for stale data protection. This protection is especially important + * when sending velocity control over lossy communication links. + * An example application where this matters is a drone with a Linux computer running a ROS + * controller that sends Twist commands to an embedded autopilot. If the autopilot failed to + * recognize a highly latent connection, it could result in instability or a crash because of the + * decreased phase margin for control. + * TwistStamped also has a frame ID, allowing explicit control for multiple frames, rather than + * relying on an assumption of body-frame control or having to create a different topic. + * Adding a header is low-cost for most ROS applications; the header can be set to an empty string + * if bandwidth is of concern. + * + * @note Implementation Design Notes: + * Compared to the naive approach of setting up one subscriber for each message type, + * only one subscriber is created at a time; the other is nullptr. + * This reduces RAM usage and ROS discovery traffic. + * This approach allows NAV2 libraries to be flexible in which Twist message they support, + * while maintaining a stable API in a ROS distribution. + * + */ + +class TwistSubscriber +{ +public: + /** + * @brief A constructor that supports either Twist and TwistStamped + * @param node The node to add the Twist subscriber to + * @param topic The subscriber topic name + * @param qos The subscriber quality of service + * @param TwistCallback The subscriber callback for Twist messages + * @param TwistStampedCallback The subscriber callback for TwistStamped messages + */ + template + explicit TwistSubscriber( + nav2_util::LifecycleNode::SharedPtr node, + const std::string & topic, + const rclcpp::QoS & qos, + TwistCallbackT && TwistCallback, + TwistStampedCallbackT && TwistStampedCallback + ) + { + nav2_util::declare_parameter_if_not_declared( + node, "enable_stamped_cmd_vel", + rclcpp::ParameterValue(false)); + node->get_parameter("enable_stamped_cmd_vel", is_stamped_); + if (is_stamped_) { + twist_stamped_sub_ = node->create_subscription( + topic, + qos, + std::forward(TwistStampedCallback)); + } else { + twist_sub_ = node->create_subscription( + topic, + qos, + std::forward(TwistCallback)); + } + } + + /** + * @brief A constructor that only supports TwistStamped + * @param node The node to add the TwistStamped subscriber to + * @param topic The subscriber topic name + * @param qos The subscriber quality of service + * @param TwistStampedCallback The subscriber callback for TwistStamped messages + * @throw std::invalid_argument When configured with an invalid ROS parameter + */ + template + explicit TwistSubscriber( + nav2_util::LifecycleNode::SharedPtr node, + const std::string & topic, + const rclcpp::QoS & qos, + TwistStampedCallbackT && TwistStampedCallback + ) + { + nav2_util::declare_parameter_if_not_declared( + node, "enable_stamped_cmd_vel", + rclcpp::ParameterValue(false)); + node->get_parameter("enable_stamped_cmd_vel", is_stamped_); + if (is_stamped_) { + twist_stamped_sub_ = node->create_subscription( + topic, + qos, + std::forward(TwistStampedCallback)); + } else { + throw std::invalid_argument( + "enable_stamped_cmd_vel must be true when using this constructor!"); + } + } + +protected: + //! @brief The user-configured value for ROS parameter enable_stamped_cmd_vel + bool is_stamped_{false}; + //! @brief The subscription when using Twist + rclcpp::Subscription::SharedPtr twist_sub_ {nullptr}; + //! @brief The subscription when using TwistStamped + rclcpp::Subscription::SharedPtr twist_stamped_sub_ {nullptr}; +}; + + +} // namespace nav2_util + +#endif // NAV2_UTIL__TWIST_SUBSCRIBER_HPP_ diff --git a/nav2_util/include/nav2_util/validate_messages.hpp b/nav2_util/include/nav2_util/validate_messages.hpp new file mode 100644 index 00000000000..58594f1ecd5 --- /dev/null +++ b/nav2_util/include/nav2_util/validate_messages.hpp @@ -0,0 +1,179 @@ +// Copyright (c) 2024 GoesM +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + + +#ifndef NAV2_UTIL__VALIDATE_MESSAGES_HPP_ +#define NAV2_UTIL__VALIDATE_MESSAGES_HPP_ + +#include +#include + +#include "nav_msgs/msg/occupancy_grid.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp" + + +// @brief Validation Check +// Check recieved message is safe or not for the nav2-system +// For each msg-type known in nav2, we could check it as following: +// if(!validateMsg()) RCLCPP_ERROR(,"malformed msg. Rejecting.") +// +// Workflow of validateMsg(): +// if here's a sub-msg-type in the recieved msg, +// the content of sub-msg would be checked as sub-msg-type +// then, check the whole recieved msg. +// +// Following conditions are involved in check: +// 1> Value Check: to avoid damaged value like like `nan`, `INF`, empty string and so on +// 2> Logic Check: to avoid value with bad logic, +// like the size of `map` should be equal to `height*width` +// 3> Any other needed condition could be joint here in future + +namespace nav2_util +{ + + +bool validateMsg(const double & num) +{ + /* @brief double/float value check + * if here'a need to check message validation + * it should be avoid to use double value like `nan`, `inf` + * otherwise, we regard it as an invalid message + */ + if (std::isinf(num)) {return false;} + if (std::isnan(num)) {return false;} + return true; +} + +template +bool validateMsg(const std::array & msg) +{ + /* @brief value check for double-array + * like the field `covariance` used in the msg-type: + * geometry_msgs::msg::PoseWithCovarianceStamped + */ + for (const auto & element : msg) { + if (!validateMsg(element)) {return false;} + } + + return true; +} + +const int NSEC_PER_SEC = 1e9; // 1 second = 1e9 nanosecond +bool validateMsg(const builtin_interfaces::msg::Time & msg) +{ + if (msg.nanosec >= NSEC_PER_SEC) { + return false; // invalid nanosec-stamp + } + return true; +} + +bool validateMsg(const std_msgs::msg::Header & msg) +{ + // check sub-type + if (!validateMsg(msg.stamp)) {return false;} + + /* @brief frame_id check + * if here'a need to check message validation + * it should at least have a non-empty frame_id + * otherwise, we regard it as an invalid message + */ + if (msg.frame_id.empty()) {return false;} + return true; +} + +bool validateMsg(const geometry_msgs::msg::Point & msg) +{ + // check sub-type + if (!validateMsg(msg.x)) {return false;} + if (!validateMsg(msg.y)) {return false;} + if (!validateMsg(msg.z)) {return false;} + return true; +} + +const double epsilon = 1e-4; +bool validateMsg(const geometry_msgs::msg::Quaternion & msg) +{ + // check sub-type + if (!validateMsg(msg.x)) {return false;} + if (!validateMsg(msg.y)) {return false;} + if (!validateMsg(msg.z)) {return false;} + if (!validateMsg(msg.w)) {return false;} + + if (abs(msg.x * msg.x + msg.y * msg.y + msg.z * msg.z + msg.w * msg.w - 1.0) >= epsilon) { + return false; + } + + return true; +} + +bool validateMsg(const geometry_msgs::msg::Pose & msg) +{ + // check sub-type + if (!validateMsg(msg.position)) {return false;} + if (!validateMsg(msg.orientation)) {return false;} + return true; +} + +bool validateMsg(const geometry_msgs::msg::PoseWithCovariance & msg) +{ + // check sub-type + if (!validateMsg(msg.pose)) {return false;} + if (!validateMsg(msg.covariance)) {return false;} + + return true; +} + +bool validateMsg(const geometry_msgs::msg::PoseWithCovarianceStamped & msg) +{ + // check sub-type + if (!validateMsg(msg.header)) {return false;} + if (!validateMsg(msg.pose)) {return false;} + return true; +} + + +// Function to verify map meta information +bool validateMsg(const nav_msgs::msg::MapMetaData & msg) +{ + // check sub-type + if (!validateMsg(msg.origin)) {return false;} + if (!validateMsg(msg.resolution)) {return false;} + + // logic check + // 1> we don't need an empty map + if (msg.height == 0 || msg.width == 0) {return false;} + return true; +} + +// for msg-type like map, costmap and others as `OccupancyGrid` +bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg) +{ + // check sub-type + if (!validateMsg(msg.header)) {return false;} + // msg.data : @todo any check for it ? + if (!validateMsg(msg.info)) {return false;} + + // check logic + if (msg.data.size() != msg.info.width * msg.info.height) { + return false; // check map-size + } + return true; +} + + +} // namespace nav2_util + + +#endif // NAV2_UTIL__VALIDATE_MESSAGES_HPP_ diff --git a/nav2_util/package.xml b/nav2_util/package.xml index 60a2b0a093d..9de53f5fd52 100644 --- a/nav2_util/package.xml +++ b/nav2_util/package.xml @@ -2,7 +2,7 @@ nav2_util - 1.1.0 + 1.2.0 TODO Michael Jeronimo Mohammad Haghighipanah @@ -28,6 +28,7 @@ launch launch_testing_ament_cmake action_msgs + rcl_interfaces libboost-program-options diff --git a/nav2_util/src/CMakeLists.txt b/nav2_util/src/CMakeLists.txt index a639a0e59e9..6ddcdc6d32f 100644 --- a/nav2_util/src/CMakeLists.txt +++ b/nav2_util/src/CMakeLists.txt @@ -8,6 +8,7 @@ add_library(${library_name} SHARED robot_utils.cpp node_thread.cpp odometry_utils.cpp + array_parser.cpp ) ament_target_dependencies(${library_name} @@ -28,6 +29,11 @@ add_executable(lifecycle_bringup ) target_link_libraries(lifecycle_bringup ${library_name}) +add_executable(base_footprint_publisher + base_footprint_publisher.cpp +) +target_link_libraries(base_footprint_publisher ${library_name}) + find_package(Boost REQUIRED COMPONENTS program_options) install(TARGETS diff --git a/nav2_costmap_2d/src/array_parser.cpp b/nav2_util/src/array_parser.cpp similarity index 98% rename from nav2_costmap_2d/src/array_parser.cpp rename to nav2_util/src/array_parser.cpp index eecd4eebc8c..cfe2f699145 100644 --- a/nav2_costmap_2d/src/array_parser.cpp +++ b/nav2_util/src/array_parser.cpp @@ -34,7 +34,7 @@ #include #include -namespace nav2_costmap_2d +namespace nav2_util { /** @brief Parse a vector of vector of floats from a string. @@ -102,4 +102,4 @@ std::vector> parseVVF(const std::string & input, std::string return result; } -} // end namespace nav2_costmap_2d +} // end namespace nav2_util diff --git a/nav2_util/src/base_footprint_publisher.cpp b/nav2_util/src/base_footprint_publisher.cpp new file mode 100644 index 00000000000..f3b6791db44 --- /dev/null +++ b/nav2_util/src/base_footprint_publisher.cpp @@ -0,0 +1,27 @@ +// Copyright (c) 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include "nav2_util/base_footprint_publisher.hpp" + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node->get_node_base_interface()); + rclcpp::shutdown(); + + return 0; +} diff --git a/nav2_util/src/lifecycle_node.cpp b/nav2_util/src/lifecycle_node.cpp index e09ae54b5d6..5976d098a86 100644 --- a/nav2_util/src/lifecycle_node.cpp +++ b/nav2_util/src/lifecycle_node.cpp @@ -19,6 +19,7 @@ #include #include "lifecycle_msgs/msg/state.hpp" +#include "nav2_util/node_utils.hpp" namespace nav2_util { @@ -35,6 +36,10 @@ LifecycleNode::LifecycleNode( rclcpp::Parameter( bond::msg::Constants::DISABLE_HEARTBEAT_TIMEOUT_PARAM, true)); + nav2_util::declare_parameter_if_not_declared( + this, "bond_heartbeat_period", rclcpp::ParameterValue(0.1)); + this->get_parameter("bond_heartbeat_period", bond_heartbeat_period); + printLifecycleNodeNotification(); register_rcl_preshutdown_callback(); @@ -55,16 +60,18 @@ LifecycleNode::~LifecycleNode() void LifecycleNode::createBond() { - RCLCPP_INFO(get_logger(), "Creating bond (%s) to lifecycle manager.", this->get_name()); + if (bond_heartbeat_period > 0.0) { + RCLCPP_INFO(get_logger(), "Creating bond (%s) to lifecycle manager.", this->get_name()); - bond_ = std::make_unique( - std::string("bond"), - this->get_name(), - shared_from_this()); + bond_ = std::make_unique( + std::string("bond"), + this->get_name(), + shared_from_this()); - bond_->setHeartbeatPeriod(0.10); - bond_->setHeartbeatTimeout(4.0); - bond_->start(); + bond_->setHeartbeatPeriod(bond_heartbeat_period); + bond_->setHeartbeatTimeout(4.0); + bond_->start(); + } } void LifecycleNode::runCleanups() @@ -110,10 +117,12 @@ void LifecycleNode::register_rcl_preshutdown_callback() void LifecycleNode::destroyBond() { - RCLCPP_INFO(get_logger(), "Destroying bond (%s) to lifecycle manager.", this->get_name()); + if (bond_heartbeat_period > 0.0) { + RCLCPP_INFO(get_logger(), "Destroying bond (%s) to lifecycle manager.", this->get_name()); - if (bond_) { - bond_.reset(); + if (bond_) { + bond_.reset(); + } } } diff --git a/nav2_util/src/node_thread.cpp b/nav2_util/src/node_thread.cpp index c19fbd98477..adcbe50b780 100644 --- a/nav2_util/src/node_thread.cpp +++ b/nav2_util/src/node_thread.cpp @@ -13,13 +13,13 @@ // limitations under the License. #include - #include "nav2_util/node_thread.hpp" namespace nav2_util { -NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base) +NodeThread::NodeThread( + rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base) : node_(node_base) { executor_ = std::make_shared(); @@ -35,7 +35,10 @@ NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr nod NodeThread::NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor) : executor_(executor) { - thread_ = std::make_unique([&]() {executor_->spin();}); + thread_ = std::make_unique( + [&]() { + executor_->spin(); + }); } NodeThread::~NodeThread() diff --git a/nav2_util/src/node_utils.cpp b/nav2_util/src/node_utils.cpp index e5415b81adc..993eaf53b6e 100644 --- a/nav2_util/src/node_utils.cpp +++ b/nav2_util/src/node_utils.cpp @@ -1,4 +1,5 @@ // Copyright (c) 2019 Intel Corporation +// Copyright (c) 2023 Open Navigation LLC // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -89,4 +90,17 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix) return rclcpp::Node::make_shared("_", options); } +void setSoftRealTimePriority() +{ + sched_param sch; + sch.sched_priority = 49; + if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) { + std::string errmsg( + "Cannot set as real-time thread. Users must set: hard rtprio 99 and " + " soft rtprio 99 in /etc/security/limits.conf to enable " + "realtime prioritization! Error: "); + throw std::runtime_error(errmsg + std::strerror(errno)); + } +} + } // namespace nav2_util diff --git a/nav2_util/src/robot_utils.cpp b/nav2_util/src/robot_utils.cpp index 8714f05a996..a9f4d137fa2 100644 --- a/nav2_util/src/robot_utils.cpp +++ b/nav2_util/src/robot_utils.cpp @@ -15,6 +15,7 @@ // limitations under the License. #include +#include #include #include "tf2/convert.h" @@ -81,11 +82,8 @@ bool getTransform( const std::string & target_frame_id, const tf2::Duration & transform_tolerance, const std::shared_ptr tf_buffer, - tf2::Transform & tf2_transform) + geometry_msgs::msg::TransformStamped & transform_msg) { - geometry_msgs::msg::TransformStamped transform; - tf2_transform.setIdentity(); // initialize by identical transform - if (source_frame_id == target_frame_id) { // We are already in required frame return true; @@ -93,7 +91,7 @@ bool getTransform( try { // Obtaining the transform to get data from source to target frame - transform = tf_buffer->lookupTransform( + transform_msg = tf_buffer->lookupTransform( target_frame_id, source_frame_id, tf2::TimePointZero, transform_tolerance); } catch (tf2::TransformException & e) { @@ -103,29 +101,40 @@ bool getTransform( source_frame_id.c_str(), target_frame_id.c_str(), e.what()); return false; } - - // Convert TransformStamped to TF2 transform - tf2::fromMsg(transform.transform, tf2_transform); return true; } bool getTransform( const std::string & source_frame_id, - const rclcpp::Time & source_time, const std::string & target_frame_id, - const rclcpp::Time & target_time, - const std::string & fixed_frame_id, const tf2::Duration & transform_tolerance, const std::shared_ptr tf_buffer, tf2::Transform & tf2_transform) { - geometry_msgs::msg::TransformStamped transform; tf2_transform.setIdentity(); // initialize by identical transform + geometry_msgs::msg::TransformStamped transform; + if (getTransform(source_frame_id, target_frame_id, transform_tolerance, tf_buffer, transform)) { + // Convert TransformStamped to TF2 transform + tf2::fromMsg(transform.transform, tf2_transform); + return true; + } + return false; +} +bool getTransform( + const std::string & source_frame_id, + const rclcpp::Time & source_time, + const std::string & target_frame_id, + const rclcpp::Time & target_time, + const std::string & fixed_frame_id, + const tf2::Duration & transform_tolerance, + const std::shared_ptr tf_buffer, + geometry_msgs::msg::TransformStamped & transform_msg) +{ try { // Obtaining the transform to get data from source to target frame. // This also considers the time shift between source and target. - transform = tf_buffer->lookupTransform( + transform_msg = tf_buffer->lookupTransform( target_frame_id, target_time, source_frame_id, source_time, fixed_frame_id, transform_tolerance); @@ -137,9 +146,65 @@ bool getTransform( return false; } - // Convert TransformStamped to TF2 transform - tf2::fromMsg(transform.transform, tf2_transform); return true; } +bool getTransform( + const std::string & source_frame_id, + const rclcpp::Time & source_time, + const std::string & target_frame_id, + const rclcpp::Time & target_time, + const std::string & fixed_frame_id, + const tf2::Duration & transform_tolerance, + const std::shared_ptr tf_buffer, + tf2::Transform & tf2_transform) +{ + geometry_msgs::msg::TransformStamped transform; + tf2_transform.setIdentity(); // initialize by identical transform + if (getTransform( + source_frame_id, source_time, target_frame_id, target_time, fixed_frame_id, + transform_tolerance, tf_buffer, transform)) + { + // Convert TransformStamped to TF2 transform + tf2::fromMsg(transform.transform, tf2_transform); + return true; + } + + return false; +} + +bool validateTwist(const geometry_msgs::msg::Twist & msg) +{ + if (std::isinf(msg.linear.x) || std::isnan(msg.linear.x)) { + return false; + } + + if (std::isinf(msg.linear.y) || std::isnan(msg.linear.y)) { + return false; + } + + if (std::isinf(msg.linear.z) || std::isnan(msg.linear.z)) { + return false; + } + + if (std::isinf(msg.angular.x) || std::isnan(msg.angular.x)) { + return false; + } + + if (std::isinf(msg.angular.y) || std::isnan(msg.angular.y)) { + return false; + } + + if (std::isinf(msg.angular.z) || std::isnan(msg.angular.z)) { + return false; + } + + return true; +} + +bool validateTwist(const geometry_msgs::msg::TwistStamped & msg) +{ + return validateTwist(msg.twist); +} + } // end namespace nav2_util diff --git a/nav2_util/test/CMakeLists.txt b/nav2_util/test/CMakeLists.txt index 9f1ae99bbcb..4c0f2747210 100644 --- a/nav2_util/test/CMakeLists.txt +++ b/nav2_util/test/CMakeLists.txt @@ -41,3 +41,22 @@ target_link_libraries(test_odometry_utils ${library_name}) ament_add_gtest(test_robot_utils test_robot_utils.cpp) ament_target_dependencies(test_robot_utils geometry_msgs) target_link_libraries(test_robot_utils ${library_name}) + +ament_add_gtest(test_base_footprint_publisher test_base_footprint_publisher.cpp) +ament_target_dependencies(test_base_footprint_publisher geometry_msgs) +target_link_libraries(test_base_footprint_publisher ${library_name}) + +ament_add_gtest(test_array_parser test_array_parser.cpp) +target_link_libraries(test_array_parser ${library_name}) + +ament_add_gtest(test_twist_publisher test_twist_publisher.cpp) +ament_target_dependencies(test_twist_publisher rclcpp_lifecycle) +target_link_libraries(test_twist_publisher ${library_name}) + +ament_add_gtest(test_twist_subscriber test_twist_subscriber.cpp) +ament_target_dependencies(test_twist_subscriber rclcpp_lifecycle) +target_link_libraries(test_twist_subscriber ${library_name}) + +ament_add_gtest(test_validation_messages test_validation_messages.cpp) +ament_target_dependencies(test_validation_messages rclcpp_lifecycle) +target_link_libraries(test_validation_messages ${library_name}) \ No newline at end of file diff --git a/nav2_util/test/test_actions.cpp b/nav2_util/test/test_actions.cpp index 26c64b1c7dc..3af965d4c68 100644 --- a/nav2_util/test/test_actions.cpp +++ b/nav2_util/test/test_actions.cpp @@ -548,6 +548,5 @@ int main(int argc, char ** argv) ::testing::InitGoogleTest(&argc, argv); auto result = RUN_ALL_TESTS(); rclcpp::shutdown(); - rclcpp::Rate(1).sleep(); return result; } diff --git a/nav2_costmap_2d/test/unit/array_parser_test.cpp b/nav2_util/test/test_array_parser.cpp similarity index 88% rename from nav2_costmap_2d/test/unit/array_parser_test.cpp rename to nav2_util/test/test_array_parser.cpp index 3706f0cb775..76a691b7000 100644 --- a/nav2_costmap_2d/test/unit/array_parser_test.cpp +++ b/nav2_util/test/test_array_parser.cpp @@ -31,13 +31,13 @@ #include #include "gtest/gtest.h" -#include "nav2_costmap_2d/array_parser.hpp" +#include "nav2_util/array_parser.hpp" TEST(array_parser, basic_operation) { std::string error; std::vector> vvf; - vvf = nav2_costmap_2d::parseVVF("[[1, 2.2], [.3, -4e4]]", error); + vvf = nav2_util::parseVVF("[[1, 2.2], [.3, -4e4]]", error); EXPECT_EQ(2u, vvf.size() ); EXPECT_EQ(2u, vvf[0].size() ); EXPECT_EQ(2u, vvf[1].size() ); @@ -52,7 +52,7 @@ TEST(array_parser, missing_open) { std::string error; std::vector> vvf; - vvf = nav2_costmap_2d::parseVVF("[1, 2.2], [.3, -4e4]]", error); + vvf = nav2_util::parseVVF("[1, 2.2], [.3, -4e4]]", error); EXPECT_NE(error, ""); } @@ -60,7 +60,7 @@ TEST(array_parser, missing_close) { std::string error; std::vector> vvf; - vvf = nav2_costmap_2d::parseVVF("[[1, 2.2], [.3, -4e4]", error); + vvf = nav2_util::parseVVF("[[1, 2.2], [.3, -4e4]", error); EXPECT_NE(error, ""); } @@ -68,7 +68,7 @@ TEST(array_parser, wrong_depth) { std::string error; std::vector> vvf; - vvf = nav2_costmap_2d::parseVVF("[1, 2.2], [.3, -4e4]", error); + vvf = nav2_util::parseVVF("[1, 2.2], [.3, -4e4]", error); EXPECT_NE(error, ""); } diff --git a/nav2_util/test/test_base_footprint_publisher.cpp b/nav2_util/test/test_base_footprint_publisher.cpp new file mode 100644 index 00000000000..47dc83c7f31 --- /dev/null +++ b/nav2_util/test/test_base_footprint_publisher.cpp @@ -0,0 +1,72 @@ +// Copyright (c) 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include "nav2_util/base_footprint_publisher.hpp" +#include "gtest/gtest.h" +#include "tf2/exceptions.h" + +class RclCppFixture +{ +public: + RclCppFixture() {rclcpp::init(0, nullptr);} + ~RclCppFixture() {rclcpp::shutdown();} +}; +RclCppFixture g_rclcppfixture; + +TEST(TestBaseFootprintPublisher, TestBaseFootprintPublisher) +{ + auto node = std::make_shared(); + rclcpp::spin_some(node->get_node_base_interface()); + + auto tf_broadcaster = std::make_shared(node); + auto buffer = std::make_shared(node->get_clock()); + auto timer_interface = std::make_shared( + node->get_node_base_interface(), + node->get_node_timers_interface()); + buffer->setCreateTimerInterface(timer_interface); + auto listener = std::make_shared(*buffer, true); + + std::string base_link = "base_link"; + std::string base_footprint = "base_footprint"; + + // Publish something to TF, should fail, doesn't exist + geometry_msgs::msg::TransformStamped transform; + transform.header.stamp = node->now(); + transform.header.frame_id = "test1_1"; + transform.child_frame_id = "test1"; + tf_broadcaster->sendTransform(transform); + rclcpp::spin_some(node->get_node_base_interface()); + EXPECT_THROW( + buffer->lookupTransform(base_link, base_footprint, tf2::TimePointZero), + tf2::TransformException); + + // This is valid, should work now and communicate the Z-removed info + transform.header.stamp = node->now(); + transform.header.frame_id = "odom"; + transform.child_frame_id = "base_link"; + transform.transform.translation.x = 1.0; + transform.transform.translation.y = 1.0; + transform.transform.translation.z = 1.0; + tf_broadcaster->sendTransform(transform); + rclcpp::Rate r(1.0); + r.sleep(); + rclcpp::spin_some(node->get_node_base_interface()); + auto t = buffer->lookupTransform(base_link, base_footprint, tf2::TimePointZero); + EXPECT_EQ(t.transform.translation.x, 1.0); + EXPECT_EQ(t.transform.translation.y, 1.0); + EXPECT_EQ(t.transform.translation.z, 0.0); +} diff --git a/nav2_util/test/test_node_utils.cpp b/nav2_util/test/test_node_utils.cpp index 7c439271615..bf945276358 100644 --- a/nav2_util/test/test_node_utils.cpp +++ b/nav2_util/test/test_node_utils.cpp @@ -92,5 +92,5 @@ TEST(GetPluginTypeParam, GetPluginTypeParam) auto node = std::make_shared("test_node"); node->declare_parameter("Foo.plugin", "bar"); ASSERT_EQ(get_plugin_type_param(node, "Foo"), "bar"); - ASSERT_EXIT(get_plugin_type_param(node, "Waldo"), ::testing::ExitedWithCode(255), ".*"); + EXPECT_THROW(get_plugin_type_param(node, "Waldo"), std::runtime_error); } diff --git a/nav2_util/test/test_robot_utils.cpp b/nav2_util/test/test_robot_utils.cpp index bd277515ab0..d8922868fb6 100644 --- a/nav2_util/test/test_robot_utils.cpp +++ b/nav2_util/test/test_robot_utils.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include "rclcpp/rclcpp.hpp" #include "nav2_util/robot_utils.hpp" #include "tf2_ros/transform_listener.h" @@ -32,3 +33,28 @@ TEST(RobotUtils, LookupExceptionError) global_pose.header.frame_id = "base_link"; ASSERT_FALSE(nav2_util::transformPoseInTargetFrame(global_pose, global_pose, tf, "map", 0.1)); } + +TEST(RobotUtils, validateTwist) +{ + geometry_msgs::msg::Twist msg; + EXPECT_TRUE(nav2_util::validateTwist(msg)); + + msg.linear.x = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); + msg.linear.x = 1; + msg.linear.y = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); + msg.linear.y = 1; + msg.linear.z = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); + + msg.linear.z = 1; + msg.angular.x = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); + msg.angular.x = 1; + msg.angular.y = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); + msg.angular.y = 1; + msg.angular.z = NAN; + EXPECT_FALSE(nav2_util::validateTwist(msg)); +} diff --git a/nav2_util/test/test_twist_publisher.cpp b/nav2_util/test/test_twist_publisher.cpp new file mode 100644 index 00000000000..94361e94aa8 --- /dev/null +++ b/nav2_util/test/test_twist_publisher.cpp @@ -0,0 +1,101 @@ +// Copyright (C) 2023 Ryan Friedman +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include "nav2_util/twist_publisher.hpp" +#include "nav2_util/lifecycle_utils.hpp" +#include "gtest/gtest.h" +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_lifecycle/lifecycle_publisher.hpp" + +using nav2_util::startup_lifecycle_nodes; +using nav2_util::reset_lifecycle_nodes; + +TEST(TwistPublisher, Unstamped) +{ + rclcpp::init(0, nullptr); + auto pub_node = std::make_shared("pub_node", ""); + pub_node->configure(); + auto vel_publisher = std::make_unique(pub_node, "cmd_vel", 1); + ASSERT_EQ(vel_publisher->get_subscription_count(), 0); + EXPECT_FALSE(vel_publisher->is_activated()); + pub_node->activate(); + EXPECT_TRUE(vel_publisher->is_activated()); + vel_publisher->on_activate(); + auto pub_thread = std::thread([&]() {rclcpp::spin(pub_node->get_node_base_interface());}); + + auto sub_node = std::make_shared("sub_node", ""); + sub_node->configure(); + sub_node->activate(); + + auto pub_msg = std::make_unique(); + pub_msg->twist.linear.x = 42.0; + auto pub_msg_copy = pub_msg->twist; + + geometry_msgs::msg::Twist sub_msg {}; + auto my_sub = sub_node->create_subscription( + "cmd_vel", 10, + [&](const geometry_msgs::msg::Twist msg) {sub_msg = msg;}); + + vel_publisher->publish(std::move(pub_msg)); + rclcpp::spin_some(sub_node->get_node_base_interface()); + + EXPECT_EQ(pub_msg_copy.linear.x, sub_msg.linear.x); + EXPECT_EQ(vel_publisher->get_subscription_count(), 1); + pub_node->deactivate(); + sub_node->deactivate(); + rclcpp::shutdown(); + // // Have to join thread after rclcpp is shut down otherwise test hangs. + pub_thread.join(); +} + +TEST(TwistPublisher, Stamped) +{ + rclcpp::init(0, nullptr); + auto pub_node = std::make_shared("pub_node", ""); + pub_node->declare_parameter("enable_stamped_cmd_vel", true); + pub_node->configure(); + auto vel_publisher = std::make_unique(pub_node, "cmd_vel", 1); + ASSERT_EQ(vel_publisher->get_subscription_count(), 0); + EXPECT_FALSE(vel_publisher->is_activated()); + pub_node->activate(); + EXPECT_TRUE(vel_publisher->is_activated()); + auto pub_thread = std::thread([&]() {rclcpp::spin(pub_node->get_node_base_interface());}); + + auto sub_node = std::make_shared("sub_node", ""); + sub_node->configure(); + sub_node->activate(); + + auto pub_msg = std::make_unique(); + pub_msg->twist.linear.x = 42.0; + pub_msg->header.frame_id = "foo"; + auto pub_msg_copy = *pub_msg; + + geometry_msgs::msg::TwistStamped sub_msg {}; + auto my_sub = sub_node->create_subscription( + "cmd_vel", 10, + [&](const geometry_msgs::msg::TwistStamped msg) {sub_msg = msg;}); + + vel_publisher->publish(std::move(pub_msg)); + rclcpp::spin_some(sub_node->get_node_base_interface()); + ASSERT_EQ(vel_publisher->get_subscription_count(), 1); + EXPECT_EQ(pub_msg_copy, sub_msg); + pub_node->deactivate(); + sub_node->deactivate(); + rclcpp::shutdown(); + // Have to join thread after rclcpp is shut down otherwise test hangs. + pub_thread.join(); +} diff --git a/nav2_util/test/test_twist_subscriber.cpp b/nav2_util/test/test_twist_subscriber.cpp new file mode 100644 index 00000000000..56728873682 --- /dev/null +++ b/nav2_util/test/test_twist_subscriber.cpp @@ -0,0 +1,97 @@ +// Copyright (C) 2023 Ryan Friedman +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include "nav2_util/twist_subscriber.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" + +#include "gtest/gtest.h" +#include "rclcpp/rclcpp.hpp" + + +TEST(TwistSubscriber, Unstamped) +{ + rclcpp::init(0, nullptr); + auto sub_node = std::make_shared("sub_node", ""); + sub_node->configure(); + sub_node->activate(); + + geometry_msgs::msg::TwistStamped sub_msg {}; + auto vel_subscriber = std::make_unique( + sub_node, "cmd_vel", 1, + [&](const geometry_msgs::msg::Twist msg) {sub_msg.twist = msg;}, + [&](const geometry_msgs::msg::TwistStamped msg) {sub_msg = msg;} + ); + + auto pub_node = std::make_shared("pub_node", ""); + pub_node->configure(); + + geometry_msgs::msg::TwistStamped pub_msg {}; + pub_msg.twist.linear.x = 42.0; + + auto vel_pub = + pub_node->create_publisher("cmd_vel", 1); + + pub_node->activate(); + vel_pub->on_activate(); + + vel_pub->publish(pub_msg.twist); + rclcpp::spin_some(sub_node->get_node_base_interface()); + ASSERT_EQ(vel_pub->get_subscription_count(), 1); + EXPECT_EQ(pub_msg, sub_msg); + + pub_node->deactivate(); + sub_node->deactivate(); + rclcpp::shutdown(); +} + +TEST(TwistSubscriber, Stamped) +{ + rclcpp::init(0, nullptr); + auto sub_node = std::make_shared("sub_node", ""); + sub_node->declare_parameter("enable_stamped_cmd_vel", true); + sub_node->configure(); + sub_node->activate(); + + geometry_msgs::msg::TwistStamped sub_msg {}; + auto vel_subscriber = std::make_unique( + sub_node, "cmd_vel", 1, + [&](const geometry_msgs::msg::Twist msg) {sub_msg.twist = msg;}, + [&](const geometry_msgs::msg::TwistStamped msg) {sub_msg = msg;} + ); + + auto pub_node = std::make_shared("pub_node", ""); + pub_node->configure(); + + geometry_msgs::msg::TwistStamped pub_msg {}; + pub_msg.twist.linear.x = 42.0; + + auto vel_pub = + pub_node->create_publisher("cmd_vel", 1); + + pub_node->activate(); + vel_pub->on_activate(); + + vel_pub->publish(pub_msg); + rclcpp::spin_some(sub_node->get_node_base_interface()); + ASSERT_EQ(vel_pub->get_subscription_count(), 1); + EXPECT_EQ(pub_msg, sub_msg); + + pub_node->deactivate(); + sub_node->deactivate(); + rclcpp::shutdown(); +} diff --git a/nav2_util/test/test_validation_messages.cpp b/nav2_util/test/test_validation_messages.cpp new file mode 100644 index 00000000000..a7d8ed89041 --- /dev/null +++ b/nav2_util/test/test_validation_messages.cpp @@ -0,0 +1,368 @@ +// Copyright (c) 2024 GoesM +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include "nav2_util/validate_messages.hpp" + +TEST(ValidateMessagesTest, DoubleValueCheck) { + // Test valid double value + EXPECT_TRUE(nav2_util::validateMsg(3.14)); + // Test invalid double value (infinity) + EXPECT_FALSE(nav2_util::validateMsg(std::numeric_limits::infinity())); + // Test invalid double value (NaN) + EXPECT_FALSE(nav2_util::validateMsg(std::numeric_limits::quiet_NaN())); +} + +TEST(ValidateMessagesTest, TimeStampCheck) +{ + // Test valid time stamp + builtin_interfaces::msg::Time valid_time_stamp; + valid_time_stamp.sec = 123; + valid_time_stamp.nanosec = 456789; + EXPECT_TRUE(nav2_util::validateMsg(valid_time_stamp)); + // Test invalid time stamp (nanosec out of range) + builtin_interfaces::msg::Time invalid_time_stamp; + invalid_time_stamp.sec = 123; + invalid_time_stamp.nanosec = 1e9; // 1 second = 1e9 nanoseconds + EXPECT_FALSE(nav2_util::validateMsg(invalid_time_stamp)); +} + +TEST(ValidateMessagesTest, HeaderCheck) +{ + // Test valid header with non-empty frame_id + std_msgs::msg::Header valid_header; + valid_header.stamp.sec = 123; + valid_header.stamp.nanosec = 456789; + valid_header.frame_id = "map"; + EXPECT_TRUE(nav2_util::validateMsg(valid_header)); + // Test invalid header with empty frame_id + std_msgs::msg::Header invalid_header; + invalid_header.stamp.sec = 123; + invalid_header.stamp.nanosec = 456789; + invalid_header.frame_id = ""; + EXPECT_FALSE(nav2_util::validateMsg(invalid_header)); + invalid_header.stamp.sec = 123; + invalid_header.stamp.nanosec = 1e9; + invalid_header.frame_id = "map"; + EXPECT_FALSE(nav2_util::validateMsg(invalid_header)); +} + +TEST(ValidateMessagesTest, PointCheck) +{ + // Test valid Point message + geometry_msgs::msg::Point valid_point; + valid_point.x = 1.0; + valid_point.y = 2.0; + valid_point.z = 3.0; + EXPECT_TRUE(nav2_util::validateMsg(valid_point)); + // Test invalid Point message with NaN value + geometry_msgs::msg::Point invalid_point; + invalid_point.x = 1.0; + invalid_point.y = std::numeric_limits::quiet_NaN(); + invalid_point.z = 3.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_point)); + // Test invalid Point message with NaN value + invalid_point.x = std::numeric_limits::quiet_NaN(); + invalid_point.y = 2.0; + invalid_point.z = 3.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_point)); + // Test invalid Point message with NaN value + invalid_point.x = 1.0; + invalid_point.y = 2.0; + invalid_point.z = std::numeric_limits::quiet_NaN(); + EXPECT_FALSE(nav2_util::validateMsg(invalid_point)); +} + +TEST(ValidateMessagesTest, QuaternionCheck) +{ + // Test valid Quaternion message + geometry_msgs::msg::Quaternion valid_quaternion; + valid_quaternion.x = 0.0; + valid_quaternion.y = 0.0; + valid_quaternion.z = 0.0; + valid_quaternion.w = 1.0; + EXPECT_TRUE(nav2_util::validateMsg(valid_quaternion)); + // Test invalid Quaternion message with invalid magnitude + geometry_msgs::msg::Quaternion invalid_quaternion; + invalid_quaternion.x = 0.1; + invalid_quaternion.y = 0.2; + invalid_quaternion.z = 0.3; + invalid_quaternion.w = 0.5; // Invalid magnitude (should be 1.0) + EXPECT_FALSE(nav2_util::validateMsg(invalid_quaternion)); + + // One NaN value + invalid_quaternion.x = 0.0; + invalid_quaternion.y = std::numeric_limits::quiet_NaN(); + invalid_quaternion.z = 0.0; + invalid_quaternion.w = 1.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_quaternion)); + invalid_quaternion.x = std::numeric_limits::quiet_NaN(); + invalid_quaternion.y = 0.0; + invalid_quaternion.z = 0.0; + invalid_quaternion.w = 1.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_quaternion)); + invalid_quaternion.x = 0.0; + invalid_quaternion.y = 0.0; + invalid_quaternion.z = std::numeric_limits::quiet_NaN(); + invalid_quaternion.w = 1.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_quaternion)); + invalid_quaternion.x = 0.0; + invalid_quaternion.y = 0.0; + invalid_quaternion.z = 1.0; + invalid_quaternion.w = std::numeric_limits::quiet_NaN(); + EXPECT_FALSE(nav2_util::validateMsg(invalid_quaternion)); +} + +TEST(ValidateMessagesTest, PoseCheck) +{ + // Test valid Pose message + geometry_msgs::msg::Pose valid_pose; + valid_pose.position.x = 1.0; + valid_pose.position.y = 2.0; + valid_pose.position.z = 3.0; + valid_pose.orientation.x = 1.0; + valid_pose.orientation.y = 0.0; + valid_pose.orientation.z = 0.0; + valid_pose.orientation.w = 0.0; + EXPECT_TRUE(nav2_util::validateMsg(valid_pose)); + // Test invalid Pose message with invalid position + geometry_msgs::msg::Pose invalid_pose; + invalid_pose.position.x = 1.0; + invalid_pose.position.y = std::numeric_limits::quiet_NaN(); + invalid_pose.position.z = 3.0; + invalid_pose.orientation.x = 1.0; + invalid_pose.orientation.y = 0.0; + invalid_pose.orientation.z = 0.0; + invalid_pose.orientation.w = 0.0; + EXPECT_FALSE(nav2_util::validateMsg(invalid_pose)); + // Test invalid Pose message with invalid orientation + invalid_pose.position.x = 1.0; + invalid_pose.position.y = 2.0; + invalid_pose.position.z = 3.0; + invalid_pose.orientation.x = 0.1; + invalid_pose.orientation.y = 0.2; + invalid_pose.orientation.z = 0.3; + invalid_pose.orientation.w = 0.4; + EXPECT_FALSE(nav2_util::validateMsg(invalid_pose)); +} + + +TEST(ValidateMessagesTest, MapMetaDataCheck) { + // Test valid MapMetaData message + nav_msgs::msg::MapMetaData valid_map_meta_data; + valid_map_meta_data.resolution = 0.05; + valid_map_meta_data.width = 100; + valid_map_meta_data.height = 100; + geometry_msgs::msg::Pose valid_origin; + valid_origin.position.x = 0.0; + valid_origin.position.y = 0.0; + valid_origin.position.z = 0.0; + valid_origin.orientation.x = 0.0; + valid_origin.orientation.y = 0.0; + valid_origin.orientation.z = 0.0; + valid_origin.orientation.w = 1.0; + valid_map_meta_data.origin = valid_origin; + EXPECT_TRUE(nav2_util::validateMsg(valid_map_meta_data)); + + // Test invalid origin message + nav_msgs::msg::MapMetaData invalid_map_meta_data; + invalid_map_meta_data.resolution = 100.0; + invalid_map_meta_data.width = 100; + invalid_map_meta_data.height = 100; + geometry_msgs::msg::Pose invalid_origin; + invalid_origin.position.x = 0.0; + invalid_origin.position.y = 0.0; + invalid_origin.position.z = 0.0; + invalid_origin.orientation.x = 0.0; + invalid_origin.orientation.y = 0.0; + invalid_origin.orientation.z = 1.0; + invalid_origin.orientation.w = 1.0; + invalid_map_meta_data.origin = invalid_origin; + EXPECT_FALSE(nav2_util::validateMsg(invalid_map_meta_data)); + + // Test invalid resolution message + invalid_map_meta_data.resolution = std::numeric_limits::quiet_NaN(); + invalid_map_meta_data.width = 100; + invalid_map_meta_data.height = 100; + invalid_map_meta_data.origin = valid_origin; + EXPECT_FALSE(nav2_util::validateMsg(invalid_map_meta_data)); + + // Test invalid MapMetaData message with zero width + invalid_map_meta_data.resolution = 0.05; + invalid_map_meta_data.width = 0; + invalid_map_meta_data.height = 100; + invalid_map_meta_data.origin = valid_origin; + EXPECT_FALSE(nav2_util::validateMsg(invalid_map_meta_data)); +} + +TEST(ValidateMessagesTest, OccupancyGridCheck) { + // Test valid OccupancyGrid message + nav_msgs::msg::OccupancyGrid valid_occupancy_grid; + valid_occupancy_grid.header.frame_id = "map"; + valid_occupancy_grid.info.resolution = 0.05; + valid_occupancy_grid.info.width = 100; + valid_occupancy_grid.info.height = 100; + std::vector data(100 * 100, 0); // Initialize with zeros + valid_occupancy_grid.data = data; + EXPECT_TRUE(nav2_util::validateMsg(valid_occupancy_grid)); + + // Test invalid header message with wrong data size + nav_msgs::msg::OccupancyGrid invalid_occupancy_grid; + invalid_occupancy_grid.header.frame_id = ""; // Incorrect id + invalid_occupancy_grid.info.resolution = 0.05; + invalid_occupancy_grid.info.width = 100; + invalid_occupancy_grid.info.height = 100; + invalid_occupancy_grid.data = data; + EXPECT_FALSE(nav2_util::validateMsg(invalid_occupancy_grid)); + + // Test invalid info message with wrong data size + invalid_occupancy_grid.header.frame_id = "map"; + invalid_occupancy_grid.info.resolution = 0.05; + invalid_occupancy_grid.info.width = 0; // Incorrect width + invalid_occupancy_grid.info.height = 100; + invalid_occupancy_grid.data = data; + EXPECT_FALSE(nav2_util::validateMsg(invalid_occupancy_grid)); + + // Test invalid OccupancyGrid message with wrong data size + invalid_occupancy_grid.header.frame_id = "map"; + invalid_occupancy_grid.info.resolution = 0.05; + invalid_occupancy_grid.info.width = 100; + invalid_occupancy_grid.info.height = 100; + std::vector invalid_data(100 * 99, 0); // Incorrect data size + invalid_occupancy_grid.data = invalid_data; + EXPECT_FALSE(nav2_util::validateMsg(invalid_occupancy_grid)); +} + +TEST(ValidateMessagesTest, PoseWithCovarianceCheck) { + // Valid message + geometry_msgs::msg::PoseWithCovariance validate_msg; + validate_msg.covariance[0] = 0.25; + // assign other covariance values... + validate_msg.covariance[35] = 0.06853891909122467; + + validate_msg.pose.position.x = 0.50010401010515571; + validate_msg.pose.position.y = 1.7468730211257935; + validate_msg.pose.position.z = 0.0; + + validate_msg.pose.orientation.x = 0.9440542194053062; + validate_msg.pose.orientation.y = 0.0; + validate_msg.pose.orientation.z = 0.0; + validate_msg.pose.orientation.w = -0.32979028309372299; + + EXPECT_TRUE(nav2_util::validateMsg(validate_msg)); + + // Invalid messages + geometry_msgs::msg::PoseWithCovariance invalidate_msg1; + invalidate_msg1.covariance[0] = 0.25; + // assign other covariance values... + invalidate_msg1.covariance[7] = NAN; + invalidate_msg1.covariance[9] = NAN; + invalidate_msg1.covariance[35] = 0.06853891909122467; + + invalidate_msg1.pose.position.x = 0.50010401010515571; + invalidate_msg1.pose.position.y = 1.7468730211257935; + invalidate_msg1.pose.position.z = 0.0; + + invalidate_msg1.pose.orientation.x = 0.9440542194053062; + invalidate_msg1.pose.orientation.y = 0.0; + invalidate_msg1.pose.orientation.z = 0.0; + invalidate_msg1.pose.orientation.w = -0.32979028309372299; + + EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg1)); + + geometry_msgs::msg::PoseWithCovariance invalidate_msg2; + invalidate_msg2.covariance[0] = 0.25; + // assign other covariance values... + invalidate_msg2.covariance[35] = 0.06853891909122467; + + invalidate_msg2.pose.position.x = NAN; + invalidate_msg2.pose.position.y = 1.7468730211257935; + invalidate_msg2.pose.position.z = 0.0; + + invalidate_msg2.pose.orientation.x = 0.9440542194053062; + invalidate_msg2.pose.orientation.y = 0.0; + invalidate_msg2.pose.orientation.z = 0.0; + invalidate_msg2.pose.orientation.w = -0.32979028309372299; + + EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg2)); +} + +TEST(ValidateMessagesTest, PoseWithCovarianceStampedCheck) { + // Valid message + geometry_msgs::msg::PoseWithCovarianceStamped validate_msg; + validate_msg.header.frame_id = "map"; + validate_msg.header.stamp.sec = 1711029956; + validate_msg.header.stamp.nanosec = 146734875; + + validate_msg.pose.covariance[0] = 0.25; + // assign other covariance values... + validate_msg.pose.covariance[35] = 0.06853891909122467; + + validate_msg.pose.pose.position.x = 0.50010401010515571; + validate_msg.pose.pose.position.y = 1.7468730211257935; + validate_msg.pose.pose.position.z = 0.0; + + validate_msg.pose.pose.orientation.x = 0.9440542194053062; + validate_msg.pose.pose.orientation.y = 0.0; + validate_msg.pose.pose.orientation.z = 0.0; + validate_msg.pose.pose.orientation.w = -0.32979028309372299; + + EXPECT_TRUE(nav2_util::validateMsg(validate_msg)); + + // Invalid messages + geometry_msgs::msg::PoseWithCovarianceStamped invalidate_msg1; + invalidate_msg1.header.frame_id = "map"; + invalidate_msg1.header.stamp.sec = 1711029956; + invalidate_msg1.header.stamp.nanosec = 146734875; + + invalidate_msg1.pose.covariance[0] = 0.25; + // assign other covariance values... + invalidate_msg1.pose.covariance[7] = NAN; + invalidate_msg1.pose.covariance[9] = NAN; + invalidate_msg1.pose.covariance[35] = 0.06853891909122467; + + invalidate_msg1.pose.pose.position.x = 0.50010401010515571; + invalidate_msg1.pose.pose.position.y = 1.7468730211257935; + invalidate_msg1.pose.pose.position.z = 0.0; + + invalidate_msg1.pose.pose.orientation.x = 0.9440542194053062; + invalidate_msg1.pose.pose.orientation.y = 0.0; + invalidate_msg1.pose.pose.orientation.z = 0.0; + invalidate_msg1.pose.pose.orientation.w = -0.32979028309372299; + + EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg1)); + + geometry_msgs::msg::PoseWithCovarianceStamped invalidate_msg2; + invalidate_msg2.header.frame_id = ""; + invalidate_msg2.header.stamp.sec = 1711029956; + invalidate_msg2.header.stamp.nanosec = 146734875; + + invalidate_msg2.pose.covariance[0] = 0.25; + // assign other covariance values... + invalidate_msg2.pose.covariance[35] = 0.06853891909122467; + + invalidate_msg2.pose.pose.position.x = 0.50010401010515571; + invalidate_msg2.pose.pose.position.y = 1.7468730211257935; + invalidate_msg2.pose.pose.position.z = 0.0; + + invalidate_msg2.pose.pose.orientation.x = 0.9440542194053062; + invalidate_msg2.pose.pose.orientation.y = 0.0; + invalidate_msg2.pose.pose.orientation.z = 0.0; + invalidate_msg2.pose.pose.orientation.w = -0.32979028309372299; + + EXPECT_FALSE(nav2_util::validateMsg(invalidate_msg2)); +} + + +// Add more test cases for other validateMsg functions if needed diff --git a/nav2_velocity_smoother/README.md b/nav2_velocity_smoother/README.md index 6ffbe5d372e..579b3a6737a 100644 --- a/nav2_velocity_smoother/README.md +++ b/nav2_velocity_smoother/README.md @@ -5,7 +5,7 @@ The aim of this package is to implement velocity, acceleration, and deadband smo It supports differential drive and omnidirectional robot platforms primarily, but is applicable to ackermann as well with some interpretations of ``Twist``. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-velocity-smoother.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-velocity-smoother.html) for additional parameter descriptions. ## Features @@ -59,14 +59,15 @@ velocity_smoother: max_decel: [-2.5, 0.0, -3.2] # Maximum deceleration, ordered [Ax, Ay, Aw] odom_topic: "odom" # Topic of odometry to use for estimating current velocities odom_duration: 0.1 # Period of time (s) to sample odometry information in for velocity estimation + enable_stamped_cmd_vel: false # Whether to stamp the velocity. True uses TwistStamped. False uses Twist ``` ## Topics | Topic | Type | Use | |------------------|-------------------------|-------------------------------| -| smoothed_cmd_vel | geometry_msgs/Twist | Publish smoothed velocities | -| cmd_vel | geometry_msgs/Twist | Subscribe to input velocities | +| smoothed_cmd_vel | geometry_msgs/Twist or geometry_msgs/TwistStamped | Publish smoothed velocities | +| cmd_vel | geometry_msgs/Twist or geometry_msgs/TwistStamped | Subscribe to input velocities | ## Install @@ -85,3 +86,5 @@ When in doubt, open-loop is a reasonable choice for most users. The minimum and maximum velocities for rotation (e.g. ``Vw``) represent left and right turns. While we make it possible to specify these separately, most users would be wise to set these values the same (but signed) for rotation. Additionally, the parameters are signed, so it is important to specify maximum deceleration with negative signs to represent deceleration. Minimum velocities with negatives when moving backward, so backward movement can be restricted by setting this to ``0``. Deadband velocities are minimum thresholds, below which we set its value to `0`. This can be useful when your robot's breaking torque from stand still is non-trivial so sending very small values will pull high amounts of current. + +The `VelocitySmoother` node makes use of a [nav2_util::TwistSubscriber](../nav2_util/README.md#twist-publisher-and-twist-subscriber-for-commanded-velocities). \ No newline at end of file diff --git a/nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp b/nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp index c3e7835c6b8..f69a827a7db 100644 --- a/nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp +++ b/nav2_velocity_smoother/include/nav2_velocity_smoother/velocity_smoother.hpp @@ -25,6 +25,11 @@ #include "nav2_util/lifecycle_node.hpp" #include "nav2_util/node_utils.hpp" #include "nav2_util/odometry_utils.hpp" +#include "nav2_util/robot_utils.hpp" +#include "nav2_util/twist_publisher.hpp" +#include "nav2_util/twist_subscriber.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" namespace nav2_velocity_smoother { @@ -113,6 +118,7 @@ class VelocitySmoother : public nav2_util::LifecycleNode * @param msg Twist message */ void inputCommandCallback(const geometry_msgs::msg::Twist::SharedPtr msg); + void inputCommandStampedCallback(const geometry_msgs::msg::TwistStamped::SharedPtr msg); /** * @brief Main worker timer function @@ -128,14 +134,13 @@ class VelocitySmoother : public nav2_util::LifecycleNode // Network interfaces std::unique_ptr odom_smoother_; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr - smoothed_cmd_pub_; - rclcpp::Subscription::SharedPtr cmd_sub_; + std::unique_ptr smoothed_cmd_pub_; + std::unique_ptr cmd_sub_; rclcpp::TimerBase::SharedPtr timer_; rclcpp::Clock::SharedPtr clock_; - geometry_msgs::msg::Twist last_cmd_; - geometry_msgs::msg::Twist::SharedPtr command_; + geometry_msgs::msg::TwistStamped last_cmd_; + geometry_msgs::msg::TwistStamped::SharedPtr command_; // Parameters double smoothing_frequency_; diff --git a/nav2_velocity_smoother/package.xml b/nav2_velocity_smoother/package.xml index 63d6abd37bc..cc62a2f9d4b 100644 --- a/nav2_velocity_smoother/package.xml +++ b/nav2_velocity_smoother/package.xml @@ -2,7 +2,7 @@ nav2_velocity_smoother - 1.0.0 + 1.2.0 Nav2's Output velocity smoother Steve Macenski Apache-2.0 diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp index 04a32081a2a..02fb390cc0c 100644 --- a/nav2_velocity_smoother/src/velocity_smoother.cpp +++ b/nav2_velocity_smoother/src/velocity_smoother.cpp @@ -74,11 +74,26 @@ VelocitySmoother::on_configure(const rclcpp_lifecycle::State &) node->get_parameter("max_accel", max_accels_); node->get_parameter("max_decel", max_decels_); - for (unsigned int i = 0; i != max_decels_.size(); i++) { + for (unsigned int i = 0; i != 3; i++) { if (max_decels_[i] > 0.0) { - RCLCPP_WARN( - get_logger(), - "Positive values set of deceleration! These should be negative to slow down!"); + throw std::runtime_error( + "Positive values set of deceleration! These should be negative to slow down!"); + } + if (max_accels_[i] < 0.0) { + throw std::runtime_error( + "Negative values set of acceleration! These should be positive to speed up!"); + } + if (min_velocities_[i] > 0.0) { + throw std::runtime_error( + "Positive values set of min_velocities! These should be negative!"); + } + if (max_velocities_[i] < 0.0) { + throw std::runtime_error( + "Negative values set of max_velocities! These should be positive!"); + } + if (min_velocities_[i] > max_velocities_[i]) { + throw std::runtime_error( + "Min velocities are higher than max velocities!"); } } @@ -113,10 +128,25 @@ VelocitySmoother::on_configure(const rclcpp_lifecycle::State &) } // Setup inputs / outputs - smoothed_cmd_pub_ = create_publisher("cmd_vel_smoothed", 1); - cmd_sub_ = create_subscription( + smoothed_cmd_pub_ = std::make_unique(node, "cmd_vel_smoothed", 1); + cmd_sub_ = std::make_unique( + node, "cmd_vel", rclcpp::QoS(1), - std::bind(&VelocitySmoother::inputCommandCallback, this, std::placeholders::_1)); + std::bind(&VelocitySmoother::inputCommandCallback, this, std::placeholders::_1), + std::bind(&VelocitySmoother::inputCommandStampedCallback, this, std::placeholders::_1) + ); + + declare_parameter_if_not_declared(node, "use_realtime_priority", rclcpp::ParameterValue(false)); + bool use_realtime_priority = false; + node->get_parameter("use_realtime_priority", use_realtime_priority); + if (use_realtime_priority) { + try { + nav2_util::setSoftRealTimePriority(); + } catch (const std::runtime_error & e) { + RCLCPP_ERROR(get_logger(), "%s", e.what()); + return nav2_util::CallbackReturn::FAILURE; + } + } return nav2_util::CallbackReturn::SUCCESS; } @@ -127,7 +157,7 @@ VelocitySmoother::on_activate(const rclcpp_lifecycle::State &) RCLCPP_INFO(get_logger(), "Activating"); smoothed_cmd_pub_->on_activate(); double timer_duration_ms = 1000.0 / smoothing_frequency_; - timer_ = create_wall_timer( + timer_ = this->create_wall_timer( std::chrono::milliseconds(static_cast(timer_duration_ms)), std::bind(&VelocitySmoother::smootherTimer, this)); @@ -172,10 +202,29 @@ VelocitySmoother::on_shutdown(const rclcpp_lifecycle::State &) return nav2_util::CallbackReturn::SUCCESS; } -void VelocitySmoother::inputCommandCallback(const geometry_msgs::msg::Twist::SharedPtr msg) +void VelocitySmoother::inputCommandStampedCallback( + const geometry_msgs::msg::TwistStamped::SharedPtr msg) { + // If message contains NaN or Inf, ignore + if (!nav2_util::validateTwist(msg->twist)) { + RCLCPP_ERROR(get_logger(), "Velocity message contains NaNs or Infs! Ignoring as invalid!"); + return; + } + command_ = msg; - last_command_time_ = now(); + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0) { + last_command_time_ = now(); + } else { + last_command_time_ = msg->header.stamp; + } +} + +void VelocitySmoother::inputCommandCallback( + geometry_msgs::msg::Twist::SharedPtr msg) +{ + auto twist_stamped = std::make_shared(); + twist_stamped->twist = *msg; + inputCommandStampedCallback(twist_stamped); } double VelocitySmoother::findEtaConstraint( @@ -239,31 +288,38 @@ void VelocitySmoother::smootherTimer() return; } - auto cmd_vel = std::make_unique(); + auto cmd_vel = std::make_unique(); + cmd_vel->header = command_->header; // Check for velocity timeout. If nothing received, publish zeros to apply deceleration if (now() - last_command_time_ > velocity_timeout_) { - if (last_cmd_ == geometry_msgs::msg::Twist() || stopped_) { + if (last_cmd_ == geometry_msgs::msg::TwistStamped() || stopped_) { stopped_ = true; return; } - *command_ = geometry_msgs::msg::Twist(); + *command_ = geometry_msgs::msg::TwistStamped(); } stopped_ = false; // Get current velocity based on feedback type - geometry_msgs::msg::Twist current_; + geometry_msgs::msg::TwistStamped current_; if (open_loop_) { current_ = last_cmd_; } else { - current_ = odom_smoother_->getTwist(); + current_ = odom_smoother_->getTwistStamped(); } // Apply absolute velocity restrictions to the command - command_->linear.x = std::clamp(command_->linear.x, min_velocities_[0], max_velocities_[0]); - command_->linear.y = std::clamp(command_->linear.y, min_velocities_[1], max_velocities_[1]); - command_->angular.z = std::clamp(command_->angular.z, min_velocities_[2], max_velocities_[2]); + command_->twist.linear.x = std::clamp( + command_->twist.linear.x, min_velocities_[0], + max_velocities_[0]); + command_->twist.linear.y = std::clamp( + command_->twist.linear.y, min_velocities_[1], + max_velocities_[1]); + command_->twist.angular.z = std::clamp( + command_->twist.angular.z, min_velocities_[2], + max_velocities_[2]); // Find if any component is not within the acceleration constraints. If so, store the most // significant scale factor to apply to the vector , eta, to reduce all axes @@ -275,37 +331,40 @@ void VelocitySmoother::smootherTimer() double curr_eta = -1.0; curr_eta = findEtaConstraint( - current_.linear.x, command_->linear.x, max_accels_[0], max_decels_[0]); + current_.twist.linear.x, command_->twist.linear.x, max_accels_[0], max_decels_[0]); if (curr_eta > 0.0 && std::fabs(1.0 - curr_eta) > std::fabs(1.0 - eta)) { eta = curr_eta; } curr_eta = findEtaConstraint( - current_.linear.y, command_->linear.y, max_accels_[1], max_decels_[1]); + current_.twist.linear.y, command_->twist.linear.y, max_accels_[1], max_decels_[1]); if (curr_eta > 0.0 && std::fabs(1.0 - curr_eta) > std::fabs(1.0 - eta)) { eta = curr_eta; } curr_eta = findEtaConstraint( - current_.angular.z, command_->angular.z, max_accels_[2], max_decels_[2]); + current_.twist.angular.z, command_->twist.angular.z, max_accels_[2], max_decels_[2]); if (curr_eta > 0.0 && std::fabs(1.0 - curr_eta) > std::fabs(1.0 - eta)) { eta = curr_eta; } } - cmd_vel->linear.x = applyConstraints( - current_.linear.x, command_->linear.x, max_accels_[0], max_decels_[0], eta); - cmd_vel->linear.y = applyConstraints( - current_.linear.y, command_->linear.y, max_accels_[1], max_decels_[1], eta); - cmd_vel->angular.z = applyConstraints( - current_.angular.z, command_->angular.z, max_accels_[2], max_decels_[2], eta); + cmd_vel->twist.linear.x = applyConstraints( + current_.twist.linear.x, command_->twist.linear.x, max_accels_[0], max_decels_[0], eta); + cmd_vel->twist.linear.y = applyConstraints( + current_.twist.linear.y, command_->twist.linear.y, max_accels_[1], max_decels_[1], eta); + cmd_vel->twist.angular.z = applyConstraints( + current_.twist.angular.z, command_->twist.angular.z, max_accels_[2], max_decels_[2], eta); + last_cmd_ = *cmd_vel; // Apply deadband restrictions & publish - cmd_vel->linear.x = fabs(cmd_vel->linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->linear.x; - cmd_vel->linear.y = fabs(cmd_vel->linear.y) < deadband_velocities_[1] ? 0.0 : cmd_vel->linear.y; - cmd_vel->angular.z = fabs(cmd_vel->angular.z) < - deadband_velocities_[2] ? 0.0 : cmd_vel->angular.z; - last_cmd_ = *cmd_vel; + cmd_vel->twist.linear.x = + fabs(cmd_vel->twist.linear.x) < deadband_velocities_[0] ? 0.0 : cmd_vel->twist.linear.x; + cmd_vel->twist.linear.y = + fabs(cmd_vel->twist.linear.y) < deadband_velocities_[1] ? 0.0 : cmd_vel->twist.linear.y; + cmd_vel->twist.angular.z = + fabs(cmd_vel->twist.angular.z) < deadband_velocities_[2] ? 0.0 : cmd_vel->twist.angular.z; + smoothed_cmd_pub_->publish(std::move(cmd_vel)); } @@ -328,7 +387,7 @@ VelocitySmoother::dynamicParametersCallback(std::vector param } double timer_duration_ms = 1000.0 / smoothing_frequency_; - timer_ = create_wall_timer( + timer_ = this->create_wall_timer( std::chrono::milliseconds(static_cast(timer_duration_ms)), std::bind(&VelocitySmoother::smootherTimer, this)); } else if (name == "velocity_timeout") { @@ -347,13 +406,53 @@ VelocitySmoother::dynamicParametersCallback(std::vector param } if (name == "max_velocity") { - max_velocities_ = parameter.as_double_array(); + for (unsigned int i = 0; i != 3; i++) { + if (parameter.as_double_array()[i] < 0.0) { + RCLCPP_WARN( + get_logger(), + "Negative values set of max_velocity! These should be positive!"); + result.successful = false; + } + } + if (result.successful) { + max_velocities_ = parameter.as_double_array(); + } } else if (name == "min_velocity") { - min_velocities_ = parameter.as_double_array(); + for (unsigned int i = 0; i != 3; i++) { + if (parameter.as_double_array()[i] > 0.0) { + RCLCPP_WARN( + get_logger(), + "Positive values set of min_velocity! These should be negative!"); + result.successful = false; + } + } + if (result.successful) { + min_velocities_ = parameter.as_double_array(); + } } else if (name == "max_accel") { - max_accels_ = parameter.as_double_array(); + for (unsigned int i = 0; i != 3; i++) { + if (parameter.as_double_array()[i] < 0.0) { + RCLCPP_WARN( + get_logger(), + "Negative values set of acceleration! These should be positive to speed up!"); + result.successful = false; + } + } + if (result.successful) { + max_accels_ = parameter.as_double_array(); + } } else if (name == "max_decel") { - max_decels_ = parameter.as_double_array(); + for (unsigned int i = 0; i != 3; i++) { + if (parameter.as_double_array()[i] > 0.0) { + RCLCPP_WARN( + get_logger(), + "Positive values set of deceleration! These should be negative to slow down!"); + result.successful = false; + } + } + if (result.successful) { + max_decels_ = parameter.as_double_array(); + } } else if (name == "deadband_velocity") { deadband_velocities_ = parameter.as_double_array(); } diff --git a/nav2_velocity_smoother/test/test_velocity_smoother.cpp b/nav2_velocity_smoother/test/test_velocity_smoother.cpp index a1b2f5454af..25754d0f355 100644 --- a/nav2_velocity_smoother/test/test_velocity_smoother.cpp +++ b/nav2_velocity_smoother/test/test_velocity_smoother.cpp @@ -23,6 +23,7 @@ #include "nav2_velocity_smoother/velocity_smoother.hpp" #include "nav_msgs/msg/odometry.hpp" #include "geometry_msgs/msg/twist.hpp" +#include "nav2_util/twist_subscriber.hpp" using namespace std::chrono_literals; @@ -47,7 +48,7 @@ class VelSmootherShim : public nav2_velocity_smoother::VelocitySmoother bool isOdomSmoother() {return odom_smoother_ ? true : false;} bool hasCommandMsg() {return last_command_time_.nanoseconds() != 0;} - geometry_msgs::msg::Twist::SharedPtr lastCommandMsg() {return command_;} + geometry_msgs::msg::TwistStamped::SharedPtr lastCommandMsg() {return command_;} void sendCommandMsg(geometry_msgs::msg::Twist::SharedPtr msg) {inputCommandCallback(msg);} }; @@ -66,11 +67,14 @@ TEST(VelocitySmootherTest, openLoopTestTimer) smoother->activate(state); std::vector linear_vels; - auto subscription = smoother->create_subscription( + auto subscription = nav2_util::TwistSubscriber( + smoother, "cmd_vel_smoothed", 1, [&](geometry_msgs::msg::Twist::SharedPtr msg) { linear_vels.push_back(msg->linear.x); + }, [&](geometry_msgs::msg::TwistStamped::SharedPtr msg) { + linear_vels.push_back(msg->twist.linear.x); }); // Send a velocity command @@ -117,11 +121,14 @@ TEST(VelocitySmootherTest, approxClosedLoopTestTimer) smoother->activate(state); std::vector linear_vels; - auto subscription = smoother->create_subscription( + auto subscription = nav2_util::TwistSubscriber( + smoother, "cmd_vel_smoothed", 1, [&](geometry_msgs::msg::Twist::SharedPtr msg) { linear_vels.push_back(msg->linear.x); + }, [&](geometry_msgs::msg::TwistStamped::SharedPtr msg) { + linear_vels.push_back(msg->twist.linear.x); }); auto odom_pub = smoother->create_publisher("odom", 1); @@ -566,7 +573,7 @@ TEST(VelocitySmootherTest, testCommandCallback) rclcpp::spin_some(smoother->get_node_base_interface()); EXPECT_TRUE(smoother->hasCommandMsg()); - EXPECT_EQ(smoother->lastCommandMsg()->linear.x, 100.0); + EXPECT_EQ(smoother->lastCommandMsg()->twist.linear.x, 100.0); } TEST(VelocitySmootherTest, testClosedLoopSub) @@ -593,6 +600,28 @@ TEST(VelocitySmootherTest, testInvalidParams) EXPECT_THROW(smoother->configure(state), std::runtime_error); } +TEST(VelocitySmootherTest, testInvalidParamsAccelDecel) +{ + auto smoother = + std::make_shared(); + + std::vector bad_test_accel{-10.0, -10.0, -10.0}; + std::vector bad_test_decel{10.0, 10.0, 10.0}; + std::vector bad_test_min_vel{10.0, 10.0, 10.0}; + std::vector bad_test_max_vel{-10.0, -10.0, -10.0}; + + smoother->declare_parameter("max_velocity", rclcpp::ParameterValue(bad_test_max_vel)); + smoother->declare_parameter("min_velocity", rclcpp::ParameterValue(bad_test_min_vel)); + rclcpp_lifecycle::State state; + EXPECT_THROW(smoother->configure(state), std::runtime_error); + + smoother->set_parameter(rclcpp::Parameter("max_accel", rclcpp::ParameterValue(bad_test_accel))); + EXPECT_THROW(smoother->configure(state), std::runtime_error); + + smoother->set_parameter(rclcpp::Parameter("max_decel", rclcpp::ParameterValue(bad_test_decel))); + EXPECT_THROW(smoother->configure(state), std::runtime_error); +} + TEST(VelocitySmootherTest, testDynamicParameter) { auto smoother = @@ -613,6 +642,8 @@ TEST(VelocitySmootherTest, testDynamicParameter) std::vector min_accel{0.0, 0.0, 0.0}; std::vector deadband{0.0, 0.0, 0.0}; std::vector bad_test{0.0, 0.0}; + std::vector bad_test_accel{-10.0, -10.0, -10.0}; + std::vector bad_test_decel{10.0, 10.0, 10.0}; auto results = rec_param->set_parameters_atomically( {rclcpp::Parameter("smoothing_frequency", 100.0), @@ -662,6 +693,16 @@ TEST(VelocitySmootherTest, testDynamicParameter) rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results); EXPECT_FALSE(results.get().successful); + // Test invalid accel / decel + results = rec_param->set_parameters_atomically( + {rclcpp::Parameter("max_accel", bad_test_accel)}); + rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results); + EXPECT_FALSE(results.get().successful); + results = rec_param->set_parameters_atomically( + {rclcpp::Parameter("max_decel", bad_test_decel)}); + rclcpp::spin_until_future_complete(smoother->get_node_base_interface(), results); + EXPECT_FALSE(results.get().successful); + // test full state after major changes smoother->deactivate(state); smoother->cleanup(state); diff --git a/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp b/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp index baff10d6840..07c391fff59 100644 --- a/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp +++ b/nav2_voxel_grid/include/nav2_voxel_grid/voxel_grid.hpp @@ -112,7 +112,7 @@ class VoxelGrid unsigned int marked_bits = *col >> 16; - // make sure the number of bits in each is below our thesholds + // make sure the number of bits in each is below our thresholds return !bitsBelowThreshold(marked_bits, marked_threshold); } @@ -146,7 +146,7 @@ class VoxelGrid unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col); unsigned int marked_bits = *col >> 16; - // make sure the number of bits in each is below our thesholds + // make sure the number of bits in each is below our thresholds if (bitsBelowThreshold(unknown_bits, 1) && bitsBelowThreshold(marked_bits, 1)) { costmap[index] = 0; } @@ -392,7 +392,7 @@ class VoxelGrid unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col); unsigned int marked_bits = *col >> 16; - // make sure the number of bits in each is below our thesholds + // make sure the number of bits in each is below our thresholds if (bitsBelowThreshold(marked_bits, marked_clear_threshold_)) { if (bitsBelowThreshold(unknown_bits, unknown_clear_threshold_)) { costmap_[offset] = free_cost_; diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml index e11e73b3db5..113436b3b47 100644 --- a/nav2_voxel_grid/package.xml +++ b/nav2_voxel_grid/package.xml @@ -2,7 +2,7 @@ nav2_voxel_grid - 1.1.0 + 1.2.0 voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures. diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt index a3b46942bcd..0ea7eda8eba 100644 --- a/nav2_waypoint_follower/CMakeLists.txt +++ b/nav2_waypoint_follower/CMakeLists.txt @@ -22,11 +22,11 @@ find_package(nav2_util REQUIRED) find_package(tf2_ros REQUIRED) find_package(nav2_core REQUIRED) find_package(pluginlib REQUIRED) +find_package(robot_localization REQUIRED) +find_package(geographic_msgs REQUIRED) nav2_package() -link_libraries(stdc++fs) - include_directories( include ) @@ -57,6 +57,7 @@ set(dependencies image_transport cv_bridge OpenCV + robot_localization ) ament_target_dependencies(${executable_name} diff --git a/nav2_waypoint_follower/README.md b/nav2_waypoint_follower/README.md index cd0a2366b95..822314fbf39 100644 --- a/nav2_waypoint_follower/README.md +++ b/nav2_waypoint_follower/README.md @@ -2,7 +2,7 @@ The Nav2 waypoint follower is an example application of how to use the navigation action to complete some sort of orchestrated task. In this example, that task is to take a given set of waypoints and navigate to a set of positions in the order provided in the action request. The last waypoint in the waypoint array is the final position. It was built by [Steve Macenski](https://www.linkedin.com/in/steve-macenski-41a985101/) while at [Samsung Research](https://www.sra.samsung.com/). -See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-waypoint-follower.html) for additional parameter descriptions. +See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-waypoint-follower.html) for additional parameter descriptions. The package exposes the `follow_waypoints` action server of type `nav2_msgs/FollowWaypoints`. It is given an array of waypoints to visit, gives feedback about the current index of waypoint it is processing, and returns a list of waypoints it was unable to complete. @@ -27,3 +27,22 @@ In the first, the ``nav2_waypoint_follower`` is weakly sufficient to create a pr In the second, the ``nav2_waypoint_follower`` is a nice sample application / proof of concept, but you really need your waypoint following / autonomy system on the robot to carry more weight in making a robust solution. In this case, you should use the ``nav2_behavior_tree`` package to create a custom application-level behavior tree using navigation to complete the task. This can include subtrees like checking for the charge status mid-task for returning to dock or handling more than 1 unit of work in a more complex task. Soon, there will be a ``nav2_bt_waypoint_follower`` (name subject to adjustment) that will allow you to create this application more easily. In this school of thought, the waypoint following application is more closely tied to the system autonomy, or in many cases, is the system autonomy. Neither is better than the other, it highly depends on the tasks your robot(s) are completing, in what type of environment, and with what cloud resources available. Often this distinction is very clear for a given business case. + +## Nav2 GPS Waypoint Follower + +`nav2_waypoint_follower` provides an action server named `FollowGPSWaypoints` which accepts GPS waypoint following requests by using tools provided by `robot_localization` and `nav2_waypoint_follower` itself. + +`robot_localization`'s `navsat_transform_node` provides a service `fromLL`, which is used to convert pure GPS coordinates(longitude, latitude, alitude) +to cartesian coordinates in map frame(x,y), then the existent action named `FollowWaypoints` from `nav2_waypoint_follower` is used to get robot go through each converted waypoints. +The action msg definition for GPS waypoint following can be found [here](../nav2_msgs/action/FollowGPSWaypoints.action). + +In a common use case, an client node can read a set of GPS waypoints from a YAML file an create a client to action server named as `FollowGPSWaypoints`. +For instance, + +```cpp +using ClientT = nav2_msgs::action::FollowGPSWaypoints; +rclcpp_action::Client::SharedPtr gps_waypoint_follower_action_client_; +gps_waypoint_follower_action_client_ = rclcpp_action::create_client(this, "follow_gps_waypoints"); +``` + +All other functionalities provided by `nav2_waypoint_follower` such as WaypointTaskExecutors are usable and can be configured in WaypointTaskExecutor. \ No newline at end of file diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp index 49b32e4aa4d..1e6048aefca 100644 --- a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp +++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp @@ -22,7 +22,7 @@ #define _LIBCPP_NO_EXPERIMENTAL_DEPRECATION_WARNING_FILESYSTEM -#include +#include #include #include #include @@ -32,8 +32,8 @@ #include "sensor_msgs/msg/image.hpp" #include "nav2_core/waypoint_task_executor.hpp" -#include "opencv4/opencv2/core.hpp" -#include "opencv4/opencv2/opencv.hpp" +#include "opencv2/core.hpp" +#include "opencv2/opencv.hpp" #include "cv_bridge/cv_bridge.hpp" #include "image_transport/image_transport.hpp" @@ -97,7 +97,7 @@ class PhotoAtWaypoint : public nav2_core::WaypointTaskExecutor // to ensure safety when accessing global var curr_frame_ std::mutex global_mutex_; // the taken photos will be saved under this directory - std::experimental::filesystem::path save_dir_; + std::filesystem::path save_dir_; // .png ? .jpg ? or some other well known format std::string image_format_; // the topic to subscribe in order capture a frame @@ -108,7 +108,7 @@ class PhotoAtWaypoint : public nav2_core::WaypointTaskExecutor sensor_msgs::msg::Image::SharedPtr curr_frame_msg_; // global logger rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")}; - // ros susbcriber to get camera image + // ros subscriber to get camera image rclcpp::Subscription::SharedPtr camera_image_subscriber_; }; } // namespace nav2_waypoint_follower diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp index 911ae441a23..cbd27002464 100644 --- a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp +++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/wait_at_waypoint.hpp @@ -73,6 +73,7 @@ class WaitAtWaypoint : public nav2_core::WaypointTaskExecutor int waypoint_pause_duration_; bool is_enabled_; rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")}; + rclcpp::Clock::SharedPtr clock_; }; } // namespace nav2_waypoint_follower diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp index e5c59aa20b6..8dd0d70cd77 100644 --- a/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp +++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp @@ -20,18 +20,26 @@ #include #include +#include "rclcpp_action/rclcpp_action.hpp" +#include "pluginlib/class_loader.hpp" +#include "pluginlib/class_list_macros.hpp" +#include "geographic_msgs/msg/geo_pose.hpp" #include "nav2_util/lifecycle_node.hpp" #include "nav2_msgs/action/navigate_to_pose.hpp" #include "nav2_msgs/action/follow_waypoints.hpp" #include "nav2_msgs/msg/missed_waypoint.hpp" #include "nav_msgs/msg/path.hpp" #include "nav2_util/simple_action_server.hpp" -#include "rclcpp_action/rclcpp_action.hpp" - #include "nav2_util/node_utils.hpp" +#include "nav2_util/string_utils.hpp" +#include "nav2_msgs/action/follow_gps_waypoints.hpp" +#include "nav2_util/service_client.hpp" #include "nav2_core/waypoint_task_executor.hpp" -#include "pluginlib/class_loader.hpp" -#include "pluginlib/class_list_macros.hpp" + +#include "robot_localization/srv/from_ll.hpp" +#include "tf2_ros/buffer.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" +#include "tf2_ros/transform_listener.h" namespace nav2_waypoint_follower { @@ -63,6 +71,10 @@ class WaypointFollower : public nav2_util::LifecycleNode using ActionServer = nav2_util::SimpleActionServer; using ActionClient = rclcpp_action::Client; + // Shorten the types for GPS waypoint following + using ActionTGPS = nav2_msgs::action::FollowGPSWaypoints; + using ActionServerGPS = nav2_util::SimpleActionServer; + /** * @brief A constructor for nav2_waypoint_follower::WaypointFollower class * @param options Additional options to control creation of the node. @@ -107,15 +119,40 @@ class WaypointFollower : public nav2_util::LifecycleNode */ nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override; + /** + * @brief Templated function to perform internal logic behind waypoint following, + * Both GPS and non GPS waypoint following callbacks makes use of this function when a client asked to do so. + * Callbacks fills in appropriate types for the tempelated types, see followWaypointCallback funtions for details. + * + * @tparam T action_server + * @tparam V feedback + * @tparam Z result + * @param action_server + * @param poses + * @param feedback + * @param result + */ + template + void followWaypointsHandler(const T & action_server, const V & feedback, const Z & result); + /** * @brief Action server callbacks */ - void followWaypoints(); + void followWaypointsCallback(); /** - * @brief Action client result callback - * @param result Result of action server updated asynchronously + * @brief send robot through each of GPS + * point , which are converted to map frame first then using a client to + * `FollowWaypoints` action. + * + * @param waypoints, acquired from action client */ + void followGPSWaypointsCallback(); + + /** + * @brief Action client result callback + * @param result Result of action server updated asynchronously + */ void resultCallback(const rclcpp_action::ClientGoalHandle::WrappedResult & result); /** @@ -124,6 +161,32 @@ class WaypointFollower : public nav2_util::LifecycleNode */ void goalResponseCallback(const rclcpp_action::ClientGoalHandle::SharedPtr & goal); + /** + * @brief given some gps_poses, converts them to map frame using robot_localization's service `fromLL`. + * Constructs a vector of stamped poses in map frame and returns them. + * + * @param gps_poses, from the action server + * @return std::vector + */ + std::vector convertGPSPosesToMapPoses( + const std::vector & gps_poses); + + + /** + * @brief get the latest poses on the action server goal. If they are GPS poses, + * convert them to the global cartesian frame using /fromLL robot localization + * server + * + * @param action_server, to which the goal was sent + * @return std::vector + */ + template + std::vector getLatestGoalPoses(const T & action_server); + + // Common vars used for both GPS and cartesian point following + std::vector failed_ids_; + std::string global_frame_id_{"map"}; + /** * @brief Callback executed when a parameter change is detected * @param event ParameterEvent message @@ -135,12 +198,17 @@ class WaypointFollower : public nav2_util::LifecycleNode rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_; // Our action server - std::unique_ptr action_server_; + std::unique_ptr xyz_action_server_; ActionClient::SharedPtr nav_to_pose_client_; rclcpp::CallbackGroup::SharedPtr callback_group_; rclcpp::executors::SingleThreadedExecutor callback_group_executor_; std::shared_future::SharedPtr> future_goal_handle_; + // Our action server for GPS waypoint following + std::unique_ptr gps_action_server_; + std::unique_ptr>> from_ll_to_map_client_; + bool stop_on_failure_; int loop_rate_; GoalStatus current_goal_status_; diff --git a/nav2_waypoint_follower/package.xml b/nav2_waypoint_follower/package.xml index 5bb9db52d00..8dfbe41f445 100644 --- a/nav2_waypoint_follower/package.xml +++ b/nav2_waypoint_follower/package.xml @@ -2,7 +2,7 @@ nav2_waypoint_follower - 1.1.0 + 1.2.0 A waypoint follower navigation server Steve Macenski Apache-2.0 @@ -21,7 +21,9 @@ nav2_util nav2_core tf2_ros - + robot_localization + geographic_msgs + ament_lint_common ament_lint_auto ament_cmake_gtest diff --git a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp index 5c613219ff6..b6b4f84b9a5 100644 --- a/nav2_waypoint_follower/plugins/input_at_waypoint.cpp +++ b/nav2_waypoint_follower/plugins/input_at_waypoint.cpp @@ -60,7 +60,7 @@ void InputAtWaypoint::initialize( nav2_util::declare_parameter_if_not_declared( node, plugin_name + ".input_topic", rclcpp::ParameterValue("input_at_waypoint/input")); - node->get_parameter(plugin_name + ".timeout", timeout); + timeout = node->get_parameter(plugin_name + ".timeout").as_double(); node->get_parameter(plugin_name + ".enabled", is_enabled_); node->get_parameter(plugin_name + ".input_topic", input_topic); diff --git a/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp b/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp index 8a6cb74b96a..296f8f41de0 100644 --- a/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp +++ b/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp @@ -61,14 +61,14 @@ void PhotoAtWaypoint::initialize( // get inputted save directory and make sure it exists, if not log and create it save_dir_ = save_dir_as_string; try { - if (!std::experimental::filesystem::exists(save_dir_)) { + if (!std::filesystem::exists(save_dir_)) { RCLCPP_WARN( logger_, "Provided save directory for photo at waypoint plugin does not exist," "provided directory is: %s, the directory will be created automatically.", save_dir_.c_str() ); - if (!std::experimental::filesystem::create_directory(save_dir_)) { + if (!std::filesystem::create_directory(save_dir_)) { RCLCPP_ERROR( logger_, "Failed to create directory!: %s required by photo at waypoint plugin, " @@ -110,10 +110,10 @@ bool PhotoAtWaypoint::processAtWaypoint( } try { // construct the full path to image filename - std::experimental::filesystem::path file_name = std::to_string( + std::filesystem::path file_name = std::to_string( curr_waypoint_index) + "_" + std::to_string(curr_pose.header.stamp.sec) + "." + image_format_; - std::experimental::filesystem::path full_path_image_path = save_dir_ / file_name; + std::filesystem::path full_path_image_path = save_dir_ / file_name; // save the taken photo at this waypoint to given directory std::lock_guard guard(global_mutex_); diff --git a/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp b/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp index 917655e21a0..77e20bcf768 100644 --- a/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp +++ b/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp @@ -42,6 +42,7 @@ void WaitAtWaypoint::initialize( throw std::runtime_error{"Failed to lock node in wait at waypoint plugin!"}; } logger_ = node->get_logger(); + clock_ = node->get_clock(); nav2_util::declare_parameter_if_not_declared( node, plugin_name + ".waypoint_pause_duration", @@ -77,7 +78,7 @@ bool WaitAtWaypoint::processAtWaypoint( logger_, "Arrived at %i'th waypoint, sleeping for %i milliseconds", curr_waypoint_index, waypoint_pause_duration_); - rclcpp::sleep_for(std::chrono::milliseconds(waypoint_pause_duration_)); + clock_->sleep_for(std::chrono::milliseconds(waypoint_pause_duration_)); return true; } } // namespace nav2_waypoint_follower diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp index 2298aae03a8..8dfd9b1461e 100644 --- a/nav2_waypoint_follower/src/waypoint_follower.cpp +++ b/nav2_waypoint_follower/src/waypoint_follower.cpp @@ -36,6 +36,11 @@ WaypointFollower::WaypointFollower(const rclcpp::NodeOptions & options) declare_parameter("stop_on_failure", true); declare_parameter("loop_rate", 20); + + declare_parameter("action_server_result_timeout", 900.0); + + declare_parameter("global_frame_id", "map"); + nav2_util::declare_parameter_if_not_declared( this, std::string("waypoint_task_executor_plugin"), rclcpp::ParameterValue(std::string("wait_at_waypoint"))); @@ -58,6 +63,8 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/) stop_on_failure_ = get_parameter("stop_on_failure").as_bool(); loop_rate_ = get_parameter("loop_rate").as_int(); waypoint_task_executor_id_ = get_parameter("waypoint_task_executor_plugin").as_string(); + global_frame_id_ = get_parameter("global_frame_id").as_string(); + global_frame_id_ = nav2_util::strip_leading_slash(global_frame_id_); callback_group_ = create_callback_group( rclcpp::CallbackGroupType::MutuallyExclusive, @@ -71,12 +78,36 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/) get_node_waitables_interface(), "navigate_to_pose", callback_group_); - action_server_ = std::make_unique( + double action_server_result_timeout = get_parameter("action_server_result_timeout").as_double(); + rcl_action_server_options_t server_options = rcl_action_server_get_default_options(); + server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout); + + xyz_action_server_ = std::make_unique( + get_node_base_interface(), + get_node_clock_interface(), + get_node_logging_interface(), + get_node_waitables_interface(), + "follow_waypoints", std::bind( + &WaypointFollower::followWaypointsCallback, + this), nullptr, std::chrono::milliseconds( + 500), false, server_options); + + from_ll_to_map_client_ = std::make_unique< + nav2_util::ServiceClient>>( + "/fromLL", + node); + + gps_action_server_ = std::make_unique( get_node_base_interface(), get_node_clock_interface(), get_node_logging_interface(), get_node_waitables_interface(), - "follow_waypoints", std::bind(&WaypointFollower::followWaypoints, this)); + "follow_gps_waypoints", + std::bind( + &WaypointFollower::followGPSWaypointsCallback, + this), nullptr, std::chrono::milliseconds( + 500), false, server_options); try { waypoint_task_executor_type_ = nav2_util::get_plugin_type_param( @@ -88,10 +119,10 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/) get_logger(), "Created waypoint_task_executor : %s of type %s", waypoint_task_executor_id_.c_str(), waypoint_task_executor_type_.c_str()); waypoint_task_executor_->initialize(node, waypoint_task_executor_id_); - } catch (const pluginlib::PluginlibException & ex) { + } catch (const std::exception & e) { RCLCPP_FATAL( get_logger(), - "Failed to create waypoint_task_executor. Exception: %s", ex.what()); + "Failed to create waypoint_task_executor. Exception: %s", e.what()); } return nav2_util::CallbackReturn::SUCCESS; @@ -102,7 +133,8 @@ WaypointFollower::on_activate(const rclcpp_lifecycle::State & /*state*/) { RCLCPP_INFO(get_logger(), "Activating"); - action_server_->activate(); + xyz_action_server_->activate(); + gps_action_server_->activate(); auto node = shared_from_this(); // Add callback for dynamic parameters @@ -120,9 +152,9 @@ WaypointFollower::on_deactivate(const rclcpp_lifecycle::State & /*state*/) { RCLCPP_INFO(get_logger(), "Deactivating"); - action_server_->deactivate(); + xyz_action_server_->deactivate(); + gps_action_server_->deactivate(); dyn_params_handler_.reset(); - // destroy bond connection destroyBond(); @@ -134,8 +166,10 @@ WaypointFollower::on_cleanup(const rclcpp_lifecycle::State & /*state*/) { RCLCPP_INFO(get_logger(), "Cleaning up"); - action_server_.reset(); + xyz_action_server_.reset(); nav_to_pose_client_.reset(); + gps_action_server_.reset(); + from_ll_to_map_client_.reset(); return nav2_util::CallbackReturn::SUCCESS; } @@ -147,29 +181,61 @@ WaypointFollower::on_shutdown(const rclcpp_lifecycle::State & /*state*/) return nav2_util::CallbackReturn::SUCCESS; } -void -WaypointFollower::followWaypoints() +template +std::vector WaypointFollower::getLatestGoalPoses( + const T & action_server) { - auto goal = action_server_->get_current_goal(); - auto feedback = std::make_shared(); - auto result = std::make_shared(); + std::vector poses; + const auto current_goal = action_server->get_current_goal(); + + if (!current_goal) { + RCLCPP_ERROR(get_logger(), "No current action goal found!"); + return poses; + } + + // compile time static check to decide which block of code to be built + if constexpr (std::is_same>::value) { + // If normal waypoint following callback was called, we build here + poses = current_goal->poses; + } else { + // If GPS waypoint following callback was called, we build here + poses = convertGPSPosesToMapPoses( + current_goal->gps_poses); + } + return poses; +} + +template +void WaypointFollower::followWaypointsHandler( + const T & action_server, + const V & feedback, + const Z & result) +{ + auto goal = action_server->get_current_goal(); // handling loops unsigned int current_loop_no = 0; auto no_of_loops = goal->number_of_loops; - // Check if request is valid - if (!action_server_ || !action_server_->is_server_active()) { + std::vector poses; + poses = getLatestGoalPoses(action_server); + + if (!action_server || !action_server->is_server_active()) { RCLCPP_DEBUG(get_logger(), "Action server inactive. Stopping."); return; } RCLCPP_INFO( get_logger(), "Received follow waypoint request with %i waypoints.", - static_cast(goal->poses.size())); + static_cast(poses.size())); - if (goal->poses.size() == 0) { - action_server_->succeeded_current(result); + if (poses.empty()) { + RCLCPP_ERROR( + get_logger(), + "Empty vector of waypoints passed to waypoint following " + "action potentially due to conversation failure or empty request." + ); + action_server->terminate_current(result); return; } @@ -181,20 +247,29 @@ WaypointFollower::followWaypoints() while (rclcpp::ok()) { // Check if asked to stop processing action - if (action_server_->is_cancel_requested()) { + if (action_server->is_cancel_requested()) { auto cancel_future = nav_to_pose_client_->async_cancel_all_goals(); callback_group_executor_.spin_until_future_complete(cancel_future); // for result callback processing callback_group_executor_.spin_some(); - action_server_->terminate_all(); + action_server->terminate_all(); return; } // Check if asked to process another action - if (action_server_->is_preempt_requested()) { + if (action_server->is_preempt_requested()) { RCLCPP_INFO(get_logger(), "Preempting the goal pose."); - goal = action_server_->accept_pending_goal(); - goal_index = goal->goal_index; + goal = action_server->accept_pending_goal(); + poses = getLatestGoalPoses(action_server); + if (poses.empty()) { + RCLCPP_ERROR( + get_logger(), + "Empty vector of Waypoints passed to waypoint following logic. " + "Nothing to execute, returning with failure!"); + action_server->terminate_current(result); + return; + } + goal_index = 0; new_goal = true; } @@ -202,25 +277,32 @@ WaypointFollower::followWaypoints() if (new_goal) { new_goal = false; ClientT::Goal client_goal; - client_goal.pose = goal->poses[goal_index]; + client_goal.pose = poses[goal_index]; + client_goal.pose.header.stamp = this->now(); auto send_goal_options = rclcpp_action::Client::SendGoalOptions(); - send_goal_options.result_callback = - std::bind(&WaypointFollower::resultCallback, this, std::placeholders::_1); - send_goal_options.goal_response_callback = - std::bind(&WaypointFollower::goalResponseCallback, this, std::placeholders::_1); + send_goal_options.result_callback = std::bind( + &WaypointFollower::resultCallback, this, + std::placeholders::_1); + send_goal_options.goal_response_callback = std::bind( + &WaypointFollower::goalResponseCallback, + this, std::placeholders::_1); + future_goal_handle_ = nav_to_pose_client_->async_send_goal(client_goal, send_goal_options); current_goal_status_.status = ActionStatus::PROCESSING; } feedback->current_waypoint = goal_index; - action_server_->publish_feedback(feedback); + action_server->publish_feedback(feedback); - if (current_goal_status_.status == ActionStatus::FAILED) { + if ( + current_goal_status_.status == ActionStatus::FAILED || + current_goal_status_.status == ActionStatus::UNKNOWN) + { nav2_msgs::msg::MissedWaypoint missedWaypoint; missedWaypoint.index = goal_index; - missedWaypoint.goal = goal->poses[goal_index]; + missedWaypoint.goal = poses[goal_index]; missedWaypoint.error_code = current_goal_status_.error_code; result->missed_waypoints.push_back(missedWaypoint); @@ -229,7 +311,7 @@ WaypointFollower::followWaypoints() get_logger(), "Failed to process waypoint %i in waypoint " "list and stop on failure is enabled." " Terminating action.", goal_index); - action_server_->terminate_current(result); + action_server->terminate_current(result); current_goal_status_.error_code = 0; return; } else { @@ -242,7 +324,7 @@ WaypointFollower::followWaypoints() get_logger(), "Succeeded processing waypoint %i, processing waypoint task execution", goal_index); bool is_task_executed = waypoint_task_executor_->processAtWaypoint( - goal->poses[goal_index], goal_index); + poses[goal_index], goal_index); RCLCPP_INFO( get_logger(), "Task execution at waypoint %i %s", goal_index, is_task_executed ? "succeeded" : "failed!"); @@ -250,8 +332,9 @@ WaypointFollower::followWaypoints() if (!is_task_executed) { nav2_msgs::msg::MissedWaypoint missedWaypoint; missedWaypoint.index = goal_index; - missedWaypoint.goal = goal->poses[goal_index]; - missedWaypoint.error_code = nav2_msgs::action::FollowWaypoints::Goal::TASK_EXECUTOR_FAILED; + missedWaypoint.goal = poses[goal_index]; + missedWaypoint.error_code = + nav2_msgs::action::FollowWaypoints::Result::TASK_EXECUTOR_FAILED; result->missed_waypoints.push_back(missedWaypoint); } // if task execution was failed and stop_on_failure_ is on , terminate action @@ -261,7 +344,7 @@ WaypointFollower::followWaypoints() " stop on failure is enabled." " Terminating action.", goal_index); - action_server_->terminate_current(result); + action_server->terminate_current(result); current_goal_status_.error_code = 0; return; } else { @@ -271,18 +354,16 @@ WaypointFollower::followWaypoints() } } - if (current_goal_status_.status != ActionStatus::PROCESSING && - current_goal_status_.status != ActionStatus::UNKNOWN) - { + if (current_goal_status_.status != ActionStatus::PROCESSING) { // Update server state goal_index++; new_goal = true; - if (goal_index >= goal->poses.size()) { + if (goal_index >= poses.size()) { if (current_loop_no == no_of_loops) { RCLCPP_INFO( get_logger(), "Completed all %zu waypoints requested.", - goal->poses.size()); - action_server_->succeeded_current(result); + poses.size()); + action_server->succeeded_current(result); current_goal_status_.error_code = 0; return; } @@ -299,6 +380,30 @@ WaypointFollower::followWaypoints() } } +void WaypointFollower::followWaypointsCallback() +{ + auto feedback = std::make_shared(); + auto result = std::make_shared(); + + followWaypointsHandler, + ActionT::Feedback::SharedPtr, + ActionT::Result::SharedPtr>( + xyz_action_server_, + feedback, result); +} + +void WaypointFollower::followGPSWaypointsCallback() +{ + auto feedback = std::make_shared(); + auto result = std::make_shared(); + + followWaypointsHandler, + ActionTGPS::Feedback::SharedPtr, + ActionTGPS::Result::SharedPtr>( + gps_action_server_, + feedback, result); +} + void WaypointFollower::resultCallback( const rclcpp_action::ClientGoalHandle::WrappedResult & result) @@ -323,6 +428,7 @@ WaypointFollower::resultCallback( current_goal_status_.status = ActionStatus::FAILED; return; default: + RCLCPP_ERROR(get_logger(), "Received an UNKNOWN result code from navigation action!"); current_goal_status_.status = ActionStatus::UNKNOWN; return; } @@ -365,6 +471,58 @@ WaypointFollower::dynamicParametersCallback(std::vector param return result; } +std::vector +WaypointFollower::convertGPSPosesToMapPoses( + const std::vector & gps_poses) +{ + RCLCPP_INFO( + this->get_logger(), "Converting GPS waypoints to %s Frame..", + global_frame_id_.c_str()); + + std::vector poses_in_map_frame_vector; + int waypoint_index = 0; + for (auto && curr_geopose : gps_poses) { + auto request = std::make_shared(); + auto response = std::make_shared(); + request->ll_point.latitude = curr_geopose.position.latitude; + request->ll_point.longitude = curr_geopose.position.longitude; + request->ll_point.altitude = curr_geopose.position.altitude; + + from_ll_to_map_client_->wait_for_service((std::chrono::seconds(1))); + if (!from_ll_to_map_client_->invoke(request, response)) { + RCLCPP_ERROR( + this->get_logger(), + "fromLL service of robot_localization could not convert %i th GPS waypoint to" + "%s frame, going to skip this point!" + "Make sure you have run navsat_transform_node of robot_localization", + waypoint_index, global_frame_id_.c_str()); + if (stop_on_failure_) { + RCLCPP_ERROR( + this->get_logger(), + "Conversion of %i th GPS waypoint to" + "%s frame failed and stop_on_failure is set to true" + "Not going to execute any of waypoints, exiting with failure!", + waypoint_index, global_frame_id_.c_str()); + return std::vector(); + } + continue; + } else { + geometry_msgs::msg::PoseStamped curr_pose_map_frame; + curr_pose_map_frame.header.frame_id = global_frame_id_; + curr_pose_map_frame.header.stamp = this->now(); + curr_pose_map_frame.pose.position = response->map_point; + curr_pose_map_frame.pose.orientation = curr_geopose.orientation; + poses_in_map_frame_vector.push_back(curr_pose_map_frame); + } + waypoint_index++; + } + RCLCPP_INFO( + this->get_logger(), + "Converted all %i GPS waypoint to %s frame", + static_cast(poses_in_map_frame_vector.size()), global_frame_id_.c_str()); + return poses_in_map_frame_vector; +} + } // namespace nav2_waypoint_follower #include "rclcpp_components/register_node_macro.hpp" diff --git a/nav2_waypoint_follower/test/test_task_executors.cpp b/nav2_waypoint_follower/test/test_task_executors.cpp index da0a0e99443..87d1b2b0c27 100644 --- a/nav2_waypoint_follower/test/test_task_executors.cpp +++ b/nav2_waypoint_follower/test/test_task_executors.cpp @@ -71,7 +71,7 @@ TEST(WaypointFollowerTest, InputAtWaypoint) auto pub = node->create_publisher("input_at_waypoint/input", 1); pub->on_activate(); auto publish_message = - [&, this]() -> void + [&]() -> void { rclcpp::Rate(5).sleep(); auto msg = std::make_unique(); @@ -117,7 +117,7 @@ TEST(WaypointFollowerTest, PhotoAtWaypoint) std::unique_lock lck(mtx, std::defer_lock); bool data_published = false; auto publish_message = - [&, this]() -> void + [&]() -> void { rclcpp::Rate(5).sleep(); auto msg = std::make_unique(); diff --git a/navigation2/package.xml b/navigation2/package.xml index 94a35930242..7d8a186493d 100644 --- a/navigation2/package.xml +++ b/navigation2/package.xml @@ -2,7 +2,7 @@ navigation2 - 1.1.0 + 1.2.0 ROS2 Navigation Stack @@ -22,6 +22,7 @@ nav2_core nav2_costmap_2d nav2_dwb_controller + nav2_graceful_controller nav2_lifecycle_manager nav2_map_server nav2_msgs diff --git a/tools/bt2img.py b/tools/bt2img.py index 31480f19be3..2b12d777d82 100755 --- a/tools/bt2img.py +++ b/tools/bt2img.py @@ -18,64 +18,66 @@ import argparse import xml.etree.ElementTree + import graphviz # pip3 install graphviz control_nodes = [ - "Fallback", - "Parallel", - "ReactiveFallback", - "ReactiveSequence", - "Sequence", - "SequenceStar", - "BlackboardCheckInt", - "BlackboardCheckDouble", - "BlackboardCheckString", - "ForceFailure", - "ForceSuccess", - "Inverter", - "Repeat", - "Subtree", - "Timeout", - "RecoveryNode", - "PipelineSequence", - "RoundRobin", - "Control", - ] + 'Fallback', + 'Parallel', + 'ReactiveFallback', + 'ReactiveSequence', + 'Sequence', + 'SequenceWithMemory', + 'BlackboardCheckInt', + 'BlackboardCheckDouble', + 'BlackboardCheckString', + 'ForceFailure', + 'ForceSuccess', + 'Inverter', + 'Repeat', + 'Subtree', + 'Timeout', + 'RecoveryNode', + 'PipelineSequence', + 'RoundRobin', + 'Control', +] action_nodes = [ - "AlwaysFailure", - "AlwaysSuccess", - "SetBlackboard", - "ComputePathToPose", - "FollowPath", - "BackUp", - "Spin", - "Wait", - "ClearEntireCostmap", - "ReinitializeGlobalLocalization", - "Action", - ] + 'AlwaysFailure', + 'AlwaysSuccess', + 'SetBlackboard', + 'ComputePathToPose', + 'FollowPath', + 'BackUp', + 'Spin', + 'Wait', + 'ClearEntireCostmap', + 'ReinitializeGlobalLocalization', + 'Action', +] condition_nodes = [ - "IsStuck", - "GoalReached", - "initialPoseReceived", - "GoalUpdated", - "DistanceTraveled", - "TimeExpired", - "TransformAvailable", - "Condition", - ] + 'IsStuck', + 'GoalReached', + 'initialPoseReceived', + 'GoalUpdated', + 'DistanceTraveled', + 'TimeExpired', + 'TransformAvailable', + 'Condition', +] decorator_nodes = [ - "Decorator", - "RateController", - "DistanceController", - "SpeedController", + 'Decorator', + 'RateController', + 'DistanceController', + 'SpeedController', ] subtree_nodes = [ - "SubTree", + 'SubTree', ] global xml_tree + def main(): global xml_tree args = parse_command_line() @@ -93,27 +95,43 @@ def main(): args.save_dot.write(dot.source) dot.render(args.image_out, view=args.display) + def parse_command_line(): - parser = argparse.ArgumentParser(description='Convert a behavior tree XML file to an image') - parser.add_argument('--behavior_tree', required=True, - help='the behavior tree XML file to convert to an image') - parser.add_argument('--image_out', required=True, - help='The name of the output image file. Leave off the .png extension') - parser.add_argument('--display', action="store_true", - help='If specified, opens the image in the default viewer') - parser.add_argument('--save_dot', type=argparse.FileType('w'), - help='Saves the intermediate dot source to the specified file') - parser.add_argument('--legend', - help='Generate a legend image as well') + parser = argparse.ArgumentParser( + description='Convert a behavior tree XML file to an image' + ) + parser.add_argument( + '--behavior_tree', + required=True, + help='the behavior tree XML file to convert to an image', + ) + parser.add_argument( + '--image_out', + required=True, + help='The name of the output image file. Leave off the .png extension', + ) + parser.add_argument( + '--display', + action='store_true', + help='If specified, opens the image in the default viewer', + ) + parser.add_argument( + '--save_dot', + type=argparse.FileType('w'), + help='Saves the intermediate dot source to the specified file', + ) + parser.add_argument('--legend', help='Generate a legend image as well') return parser.parse_args() + def find_root_tree_name(xml_tree): return xml_tree.getroot().get('main_tree_to_execute') + def find_behavior_tree(xml_tree, tree_name): trees = xml_tree.findall('BehaviorTree') if len(trees) == 0: - raise RuntimeError("No behavior trees were found in the XML file") + raise RuntimeError('No behavior trees were found in the XML file') for tree in trees: if tree_name == tree.get('ID'): @@ -121,6 +139,7 @@ def find_behavior_tree(xml_tree, tree_name): raise RuntimeError(f'No behavior tree for name {tree_name} found in the XML file') + # Generate a dot description of the root of the behavior tree. def convert2dot(behavior_tree): dot = graphviz.Digraph() @@ -130,65 +149,85 @@ def convert2dot(behavior_tree): convert_subtree(dot, root, parent_dot_name) return dot + # Recursive function. We add the children to the dot file, and then recursively # call this function on the children. Nodes are given an ID that is the hash # of the node to ensure each is unique. def convert_subtree(dot, parent_node, parent_dot_name): - if parent_node.tag == "SubTree": + if parent_node.tag == 'SubTree': add_sub_tree(dot, parent_dot_name, parent_node) else: add_nodes(dot, parent_dot_name, parent_node) + def add_sub_tree(dot, parent_dot_name, parent_node): root_tree_name = parent_node.get('ID') dot.node(parent_dot_name, root_tree_name, shape='box') behavior_tree = find_behavior_tree(xml_tree, root_tree_name) convert_subtree(dot, behavior_tree, parent_dot_name) + def add_nodes(dot, parent_dot_name, parent_node): for node in list(parent_node): label = make_label(node) - dot.node(str(hash(node)), label, color=node_color(node.tag), style='filled', shape='box') + dot.node( + str(hash(node)), + label, + color=node_color(node.tag), + style='filled', + shape='box', + ) dot_name = str(hash(node)) dot.edge(parent_dot_name, dot_name) convert_subtree(dot, node, dot_name) + # The node label contains the: # type, the name if provided, and the parameters. def make_label(node): - label = '< ' - label += '' + label = "<
' + node.tag + '
" + label += "" name = node.get('name') if name: - label += '' + label += "" for (param_name, value) in node.items(): - label += '' + label += ( + "" + ) label += '
' + node.tag + '
' + name + '
' + name + '
' + param_name + '=' + value + '
' + param_name + '=' + value + '
>' return label -def node_color(type): - if type in control_nodes: - return "chartreuse4" - if type in action_nodes: - return "cornflowerblue" - if type in condition_nodes: - return "yellow2" - if type in decorator_nodes: - return "darkorange1" - if type in subtree_nodes: - return "darkorchid1" - #else it's unknown - return "grey" + +def node_color(node_type): + if node_type in control_nodes: + return 'chartreuse4' + if node_type in action_nodes: + return 'cornflowerblue' + if node_type in condition_nodes: + return 'yellow2' + if node_type in decorator_nodes: + return 'darkorange1' + if node_type in subtree_nodes: + return 'darkorchid1' + # else it's unknown + return 'grey' + # creates a legend which can be provided with the other images. def make_legend(): legend = graphviz.Digraph(graph_attr={'rankdir': 'LR'}) legend.attr(label='Legend') - legend.node('Unknown', shape='box', style='filled', color="grey") - legend.node('Action', 'Action Node', shape='box', style='filled', color="cornflowerblue") - legend.node('Condition', 'Condition Node', shape='box', style='filled', color="yellow2") - legend.node('Control', 'Control Node', shape='box', style='filled', color="chartreuse4") + legend.node('Unknown', shape='box', style='filled', color='grey') + legend.node( + 'Action', 'Action Node', shape='box', style='filled', color='cornflowerblue' + ) + legend.node( + 'Condition', 'Condition Node', shape='box', style='filled', color='yellow2' + ) + legend.node( + 'Control', 'Control Node', shape='box', style='filled', color='chartreuse4' + ) return legend diff --git a/tools/planner_benchmarking/README.md b/tools/planner_benchmarking/README.md index c10e44003d7..977d217436e 100644 --- a/tools/planner_benchmarking/README.md +++ b/tools/planner_benchmarking/README.md @@ -8,18 +8,17 @@ To use, modify the Nav2 bringup parameters to include the planners of interest: planner_server: ros__parameters: expected_planner_frequency: 20.0 - use_sim_time: True planner_plugins: ["SmacHybrid", "Smac2d", "SmacLattice", "Navfn", "ThetaStar"] SmacHybrid: - plugin: "nav2_smac_planner/SmacPlannerHybrid" + plugin: "nav2_smac_planner::SmacPlannerHybrid" Smac2d: - plugin: "nav2_smac_planner/SmacPlanner2D" + plugin: "nav2_smac_planner::SmacPlanner2D" SmacLattice: - plugin: "nav2_smac_planner/SmacPlannerLattice" + plugin: "nav2_smac_planner::SmacPlannerLattice" Navfn: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" ThetaStar: - plugin: "nav2_theta_star_planner/ThetaStarPlanner" + plugin: "nav2_theta_star_planner::ThetaStarPlanner" ``` Set global costmap settings to those desired for benchmarking. The global map will be automatically set in the script. Inside of `metrics.py`, you can modify the map or set of planners to use. diff --git a/tools/planner_benchmarking/metrics.py b/tools/planner_benchmarking/metrics.py index 975416fcbd5..0ae0f883efe 100644 --- a/tools/planner_benchmarking/metrics.py +++ b/tools/planner_benchmarking/metrics.py @@ -13,22 +13,17 @@ # See the License for the specific language governing permissions and # limitations under the License. -from geometry_msgs.msg import PoseStamped -from nav2_simple_commander.robot_navigator import BasicNavigator -import rclpy -from ament_index_python.packages import get_package_share_directory - +import glob import math import os import pickle -import glob +from random import randint, seed, uniform import time -import numpy as np - -from random import seed -from random import randint -from random import uniform +from geometry_msgs.msg import PoseStamped +from nav2_simple_commander.robot_navigator import BasicNavigator +import numpy as np +import rclpy from transforms3d.euler import euler2quat @@ -39,7 +34,7 @@ def getPlannerResults(navigator, initial_pose, goal_pose, planners): if path is not None and path.error_code == 0: results.append(path) else: - print(planner, "planner failed to produce the path") + print(planner, 'planner failed to produce the path') return results return results @@ -49,14 +44,14 @@ def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): start.header.frame_id = 'map' start.header.stamp = time_stamp while True: - row = randint(side_buffer, costmap.shape[0]-side_buffer) - col = randint(side_buffer, costmap.shape[1]-side_buffer) + row = randint(side_buffer, costmap.shape[0] - side_buffer) + col = randint(side_buffer, costmap.shape[1] - side_buffer) if costmap[row, col] < max_cost: - start.pose.position.x = col*res - start.pose.position.y = row*res + start.pose.position.x = col * res + start.pose.position.y = row * res - yaw = uniform(0, 1) * 2*math.pi + yaw = uniform(0, 1) * 2 * math.pi quad = euler2quat(0.0, 0.0, yaw) start.pose.orientation.w = quad[0] start.pose.orientation.x = quad[1] @@ -71,13 +66,13 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal.header.frame_id = 'map' goal.header.stamp = time_stamp while True: - row = randint(side_buffer, costmap.shape[0]-side_buffer) - col = randint(side_buffer, costmap.shape[1]-side_buffer) + row = randint(side_buffer, costmap.shape[0] - side_buffer) + col = randint(side_buffer, costmap.shape[1] - side_buffer) start_x = start.pose.position.x start_y = start.pose.position.y - goal_x = col*res - goal_y = row*res + goal_x = col * res + goal_y = row * res x_diff = goal_x - start_x y_diff = goal_y - start_y dist = math.sqrt(x_diff ** 2 + y_diff ** 2) @@ -86,7 +81,7 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal.pose.position.x = goal_x goal.pose.position.y = goal_y - yaw = uniform(0, 1) * 2*math.pi + yaw = uniform(0, 1) * 2 * math.pi quad = euler2quat(0.0, 0.0, yaw) goal.pose.orientation.w = quad[0] goal.pose.orientation.x = quad[1] @@ -111,7 +106,7 @@ def main(): costmap = np.asarray(costmap_msg.data) costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x) - planners = ['Navfn', 'ThetaStar', 'SmacHybrid', 'Smac2d', 'SmacLattice'] + planners = ['Navfn', 'ThetaStar', 'SmacHybrid', 'Smac2d', 'SmacLattice'] max_cost = 210 side_buffer = 100 time_stamp = navigator.get_clock().now().to_msg() @@ -122,19 +117,19 @@ def main(): res = costmap_msg.metadata.resolution i = 0 while len(results) != random_pairs: - print("Cycle: ", i, "out of: ", random_pairs) + print('Cycle: ', i, 'out of: ', random_pairs) start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, res) goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res) - print("Start", start) - print("Goal", goal) + print('Start', start) + print('Goal', goal) result = getPlannerResults(navigator, start, goal, planners) if len(result) == len(planners): results.append(result) i = i + 1 else: - print("One of the planners was invalid") + print('One of the planners was invalid') - print("Write Results...") + print('Write Results...') with open(os.getcwd() + '/results.pickle', 'wb+') as f: pickle.dump(results, f, pickle.HIGHEST_PROTOCOL) @@ -143,7 +138,7 @@ def main(): with open(os.getcwd() + '/planners.pickle', 'wb+') as f: pickle.dump(planners, f, pickle.HIGHEST_PROTOCOL) - print("Write Complete") + print('Write Complete') exit(0) diff --git a/tools/planner_benchmarking/planning_benchmark_bringup.py b/tools/planner_benchmarking/planning_benchmark_bringup.py index d6589e89968..506ba544183 100644 --- a/tools/planner_benchmarking/planning_benchmark_bringup.py +++ b/tools/planner_benchmarking/planning_benchmark_bringup.py @@ -14,60 +14,69 @@ import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory + def generate_launch_description(): nav2_bringup_dir = get_package_share_directory('nav2_bringup') - config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml') + config = os.path.join( + get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml' + ) map_file = os.path.join(nav2_bringup_dir, 'maps', 'turtlebot3_world.yaml') lifecycle_nodes = ['map_server', 'planner_server'] - return LaunchDescription([ - Node( - package='nav2_map_server', - executable='map_server', - name='map_server', - output='screen', - parameters=[{'use_sim_time': True}, - {'yaml_filename': map_file}, - {'topic_name': "map"}]), - - Node( - package='nav2_planner', - executable='planner_server', - name='planner_server', - output='screen', - parameters=[config]), - - Node( - package = 'tf2_ros', - executable = 'static_transform_publisher', - output = 'screen', - arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"]), - - Node( - package = 'tf2_ros', - executable = 'static_transform_publisher', - output = 'screen', - arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"]), - - Node( - package='nav2_lifecycle_manager', - executable='lifecycle_manager', - name='lifecycle_manager', - output='screen', - parameters=[{'use_sim_time': True}, - {'autostart': True}, - {'node_names': lifecycle_nodes}]), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) - - ]) + return LaunchDescription( + [ + Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[ + {'use_sim_time': True}, + {'yaml_filename': map_file}, + {'topic_name': 'map'}, + ], + ), + Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + parameters=[config], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'map'], + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'odom'], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager', + output='screen', + parameters=[ + {'use_sim_time': True}, + {'autostart': True}, + {'node_names': lifecycle_nodes}, + ], + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ), + ] + ) diff --git a/tools/planner_benchmarking/process_data.py b/tools/planner_benchmarking/process_data.py index 50be77cc488..299997774db 100644 --- a/tools/planner_benchmarking/process_data.py +++ b/tools/planner_benchmarking/process_data.py @@ -13,15 +13,13 @@ # See the License for the specific language governing permissions and # limitations under the License. -import numpy as np import math - import os -from ament_index_python.packages import get_package_share_directory import pickle -import seaborn as sns import matplotlib.pylab as plt +import numpy as np +import seaborn as sns from tabulate import tabulate @@ -37,7 +35,7 @@ def getTimes(results): times = [] for result in results: for time in result: - times.append(time.planning_time.nanosec/1e09 + time.planning_time.sec) + times.append(time.planning_time.nanosec / 1e09 + time.planning_time.sec) return times @@ -47,8 +45,8 @@ def getMapCoordsFromPaths(paths, resolution): x = [] y = [] for pose in path.poses: - x.append(pose.pose.position.x/resolution) - y.append(pose.pose.position.y/resolution) + x.append(pose.pose.position.x / resolution) + y.append(pose.pose.position.y / resolution) coords.append(x) coords.append(y) return coords @@ -61,7 +59,9 @@ def getPathLength(path): for i in range(1, len(path.poses)): x_curr = path.poses[i].pose.position.x y_curr = path.poses[i].pose.position.y - path_length = path_length + math.sqrt((x_curr-x_prev)**2 + (y_curr-y_prev)**2) + path_length = path_length + math.sqrt( + (x_curr - x_prev) ** 2 + (y_curr - y_prev) ** 2 + ) x_prev = x_curr y_prev = y_curr return path_length @@ -76,7 +76,7 @@ def plotResults(costmap, paths): plt.figure(3) ax = sns.heatmap(data, cmap='Greys', cbar=False) for i in range(0, len(coords), 2): - ax.plot(coords[i], coords[i+1], linewidth=0.7) + ax.plot(coords[i], coords[i + 1], linewidth=0.7) plt.axis('off') ax.set_aspect('equal', 'box') plt.show() @@ -95,8 +95,8 @@ def averagePathCost(paths, costmap, num_of_planners): for i in range(0, len(coords), 2): costs = [] for j in range(len(coords[i])): - costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]) - average_path_costs[k % num_of_planners].append(sum(costs)/len(costs)) + costs.append(data[math.floor(coords[i + 1][j])][math.floor(coords[i][j])]) + average_path_costs[k % num_of_planners].append(sum(costs) / len(costs)) k += 1 return average_path_costs @@ -115,7 +115,7 @@ def maxPathCost(paths, costmap, num_of_planners): for i in range(0, len(coords), 2): max_cost = 0 for j in range(len(coords[i])): - cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] + cost = data[math.floor(coords[i + 1][j])][math.floor(coords[i][j])] if max_cost < cost: max_cost = cost max_path_costs[k % num_of_planners].append(max_cost) @@ -126,7 +126,7 @@ def maxPathCost(paths, costmap, num_of_planners): def main(): - print("Read data") + print('Read data') with open(os.getcwd() + '/results.pickle', 'rb') as f: results = pickle.load(f) @@ -144,12 +144,12 @@ def main(): path_lengths = np.asarray(path_lengths) total_paths = len(paths) - path_lengths.resize((int(total_paths/len(planners)), len(planners))) + path_lengths.resize((int(total_paths / len(planners)), len(planners))) path_lengths = path_lengths.transpose() times = getTimes(results) times = np.asarray(times) - times.resize((int(total_paths/len(planners)), len(planners))) + times.resize((int(total_paths / len(planners)), len(planners))) times = np.transpose(times) # Costs @@ -157,12 +157,26 @@ def main(): max_path_costs = np.asarray(maxPathCost(paths, costmap, len(planners))) # Generate table - planner_table = [['Planner', 'Average path length (m)', 'Average Time (s)', - 'Average cost', 'Max cost']] + planner_table = [ + [ + 'Planner', + 'Average path length (m)', + 'Average Time (s)', + 'Average cost', + 'Max cost', + ] + ] for i in range(0, len(planners)): - planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i]), - np.average(average_path_costs[i]), np.average(max_path_costs[i])]) + planner_table.append( + [ + planners[i], + np.average(path_lengths[i]), + np.average(times[i]), + np.average(average_path_costs[i]), + np.average(max_path_costs[i]), + ] + ) # Visualize results print(tabulate(planner_table)) diff --git a/tools/smoother_benchmarking/README.md b/tools/smoother_benchmarking/README.md index aa9a5c83fe9..d5334a51bdd 100644 --- a/tools/smoother_benchmarking/README.md +++ b/tools/smoother_benchmarking/README.md @@ -18,7 +18,7 @@ planner_server: expected_planner_frequency: 20.0 planner_plugins: ["SmacHybrid"] SmacHybrid: - plugin: "nav2_smac_planner/SmacPlannerHybrid" + plugin: "nav2_smac_planner::SmacPlannerHybrid" tolerance: 0.5 motion_model_for_search: "DUBIN" # default, non-reverse motion smooth_path: false # should be disabled for experiment diff --git a/tools/smoother_benchmarking/metrics.py b/tools/smoother_benchmarking/metrics.py index fac2b19a959..fa01be9754f 100644 --- a/tools/smoother_benchmarking/metrics.py +++ b/tools/smoother_benchmarking/metrics.py @@ -14,31 +14,29 @@ # See the License for the specific language governing permissions and # limitations under the License. -from geometry_msgs.msg import PoseStamped -from nav2_simple_commander.robot_navigator import BasicNavigator -import rclpy - import math import os import pickle -import numpy as np - -from random import seed -from random import randint -from random import uniform +from random import randint, seed, uniform +from geometry_msgs.msg import PoseStamped +from nav2_simple_commander.robot_navigator import BasicNavigator +import numpy as np +import rclpy from transforms3d.euler import euler2quat # Note: Map origin is assumed to be (0,0) + def getPlannerResults(navigator, initial_pose, goal_pose, planner): result = navigator._getPathImpl(initial_pose, goal_pose, planner, use_start=True) if result is None or result.error_code != 0: - print(planner, "planner failed to produce the path") + print(planner, 'planner failed to produce the path') return None return result + def getSmootherResults(navigator, path, smoothers): smoothed_results = [] for smoother in smoothers: @@ -46,23 +44,24 @@ def getSmootherResults(navigator, path, smoothers): if smoothed_result is not None: smoothed_results.append(smoothed_result) else: - print(smoother, "failed to smooth the path") + print(smoother, 'failed to smooth the path') return None return smoothed_results + def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): start = PoseStamped() start.header.frame_id = 'map' start.header.stamp = time_stamp while True: - row = randint(side_buffer, costmap.shape[0]-side_buffer) - col = randint(side_buffer, costmap.shape[1]-side_buffer) + row = randint(side_buffer, costmap.shape[0] - side_buffer) + col = randint(side_buffer, costmap.shape[1] - side_buffer) if costmap[row, col] < max_cost: - start.pose.position.x = col*res - start.pose.position.y = row*res + start.pose.position.x = col * res + start.pose.position.y = row * res - yaw = uniform(0, 1) * 2*math.pi + yaw = uniform(0, 1) * 2 * math.pi quad = euler2quat(0.0, 0.0, yaw) start.pose.orientation.w = quad[0] start.pose.orientation.x = quad[1] @@ -71,18 +70,19 @@ def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res): break return start + def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal = PoseStamped() goal.header.frame_id = 'map' goal.header.stamp = time_stamp while True: - row = randint(side_buffer, costmap.shape[0]-side_buffer) - col = randint(side_buffer, costmap.shape[1]-side_buffer) + row = randint(side_buffer, costmap.shape[0] - side_buffer) + col = randint(side_buffer, costmap.shape[1] - side_buffer) start_x = start.pose.position.x start_y = start.pose.position.y - goal_x = col*res - goal_y = row*res + goal_x = col * res + goal_y = row * res x_diff = goal_x - start_x y_diff = goal_y - start_y dist = math.sqrt(x_diff ** 2 + y_diff ** 2) @@ -91,7 +91,7 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): goal.pose.position.x = goal_x goal.pose.position.y = goal_y - yaw = uniform(0, 1) * 2*math.pi + yaw = uniform(0, 1) * 2 * math.pi quad = euler2quat(0.0, 0.0, yaw) goal.pose.orientation.w = quad[0] goal.pose.orientation.x = quad[1] @@ -100,13 +100,14 @@ def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res): break return goal + def main(): rclpy.init() navigator = BasicNavigator() # Wait for planner and smoother to fully activate - print("Waiting for planner and smoother servers to activate") + print('Waiting for planner and smoother servers to activate') navigator.waitUntilNav2Active('smoother_server', 'planner_server') # Get the costmap for start/goal validation @@ -126,20 +127,20 @@ def main(): i = 0 res = costmap_msg.metadata.resolution while i < random_pairs: - print("Cycle: ", i, "out of: ", random_pairs) + print('Cycle: ', i, 'out of: ', random_pairs) start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, res) goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res) - print("Start", start) - print("Goal", goal) + print('Start', start) + print('Goal', goal) result = getPlannerResults(navigator, start, goal, planner) if result is not None: smoothed_results = getSmootherResults(navigator, result.path, smoothers) if smoothed_results is not None: - results.append(result) - results.append(smoothed_results) - i += 1 + results.append(result) + results.append(smoothed_results) + i += 1 - print("Write Results...") + print('Write Results...') benchmark_dir = os.getcwd() with open(os.path.join(benchmark_dir, 'results.pickle'), 'wb') as f: pickle.dump(results, f, pickle.HIGHEST_PROTOCOL) @@ -150,7 +151,7 @@ def main(): smoothers.insert(0, planner) with open(os.path.join(benchmark_dir, 'methods.pickle'), 'wb') as f: pickle.dump(smoothers, f, pickle.HIGHEST_PROTOCOL) - print("Write Complete") + print('Write Complete') exit(0) diff --git a/tools/smoother_benchmarking/process_data.py b/tools/smoother_benchmarking/process_data.py index 43392833bda..4a422bc0037 100644 --- a/tools/smoother_benchmarking/process_data.py +++ b/tools/smoother_benchmarking/process_data.py @@ -15,14 +15,13 @@ # See the License for the specific language governing permissions and # limitations under the License. -import numpy as np import math - import os import pickle -import seaborn as sns import matplotlib.pylab as plt +import numpy as np +import seaborn as sns from tabulate import tabulate @@ -44,11 +43,16 @@ def getTimes(results): for i in range(len(results)): if (i % 2) == 0: # Append non-smoothed time - times.append(results[i].planning_time.nanosec/1e09 + results[i].planning_time.sec) + times.append( + results[i].planning_time.nanosec / 1e09 + results[i].planning_time.sec + ) else: # Append smoothed times array for result in results[i]: - times.append(result.smoothing_duration.nanosec/1e09 + result.smoothing_duration.sec) + times.append( + result.smoothing_duration.nanosec / 1e09 + + result.smoothing_duration.sec + ) return times @@ -58,8 +62,8 @@ def getMapCoordsFromPaths(paths, resolution): x = [] y = [] for pose in path.poses: - x.append(pose.pose.position.x/resolution) - y.append(pose.pose.position.y/resolution) + x.append(pose.pose.position.x / resolution) + y.append(pose.pose.position.y / resolution) coords.append(x) coords.append(y) return coords @@ -72,11 +76,14 @@ def getPathLength(path): for i in range(1, len(path.poses)): x_curr = path.poses[i].pose.position.x y_curr = path.poses[i].pose.position.y - path_length = path_length + math.sqrt((x_curr-x_prev)**2 + (y_curr-y_prev)**2) + path_length = path_length + math.sqrt( + (x_curr - x_prev) ** 2 + (y_curr - y_prev) ** 2 + ) x_prev = x_curr y_prev = y_curr return path_length + # Path smoothness calculations def getSmoothness(pt_prev, pt, pt_next): d1 = pt - pt_prev @@ -84,6 +91,7 @@ def getSmoothness(pt_prev, pt, pt_next): delta = d2 - d1 return np.linalg.norm(delta) + def getPathSmoothnesses(paths): smoothnesses = [] pm0 = np.array([0.0, 0.0]) @@ -94,14 +102,15 @@ def getPathSmoothnesses(paths): for i in range(2, len(path.poses)): pm0[0] = path.poses[i].pose.position.x pm0[1] = path.poses[i].pose.position.y - pm1[0] = path.poses[i-1].pose.position.x - pm1[1] = path.poses[i-1].pose.position.y - pm2[0] = path.poses[i-2].pose.position.x - pm2[1] = path.poses[i-2].pose.position.y + pm1[0] = path.poses[i - 1].pose.position.x + pm1[1] = path.poses[i - 1].pose.position.y + pm2[0] = path.poses[i - 2].pose.position.x + pm2[1] = path.poses[i - 2].pose.position.y smoothness += getSmoothness(pm2, pm1, pm0) smoothnesses.append(smoothness) return smoothnesses + # Curvature calculations def arcCenter(pt_prev, pt, pt_next): cusp_thresh = -0.7 @@ -132,9 +141,12 @@ def arcCenter(pt_prev, pt, pt_next): n2 = (-d2[1], d2[0]) det1 = (mid1[0] + n1[0]) * mid1[1] - (mid1[1] + n1[1]) * mid1[0] det2 = (mid2[0] + n2[0]) * mid2[1] - (mid2[1] + n2[1]) * mid2[0] - center = np.array([(det1 * n2[0] - det2 * n1[0]) / det, (det1 * n2[1] - det2 * n1[1]) / det]) + center = np.array( + [(det1 * n2[0] - det2 * n1[0]) / det, (det1 * n2[1] - det2 * n1[1]) / det] + ) return center + def getPathCurvatures(paths): curvatures = [] pm0 = np.array([0.0, 0.0]) @@ -145,17 +157,18 @@ def getPathCurvatures(paths): for i in range(2, len(path.poses)): pm0[0] = path.poses[i].pose.position.x pm0[1] = path.poses[i].pose.position.y - pm1[0] = path.poses[i-1].pose.position.x - pm1[1] = path.poses[i-1].pose.position.y - pm2[0] = path.poses[i-2].pose.position.x - pm2[1] = path.poses[i-2].pose.position.y + pm1[0] = path.poses[i - 1].pose.position.x + pm1[1] = path.poses[i - 1].pose.position.y + pm2[0] = path.poses[i - 2].pose.position.x + pm2[1] = path.poses[i - 2].pose.position.y center = arcCenter(pm2, pm1, pm0) if center[0] != float('inf'): - turning_rad = np.linalg.norm(pm1 - center); - radiuses.append(turning_rad) + turning_rad = np.linalg.norm(pm1 - center) + radiuses.append(turning_rad) curvatures.append(np.average(radiuses)) return curvatures + def plotResults(costmap, paths): coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution) data = np.asarray(costmap.data) @@ -165,7 +178,7 @@ def plotResults(costmap, paths): plt.figure(3) ax = sns.heatmap(data, cmap='Greys', cbar=False) for i in range(0, len(coords), 2): - ax.plot(coords[i], coords[i+1], linewidth=0.7) + ax.plot(coords[i], coords[i + 1], linewidth=0.7) plt.axis('off') ax.set_aspect('equal', 'box') plt.show() @@ -184,8 +197,8 @@ def averagePathCost(paths, costmap, num_of_planners): for i in range(0, len(coords), 2): costs = [] for j in range(len(coords[i])): - costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]) - average_path_costs[k % num_of_planners].append(sum(costs)/len(costs)) + costs.append(data[math.floor(coords[i + 1][j])][math.floor(coords[i][j])]) + average_path_costs[k % num_of_planners].append(sum(costs) / len(costs)) k += 1 return average_path_costs @@ -204,7 +217,7 @@ def maxPathCost(paths, costmap, num_of_planners): for i in range(0, len(coords), 2): max_cost = 0 for j in range(len(coords[i])): - cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])] + cost = data[math.floor(coords[i + 1][j])][math.floor(coords[i][j])] if max_cost < cost: max_cost = cost max_path_costs[k % num_of_planners].append(max_cost) @@ -216,7 +229,7 @@ def maxPathCost(paths, costmap, num_of_planners): def main(): # Read the data benchmark_dir = os.getcwd() - print("Read data") + print('Read data') with open(os.path.join(benchmark_dir, 'results.pickle'), 'rb') as f: results = pickle.load(f) @@ -239,14 +252,14 @@ def main(): total_paths = len(paths) # [planner, smoothers] path lenghth in a row - path_lengths.resize((int(total_paths/methods_num), methods_num)) + path_lengths.resize((int(total_paths / methods_num), methods_num)) # [planner, smoothers] path length in a column path_lengths = path_lengths.transpose() # Times times = getTimes(results) times = np.asarray(times) - times.resize((int(total_paths/methods_num), methods_num)) + times.resize((int(total_paths / methods_num), methods_num)) times = np.transpose(times) # Costs @@ -256,40 +269,52 @@ def main(): # Smoothness smoothnesses = getPathSmoothnesses(paths) smoothnesses = np.asarray(smoothnesses) - smoothnesses.resize((int(total_paths/methods_num), methods_num)) + smoothnesses.resize((int(total_paths / methods_num), methods_num)) smoothnesses = np.transpose(smoothnesses) # Curvatures curvatures = getPathCurvatures(paths) curvatures = np.asarray(curvatures) - curvatures.resize((int(total_paths/methods_num), methods_num)) + curvatures.resize((int(total_paths / methods_num), methods_num)) curvatures = np.transpose(curvatures) # Generate table - planner_table = [['Planner', - 'Time (s)', - 'Path length (m)', - 'Average cost', - 'Max cost', - 'Path smoothness (x100)', - 'Average turning rad (m)']] + planner_table = [ + [ + 'Planner', + 'Time (s)', + 'Path length (m)', + 'Average cost', + 'Max cost', + 'Path smoothness (x100)', + 'Average turning rad (m)', + ] + ] # for path planner - planner_table.append([planner, - np.average(times[0]), - np.average(path_lengths[0]), - np.average(average_path_costs[0]), - np.average(max_path_costs[0]), - np.average(smoothnesses[0]) * 100, - np.average(curvatures[0])]) + planner_table.append( + [ + planner, + np.average(times[0]), + np.average(path_lengths[0]), + np.average(average_path_costs[0]), + np.average(max_path_costs[0]), + np.average(smoothnesses[0]) * 100, + np.average(curvatures[0]), + ] + ) # for path smoothers for i in range(1, methods_num): - planner_table.append([smoothers[i-1], - np.average(times[i]), - np.average(path_lengths[i]), - np.average(average_path_costs[i]), - np.average(max_path_costs[i]), - np.average(smoothnesses[i]) * 100, - np.average(curvatures[i])]) + planner_table.append( + [ + smoothers[i - 1], + np.average(times[i]), + np.average(path_lengths[i]), + np.average(average_path_costs[i]), + np.average(max_path_costs[i]), + np.average(smoothnesses[i]) * 100, + np.average(curvatures[i]), + ] + ) # Visualize results print(tabulate(planner_table)) diff --git a/tools/smoother_benchmarking/smoother_benchmark_bringup.py b/tools/smoother_benchmarking/smoother_benchmark_bringup.py index 9b0ed744ded..4d60e17e64a 100644 --- a/tools/smoother_benchmarking/smoother_benchmark_bringup.py +++ b/tools/smoother_benchmarking/smoother_benchmark_bringup.py @@ -14,73 +14,87 @@ import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import ExecuteProcess, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory + def generate_launch_description(): nav2_bringup_dir = get_package_share_directory('nav2_bringup') benchmark_dir = os.getcwd() metrics_py = os.path.join(benchmark_dir, 'metrics.py') - config = os.path.join(get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml') + config = os.path.join( + get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml' + ) map_file = os.path.join(benchmark_dir, 'maps', 'smoothers_world.yaml') lifecycle_nodes = ['map_server', 'planner_server', 'smoother_server'] static_transform_one = Node( - package = 'tf2_ros', - executable = 'static_transform_publisher', - output = 'screen', - arguments = ["0", "0", "0", "0", "0", "0", "base_link", "map"]) + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'map'], + ) static_transform_two = Node( - package = 'tf2_ros', - executable = 'static_transform_publisher', - output = 'screen', - arguments = ["0", "0", "0", "0", "0", "0", "base_link", "odom"]) + package='tf2_ros', + executable='static_transform_publisher', + output='screen', + arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'odom'], + ) start_map_server_cmd = Node( package='nav2_map_server', executable='map_server', name='map_server', output='screen', - parameters=[{'use_sim_time': True}, - {'yaml_filename': map_file}, - {'topic_name': "map"}]) + parameters=[ + {'use_sim_time': True}, + {'yaml_filename': map_file}, + {'topic_name': 'map'}, + ], + ) start_planner_server_cmd = Node( package='nav2_planner', executable='planner_server', name='planner_server', output='screen', - parameters=[config]) + parameters=[config], + ) start_smoother_server_cmd = Node( package='nav2_smoother', executable='smoother_server', name='smoother_server', output='screen', - parameters=[config]) + parameters=[config], + ) start_lifecycle_manager_cmd = Node( package='nav2_lifecycle_manager', executable='lifecycle_manager', name='lifecycle_manager', output='screen', - parameters=[{'use_sim_time': True}, - {'autostart': True}, - {'node_names': lifecycle_nodes}]) + parameters=[ + {'use_sim_time': True}, + {'autostart': True}, + {'node_names': lifecycle_nodes}, + ], + ) rviz_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')), - launch_arguments={'namespace': '', - 'use_namespace': 'False'}.items()) + os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py') + ), + launch_arguments={'namespace': '', 'use_namespace': 'False'}.items(), + ) metrics_cmd = ExecuteProcess( - cmd=['python3', '-u', metrics_py], - cwd=[benchmark_dir], output='screen') + cmd=['python3', '-u', metrics_py], cwd=[benchmark_dir], output='screen' + ) ld = LaunchDescription() ld.add_action(static_transform_one) diff --git a/tools/underlay.repos b/tools/underlay.repos index 658f35d7a35..dd12e220027 100644 --- a/tools/underlay.repos +++ b/tools/underlay.repos @@ -14,16 +14,32 @@ repositories: # ros-perception/vision_opencv: # type: git # url: https://github.com/ros-perception/vision_opencv.git - # version: ros2 + # version: rolling # ros/bond_core: # type: git # url: https://github.com/ros/bond_core.git # version: ros2 + # ros/diagnostics: + # type: git + # url: https://github.com/ros/diagnostics.git + # version: ros2-devel + # ros/geographic_info: + # type: git + # url: https://github.com/ros-geographic-info/geographic_info.git + # version: ros2 # ompl/ompl: # type: git # url: https://github.com/ompl/ompl.git # version: main + # robot_localization/robot_localization: + # type: git + # url: https://github.com/cra-ros-pkg/robot_localization.git + # version: ros2 # ros-simulation/gazebo_ros_pkgs: # type: git # url: https://github.com/ros-simulation/gazebo_ros_pkgs.git # version: ros2 + # ros2/geometry2: + # type: git + # url: https://github.com/ros2/geometry2.git + # version: rolling