Move dwb goal/progress checker plugins to nav2_controller (ros-navigation#1857)

* Move dwb goal/progress checker plugins to nav2_controller

Signed-off-by: Siddarth Gore <[email protected]>

* Move goal/progress checker plugins to nav2_controller

Address review comments

Signed-off-by: Siddarth Gore <[email protected]>

* Move goal/progress checker plugins to nav2_controller

Use new plugin declaration format and doc update

Signed-off-by: Siddarth Gore <[email protected]>

* Update bringup.yaml for new plugins in nav2_controller

Also remove redundent file from dwb_plugins
Signed-off-by: Siddarth Gore <[email protected]>

* Fix doc errors and update remaining yaml files

Signed-off-by: Siddarth Gore <[email protected]>

* Remove mention of goal_checker from dwb docs

Signed-off-by: Siddarth Gore <[email protected]>

* Add .plugin params to doc

Signed-off-by: Siddarth Gore <[email protected]>

* Tests for progress_checker plugin

declare .plugin only if not declared before

Signed-off-by: Siddarth Gore <[email protected]>

* Tweak plugin names/description in doc

Signed-off-by: Siddarth Gore <[email protected]>

Author: siddhya

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -86,8 +86,21 @@ 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"
+    goal_checker_plugin: "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
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: True
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -86,8 +86,21 @@ 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"
+    goal_checker_plugin: "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
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: True
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_bringup/bringup/params/nav2_params.yaml

@@ -87,8 +87,21 @@ 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"
+    goal_checker_plugin: "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
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: True
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"