Fix deprecated usage of FutureReturnCode::SUCCESS (#2140)

doc/parameters/param_list.md

@@ -5,7 +5,10 @@
 | Parameter | Default | Description |
 | ----------| --------| ------------|
 | default_bt_xml_filename | N/A | path to the default behavior tree XML description |
-| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_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_reinitialize_global_localization_service_bt_node", "nav2_rate_controller_bt_node", "nav2_distance_controller_bt_node", "nav2_recovery_node_bt_node", "nav2_pipeline_sequence_bt_node", "nav2_round_robin_node_bt_node", "nav2_transform_available_condition_bt_node"] | list of behavior tree node shared libraries |
+| enable_groot_monitoring | True | enable Groot live monitoring of the behavior tree |
+| groot_zmq_publisher_port | 1666 | change port of the zmq publisher needed for groot |
+| groot_zmq_server_port | 1667 | change port of the zmq server needed for groot |
+| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_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_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_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_rotate_action_bt_node", "nav2_translate_action_bt_node", "nav2_is_battery_low_condition_bt_node", "nav2_goal_updater_node_bt_node", "nav2_navigate_to_pose_action_bt_node"] | list of behavior tree node shared libraries |
 | transform_tolerance | 0.1 | TF transform tolerance |
 | global_frame | "map" | Reference frame |
 | robot_base_frame | "base_link" | Robot base frame |
@@ -237,6 +240,7 @@ When `controller_plugins`\`progress_checker_plugin`\`goal_checker_plugin` parame
 | `<dwb plugin>`.critics | N/A | List of critic plugins to use |
 | `<dwb plugin>`.default_critic_namespaces | ["dwb_critics"] | Namespaces to load critics in |
 | `<dwb plugin>`.prune_plan | true | Whether to prune the path of old, passed points |
+| `<dwb plugin>`.shorten_transformed_plan | true | Determines whether we will pass the full plan on to the critics |
 | `<dwb plugin>`.prune_distance | 1.0 | Distance (m) to prune backward until |
 | `<dwb plugin>`.debug_trajectory_details | false | Publish debug information |
 | `<dwb plugin>`.trajectory_generator_name | "dwb_plugins::StandardTrajectoryGenerator" | Trajectory generator plugin name |

nav2_amcl/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>0.4.5</version>
+  <version>0.4.7</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_amcl/src/amcl_node.cpp

@@ -401,7 +401,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "Laser scan has not been received"
       " (and thus no pose updates have been published)."
-      " Verify that data is being published on the %s topic.", scan_topic_);
+      " Verify that data is being published on the %s topic.", scan_topic_.c_str());
     return;
   }
 
@@ -410,7 +410,7 @@ AmclNode::checkLaserReceived()
     RCLCPP_WARN(
       get_logger(), "No laser scan received (and thus no pose updates have been published) for %f"
       " seconds.  Verify that data is being published on the %s topic.",
-      d.nanoseconds() * 1e-9, scan_topic_);
+      d.nanoseconds() * 1e-9, scan_topic_.c_str());
   }
 }
 

nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2020 Florian Gramss
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -22,6 +23,8 @@
 #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"
+
 
 namespace nav2_behavior_tree
 {
@@ -40,28 +43,29 @@ class BehaviorTreeEngine
     std::function<bool()> cancelRequested,
     std::chrono::milliseconds loopTimeout = std::chrono::milliseconds(10));
 
-  BT::Tree buildTreeFromText(
+  BT::Tree createTreeFromText(
     const std::string & xml_string,
     BT::Blackboard::Ptr blackboard);
 
+  BT::Tree createTreeFromFile(
+    const std::string & file_path,
+    BT::Blackboard::Ptr blackboard);
+
+  void addGrootMonitoring(
+    BT::Tree * tree,
+    uint16_t publisher_port,
+    uint16_t server_port,
+    uint16_t max_msg_per_second = 25);
+
+  void resetGrootMonitor();
+
   // In order to re-run a Behavior Tree, we must be able to reset all nodes to the initial state
-  void haltAllActions(BT::TreeNode * root_node)
-  {
-    // 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);
-  }
+  void haltAllActions(BT::TreeNode * root_node);
 
 protected:
   // The factory that will be used to dynamically construct the behavior tree
   BT::BehaviorTreeFactory factory_;
+  std::unique_ptr<BT::PublisherZMQ> groot_monitor_;
 };
 
 }  // namespace nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -36,11 +36,11 @@ class BtActionNode : public BT::ActionNodeBase
     const BT::NodeConfiguration & conf)
   : BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Initialize the input and output messages
@@ -231,7 +231,7 @@ class BtActionNode : public BT::ActionNodeBase
     auto future_goal_handle = action_client_->async_send_goal(goal_, send_goal_options);
 
     if (rclcpp::spin_until_future_complete(node_, future_goal_handle, server_timeout_) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       throw std::runtime_error("send_goal failed");
     }
@@ -245,9 +245,9 @@ class BtActionNode : public BT::ActionNodeBase
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string action_name_;

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -35,11 +35,11 @@ class BtServiceNode : public BT::SyncActionNode
     const BT::NodeConfiguration & conf)
   : BT::SyncActionNode(service_node_name, conf), service_node_name_(service_node_name)
   {
-    node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
 
     // Get the required items from the blackboard
     server_timeout_ =
-      config().blackboard->get<std::chrono::milliseconds>("server_timeout");
+      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Now that we have node_ to use, create the service client for this BT service
@@ -126,9 +126,9 @@ class BtServiceNode : public BT::SyncActionNode
   void increment_recovery_count()
   {
     int recovery_count = 0;
-    config().blackboard->get<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template get<int>("number_recoveries", recovery_count);  // NOLINT
     recovery_count += 1;
-    config().blackboard->set<int>("number_recoveries", recovery_count);  // NOLINT
+    config().blackboard->template set<int>("number_recoveries", recovery_count);  // NOLINT
   }
 
   std::string service_name_, service_node_name_;

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -54,6 +54,8 @@
       <input_port name="parent">Parent frame for transform</input_port>
     </Condition>
 
+    <Condition ID="GoalUpdated"/>
+
     <!-- ############################### CONTROL NODES ################################ -->
     <Control ID="PipelineSequence"/>
 

nav2_behavior_tree/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>0.4.5</version>
+  <version>0.4.7</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

nav2_behavior_tree/src/behavior_tree_engine.cpp

@@ -1,4 +1,5 @@
 // Copyright (c) 2018 Intel Corporation
+// Copyright (c) 2020 Florian Gramss
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -21,8 +22,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp_v3/utils/shared_library.h"
 
-using namespace std::chrono_literals;
-
 namespace nav2_behavior_tree
 {
 
@@ -62,13 +61,54 @@ BehaviorTreeEngine::run(
 }
 
 BT::Tree
-BehaviorTreeEngine::buildTreeFromText(
+BehaviorTreeEngine::createTreeFromText(
   const std::string & xml_string,
   BT::Blackboard::Ptr blackboard)
 {
-  BT::XMLParser p(factory_);
-  p.loadFromText(xml_string);
-  return p.instantiateTree(blackboard);
+  return factory_.createTreeFromText(xml_string, blackboard);
+}
+
+BT::Tree
+BehaviorTreeEngine::createTreeFromFile(
+  const std::string & file_path,
+  BT::Blackboard::Ptr blackboard)
+{
+  return factory_.createTreeFromFile(file_path, blackboard);
+}
+
+void
+BehaviorTreeEngine::addGrootMonitoring(
+  BT::Tree * tree,
+  uint16_t publisher_port,
+  uint16_t server_port,
+  uint16_t max_msg_per_second)
+{
+  // This logger publish status changes using ZeroMQ. Used by Groot
+  groot_monitor_ = std::make_unique<BT::PublisherZMQ>(
+    *tree, max_msg_per_second, publisher_port,
+    server_port);
+}
+
+void
+BehaviorTreeEngine::resetGrootMonitor()
+{
+  groot_monitor_.reset();
+}
+
+// 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)
+{
+  // 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);
 }
 
 }  // namespace nav2_behavior_tree

nav2_bringup/bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bringup</name>
-  <version>0.4.5</version>
+  <version>0.4.7</version>
   <description>Bringup scripts and configurations for the navigation2 stack</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

@@ -226,7 +226,7 @@ recoveries_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "back_up", "wait"]
+    recovery_plugins: ["spin", "backup", "wait"]
     spin:
       plugin: "nav2_recoveries/Spin"
     backup:

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

@@ -226,7 +226,7 @@ recoveries_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "back_up", "wait"]
+    recovery_plugins: ["spin", "backup", "wait"]
     spin:
       plugin: "nav2_recoveries/Spin"
     backup:

nav2_bringup/bringup/params/nav2_params.yaml

@@ -53,6 +53,9 @@ bt_navigator:
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
+    enable_groot_monitoring: True
+    groot_zmq_publisher_port: 1666
+    groot_zmq_server_port: 1667
     default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
@@ -243,6 +246,7 @@ map_saver:
     save_map_timeout: 5000
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
+    map_subscribe_transient_local: False
 
 planner_server:
   ros__parameters:
@@ -264,10 +268,10 @@ recoveries_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
+    recovery_plugins: ["spin", "back_up", "wait"]
     spin:
       plugin: "nav2_recoveries/Spin"
-    backup:
+    back_up:
       plugin: "nav2_recoveries/BackUp"
     wait:
       plugin: "nav2_recoveries/Wait"

nav2_bringup/bringup/worlds/waffle.model

@@ -266,7 +266,7 @@
           <pose>0.0 0.144 0.023 0 0 0</pose>
           <geometry>
             <mesh>
-              <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
+              <uri>model://turtlebot3_waffle/meshes/tire.dae</uri>
               <scale>0.001 0.001 0.001</scale>
             </mesh>
           </geometry>
@@ -324,7 +324,7 @@
           <pose>0.0 -0.144 0.023 0 0 0</pose>
           <geometry>
             <mesh>
-              <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
+              <uri>model://turtlebot3_waffle/meshes/tire.dae</uri>
               <scale>0.001 0.001 0.001</scale>
             </mesh>
           </geometry>

nav2_bringup/nav2_gazebo_spawner/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_gazebo_spawner</name>
-  <version>0.4.5</version>
+  <version>0.4.7</version>
   <description>Package for spawning a robot model into Gazebo for navigation2</description>
   <maintainer email="carlos.orduno@intel.com">lkumarbe</maintainer>
   <maintainer email="lalit.kumar.begani@intel.com">lkumarbe</maintainer>

nav2_bt_navigator/CMakeLists.txt

@@ -82,5 +82,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-
+ament_export_libraries(${library_name})
+ament_export_dependencies(${dependencies})
 ament_package()

nav2_bt_navigator/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bt_navigator</name>
-  <version>0.4.5</version>
+  <version>0.4.7</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>