Foxy devel

.circleci/config.yml

@@ -75,6 +75,9 @@ references:
                 rosdep install -q -y \
                   --from-paths src \
                   --ignore-src \
+                  --skip-keys " \
+                    slam_toolbox \
+                    " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
                 awk -F'[][]' '{print $2}' | \

.github/ISSUE_TEMPLATE.md

@@ -11,6 +11,8 @@ For Bug report or feature requests, please fill out the relevant category below
 
 - Operating System:
   - <!-- OS and version (e.g. Windows 10, Ubuntu 16.04...) -->
+- ROS2 Version:
+  - <!-- ROS2 distribution and install method (e.g. Foxy binaries, Dashing source...) -->
 - Version or commit hash:
   - <!-- from source: output of `git -C navigation2 rev-parse HEAD
          apt binaries: output of: dpkg-query --show "ros-$ROS_DISTRO-navigation2"

Dockerfile

@@ -50,6 +50,9 @@ COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
+      --skip-keys " \
+        slam_toolbox \
+        " \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
@@ -75,6 +78,9 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
         $UNDERLAY_WS/src \
+      --skip-keys " \
+        slam_toolbox \
+        "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -66,7 +66,6 @@ class AmclNode : public nav2_util::LifecycleNode
   nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
   nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
-  nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
 
   // Since the sensor data from gazebo or the robot is not lifecycle enabled, we won't
   // respond until we're in the active state
@@ -167,7 +166,6 @@ class AmclNode : public nav2_util::LifecycleNode
 
   // Laser scan related
   void initLaserScan();
-  const char * scan_topic_{"scan"};
   nav2_amcl::Laser * createLaserObject();
   int scan_error_count_{0};
   std::vector<nav2_amcl::Laser *> lasers_;
@@ -250,6 +248,8 @@ class AmclNode : public nav2_util::LifecycleNode
   double z_max_;
   double z_short_;
   double z_rand_;
+  std::string scan_topic_{"scan"};
+  std::string map_topic_{"map"};
 };
 
 }  // namespace nav2_amcl

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>0.3.4</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

@@ -213,6 +213,14 @@ AmclNode::AmclNode()
     "Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter "
     "(with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the"
     "last known pose to initialize");
+
+  add_parameter(
+    "scan_topic", rclcpp::ParameterValue("scan"),
+    "Topic to subscribe to in order to receive the laser scan for localization");
+
+  add_parameter(
+    "map_topic", rclcpp::ParameterValue("map"),
+    "Topic to subscribe to in order to receive the map to localize on");
 }
 
 AmclNode::~AmclNode()
@@ -379,13 +387,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
-nav2_util::CallbackReturn
-AmclNode::on_error(const rclcpp_lifecycle::State & /*state*/)
-{
-  RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
-  return nav2_util::CallbackReturn::SUCCESS;
-}
-
 nav2_util::CallbackReturn
 AmclNode::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 {
@@ -400,7 +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;
   }
 
@@ -409,7 +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());
   }
 }
 
@@ -1098,6 +1099,8 @@ AmclNode::initParameters()
   get_parameter("z_short", z_short_);
   get_parameter("first_map_only_", first_map_only_);
   get_parameter("always_reset_initial_pose", always_reset_initial_pose_);
+  get_parameter("scan_topic", scan_topic_);
+  get_parameter("map_topic", map_topic_);
 
   save_pose_period_ = tf2::durationFromSec(1.0 / save_pose_rate);
   transform_tolerance_ = tf2::durationFromSec(tmp_tol);
@@ -1273,7 +1276,7 @@ AmclNode::initPubSub()
     std::bind(&AmclNode::initialPoseReceived, this, std::placeholders::_1));
 
   map_sub_ = create_subscription<nav_msgs::msg::OccupancyGrid>(
-    "map", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
+    map_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
     std::bind(&AmclNode::mapReceived, this, std::placeholders::_1));
 
   RCLCPP_INFO(get_logger(), "Subscribed to map topic.");

nav2_behavior_tree/CMakeLists.txt

@@ -6,9 +6,9 @@ find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 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)
@@ -31,6 +31,7 @@ set(dependencies
   rclcpp_action
   rclcpp_lifecycle
   geometry_msgs
+  sensor_msgs
   nav2_msgs
   nav_msgs
   behaviortree_cpp_v3
@@ -89,6 +90,9 @@ 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_low_condition_bt_node SHARED plugins/condition/is_battery_low_condition.cpp)
+list(APPEND plugin_libs nav2_is_battery_low_condition_bt_node)
+
 add_library(nav2_reinitialize_global_localization_service_bt_node SHARED plugins/action/reinitialize_global_localization_service.cpp)
 list(APPEND plugin_libs nav2_reinitialize_global_localization_service_bt_node)
 
@@ -101,6 +105,12 @@ list(APPEND plugin_libs nav2_distance_controller_bt_node)
 add_library(nav2_speed_controller_bt_node SHARED plugins/decorator/speed_controller.cpp)
 list(APPEND plugin_libs nav2_speed_controller_bt_node)
 
+add_library(nav2_truncate_path_action_bt_node SHARED plugins/action/truncate_path_action.cpp)
+list(APPEND plugin_libs nav2_truncate_path_action_bt_node)
+
+add_library(nav2_goal_updater_node_bt_node SHARED plugins/decorator/goal_updater_node.cpp)
+list(APPEND plugin_libs nav2_goal_updater_node_bt_node)
+
 add_library(nav2_recovery_node_bt_node SHARED plugins/control/recovery_node.cpp)
 list(APPEND plugin_libs nav2_recovery_node_bt_node)
 

nav2_behavior_tree/README.md

@@ -72,6 +72,7 @@ The nav2_behavior_tree package provides several navigation-specific nodes that a
 | IsStuck | Condition | Determines if the robot is not progressing towards the goal. If the robot is stuck and not progressing, the condition returns SUCCESS, otherwise it returns FAILURE. |
 | TransformAvailable | Condition | Checks if a TF transform is available. Returns failure if it cannot be found. Once found, it will always return success. Useful for initial condition checks. |
 | GoalUpdated | Condition | Checks if the global navigation goal has changed in the blackboard. Returns failure if the goal is the same, if it changes, it returns success. |
+| IsBatteryLow | Condition | Checks if battery is low by subscribing to a sensor_msgs/BatteryState topic and checking if battery voltage/percentage is below a specified minimum value. |
 | NavigateToPose | Action | Invokes the NavigateToPose ROS2 action server, which is implemented by the bt_navigator module. |
 | RateController | Decorator | A node that throttles the tick rate for its child. The tick rate can be supplied to the node as a parameter. The node returns RUNNING when it is not ticking its child. Currently, in the navigation stack, the `RateController` is used to adjust the rate at which the `ComputePathToPose` and `GoalReached` nodes are ticked. |
 | DistanceController | Decorator | A node that controls the tick rate for its child based on the distance traveled. The distance to be traveled before replanning can be supplied to the node as a parameter. The node returns RUNNING when it is not ticking its child. Currently, in the navigation stack, the `DistanceController` is used to adjust the rate at which the `ComputePathToPose` and `GoalReached` nodes are ticked. |

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

@@ -36,7 +36,12 @@ 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->template get<std::chrono::milliseconds>("server_timeout");
+    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
 
     // Initialize the input and output messages
     goal_ = typename ActionT::Goal();
@@ -179,7 +184,7 @@ class BtActionNode : public BT::ActionNodeBase
   {
     if (should_cancel_goal()) {
       auto future_cancel = action_client_->async_cancel_goal(goal_handle_);
-      if (rclcpp::spin_until_future_complete(node_, future_cancel) !=
+      if (rclcpp::spin_until_future_complete(node_, future_cancel, server_timeout_) !=
         rclcpp::FutureReturnCode::SUCCESS)
       {
         RCLCPP_ERROR(
@@ -225,8 +230,8 @@ 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) !=
-      rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(node_, future_goal_handle, server_timeout_) !=
+      rclcpp::FutureReturnCode::SUCCESS)
     {
       throw std::runtime_error("send_goal failed");
     }
@@ -240,9 +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_;
@@ -257,6 +262,10 @@ class BtActionNode : public BT::ActionNodeBase
 
   // The node that will be used for any ROS operations
   rclcpp::Node::SharedPtr node_;
+
+  // The timeout value while waiting for response from a server when a
+  // new action goal is sent or canceled
+  std::chrono::milliseconds server_timeout_;
 };
 
 }  // namespace nav2_behavior_tree

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/include/nav2_behavior_tree/plugins/action/back_up_action.hpp

@@ -0,0 +1,48 @@
+// 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.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_ACTION_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_ACTION_HPP_
+
+#include <string>
+
+#include "nav2_behavior_tree/bt_action_node.hpp"
+#include "nav2_msgs/action/back_up.hpp"
+
+namespace nav2_behavior_tree
+{
+
+class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
+{
+public:
+  BackUpAction(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  void on_tick() override;
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+        BT::InputPort<double>("backup_dist", 0.15, "Distance to backup"),
+        BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup")
+      });
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_ACTION_HPP_