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* remove exec_depend on behaviortree_cpp_v3 (#3279) * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * Remove duplicate of nav2_back_up_cancel_bt_node (#3332) * Remove unused velocity scaling config from example xml (#3330) Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Make mapUpdateLoop() indicator variables to be thread-safe (#3308) * Ensure that plugin initialization to be called before updating routines (#3307) * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * bump to 1.1.3 for humble sync 3 Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Sven Langner <svenlr@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
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99 changes: 99 additions & 0 deletions
99
nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp
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| // Copyright (c) 2018 Intel Corporation | ||
| // Copyright (c) 2020 Pablo Iñigo Blasco | ||
| // | ||
| // 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. | ||
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| #ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SMOOTHER_SELECTOR_NODE_HPP_ | ||
| #define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SMOOTHER_SELECTOR_NODE_HPP_ | ||
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| #include <memory> | ||
| #include <string> | ||
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| #include "std_msgs/msg/string.hpp" | ||
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| #include "behaviortree_cpp_v3/action_node.h" | ||
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| #include "rclcpp/rclcpp.hpp" | ||
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| namespace nav2_behavior_tree | ||
| { | ||
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| /** | ||
| * @brief The SmootherSelector behavior is used to switch the smoother | ||
| * that will be used by the smoother server. It subscribes to a topic "smoother_selector" | ||
| * to get the decision about what smoother must be used. It is usually used before of | ||
| * the FollowPath. The selected_smoother output port is passed to smoother_id | ||
| * input port of the FollowPath | ||
| */ | ||
| class SmootherSelector : public BT::SyncActionNode | ||
| { | ||
| public: | ||
| /** | ||
| * @brief A constructor for nav2_behavior_tree::SmootherSelector | ||
| * | ||
| * @param xml_tag_name Name for the XML tag for this node | ||
| * @param conf BT node configuration | ||
| */ | ||
| SmootherSelector( | ||
| const std::string & xml_tag_name, | ||
| const BT::NodeConfiguration & conf); | ||
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| /** | ||
| * @brief Creates list of BT ports | ||
| * @return BT::PortsList Containing basic ports along with node-specific ports | ||
| */ | ||
| static BT::PortsList providedPorts() | ||
| { | ||
| return { | ||
| BT::InputPort<std::string>( | ||
| "default_smoother", | ||
| "the default smoother to use if there is not any external topic message received."), | ||
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| BT::InputPort<std::string>( | ||
| "topic_name", | ||
| "smoother_selector", | ||
| "the input topic name to select the smoother"), | ||
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| BT::OutputPort<std::string>( | ||
| "selected_smoother", | ||
| "Selected smoother by subscription") | ||
| }; | ||
| } | ||
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| private: | ||
| /** | ||
| * @brief Function to perform some user-defined operation on tick | ||
| */ | ||
| BT::NodeStatus tick() override; | ||
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| /** | ||
| * @brief callback function for the smoother_selector topic | ||
| * | ||
| * @param msg the message with the id of the smoother_selector | ||
| */ | ||
| void callbackSmootherSelect(const std_msgs::msg::String::SharedPtr msg); | ||
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| rclcpp::Subscription<std_msgs::msg::String>::SharedPtr smoother_selector_sub_; | ||
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| std::string last_selected_smoother_; | ||
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| rclcpp::Node::SharedPtr node_; | ||
| rclcpp::CallbackGroup::SharedPtr callback_group_; | ||
| rclcpp::executors::SingleThreadedExecutor callback_group_executor_; | ||
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| std::string topic_name_; | ||
| }; | ||
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| } // namespace nav2_behavior_tree | ||
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| #endif // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SMOOTHER_SELECTOR_NODE_HPP_ |
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92 changes: 92 additions & 0 deletions
92
nav2_behavior_tree/plugins/action/smoother_selector_node.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,92 @@ | ||
| // Copyright (c) 2018 Intel Corporation | ||
| // Copyright (c) 2020 Pablo Iñigo Blasco | ||
| // Copyright (c) 2022 Owen Hooper | ||
| // | ||
| // 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. | ||
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| #include <string> | ||
| #include <memory> | ||
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| #include "std_msgs/msg/string.hpp" | ||
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| #include "nav2_behavior_tree/plugins/action/smoother_selector_node.hpp" | ||
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| #include "rclcpp/rclcpp.hpp" | ||
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| namespace nav2_behavior_tree | ||
| { | ||
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| using std::placeholders::_1; | ||
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| SmootherSelector::SmootherSelector( | ||
| const std::string & name, | ||
| const BT::NodeConfiguration & conf) | ||
| : BT::SyncActionNode(name, conf) | ||
| { | ||
| node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node"); | ||
| callback_group_ = node_->create_callback_group( | ||
| rclcpp::CallbackGroupType::MutuallyExclusive, | ||
| false); | ||
| callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface()); | ||
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| getInput("topic_name", topic_name_); | ||
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| rclcpp::QoS qos(rclcpp::KeepLast(1)); | ||
| qos.transient_local().reliable(); | ||
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| rclcpp::SubscriptionOptions sub_option; | ||
| sub_option.callback_group = callback_group_; | ||
| smoother_selector_sub_ = node_->create_subscription<std_msgs::msg::String>( | ||
| topic_name_, | ||
| qos, | ||
| std::bind(&SmootherSelector::callbackSmootherSelect, this, _1), | ||
| sub_option); | ||
| } | ||
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| BT::NodeStatus SmootherSelector::tick() | ||
| { | ||
| callback_group_executor_.spin_some(); | ||
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| // This behavior always use the last selected smoother received from the topic input. | ||
| // When no input is specified it uses the default smoother. | ||
| // If the default smoother is not specified then we work in "required smoother mode": | ||
| // In this mode, the behavior returns failure if the smoother selection is not received from | ||
| // the topic input. | ||
| if (last_selected_smoother_.empty()) { | ||
| std::string default_smoother; | ||
| getInput("default_smoother", default_smoother); | ||
| if (default_smoother.empty()) { | ||
| return BT::NodeStatus::FAILURE; | ||
| } else { | ||
| last_selected_smoother_ = default_smoother; | ||
| } | ||
| } | ||
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| setOutput("selected_smoother", last_selected_smoother_); | ||
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| return BT::NodeStatus::SUCCESS; | ||
| } | ||
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| void | ||
| SmootherSelector::callbackSmootherSelect(const std_msgs::msg::String::SharedPtr msg) | ||
| { | ||
| last_selected_smoother_ = msg->data; | ||
| } | ||
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| } // namespace nav2_behavior_tree | ||
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| #include "behaviortree_cpp_v3/bt_factory.h" | ||
| BT_REGISTER_NODES(factory) | ||
| { | ||
| factory.registerNodeType<nav2_behavior_tree::SmootherSelector>("SmootherSelector"); | ||
| } |
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