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Reduce nodes for nav2_waypoint_follower #2441

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Jul 12, 2021
Merged

Reduce nodes for nav2_waypoint_follower #2441

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05930e1
Reduce node of waypoint_follower by using callback group and executor
gezp Jul 5, 2021
8ab7676
fix linting failures
gezp Jul 9, 2021
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3 changes: 2 additions & 1 deletion nav2_waypoint_follower/include/nav2_waypoint_follower/waypoint_follower.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,8 @@ class WaypointFollower : public nav2_util::LifecycleNode
// Our action server
std::unique_ptr<ActionServer> action_server_;
ActionClient::SharedPtr nav_to_pose_client_;
rclcpp::Node::SharedPtr client_node_;
rclcpp::CallbackGroup::SharedPtr callback_group_;
rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
std::shared_future<rclcpp_action::ClientGoalHandle<ClientT>::SharedPtr> future_goal_handle_;
bool stop_on_failure_;
ActionStatus current_goal_status_;
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23 changes: 12 additions & 11 deletions nav2_waypoint_follower/src/waypoint_follower.cpp
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Expand Up @@ -56,16 +56,17 @@ WaypointFollower::on_configure(const rclcpp_lifecycle::State & /*state*/)
loop_rate_ = get_parameter("loop_rate").as_int();
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It's worth a migration guide entry to talk about these changes https://github.com/ros-planning/navigation.ros.org/blob/master/migration/Galactic.rst. Please add a new subsection titled Reduce Nodes and Executors where you briefly (1-2 sentences) describe the aim of the work and then start a bulleted list of changes made with PR links. You should plan to update that section each PR you submit so that we can keep track in docs the updates and their relevance.

waypoint_task_executor_id_ = get_parameter("waypoint_task_executor_plugin").as_string();

std::vector<std::string> new_args = rclcpp::NodeOptions().arguments();
new_args.push_back("--ros-args");
new_args.push_back("-r");
new_args.push_back(std::string("__node:=") + this->get_name() + "_rclcpp_node");
new_args.push_back("--");
client_node_ = std::make_shared<rclcpp::Node>(
"_", "", rclcpp::NodeOptions().arguments(new_args));
callback_group_ = create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive,
false);
callback_group_executor_.add_callback_group(callback_group_, get_node_base_interface());

nav_to_pose_client_ = rclcpp_action::create_client<ClientT>(
client_node_, "navigate_to_pose");
get_node_base_interface(),
get_node_graph_interface(),
get_node_logging_interface(),
get_node_waitables_interface(),
"navigate_to_pose", callback_group_);

action_server_ = std::make_unique<ActionServer>(
get_node_base_interface(),
Expand Down Expand Up @@ -167,9 +168,9 @@ WaypointFollower::followWaypoints()
// Check if asked to stop processing action
if (action_server_->is_cancel_requested()) {
auto cancel_future = nav_to_pose_client_->async_cancel_all_goals();
rclcpp::spin_until_future_complete(client_node_, cancel_future);
callback_group_executor_.spin_until_future_complete(cancel_future);
// for result callback processing
spin_some(client_node_);
callback_group_executor_.spin_some();
action_server_->terminate_all();
return;
}
Expand Down Expand Up @@ -267,7 +268,7 @@ WaypointFollower::followWaypoints()
"Processing waypoint %i...", goal_index);
}

rclcpp::spin_some(client_node_);
callback_group_executor_.spin_some();
r.sleep();
}
}
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