added docs for assisted teleop behavior and bt node

configuration/packages/bt-plugins/actions/AssistedTeleop.rst

@@ -0,0 +1,65 @@
+.. _bt_assisted_teleop_action:
+
+AssistedTeleop
+==============
+
+Invokes the AssistedTeleop ROS 2 action server, which filters teleop twist commands to prevent
+collisions. This is used in nav2 Behavior Trees as a recovery behavior or a regular behavior.
+The nav2_behaviors_ module implements the AssistedTeleop action server.
+
+.. _nav2_behaviors: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors
+
+
+Input Ports
+***********
+
+:is_recovery:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double false
+  ====== =======
+
+  Description
+      If true increment the recovery counter.
+
+:time_allowance:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 10.0
+  ====== =======
+
+  Description
+      Time to envoke behavior for, if exceeds considers it a stuck condition or failure case (seconds).
+
+:server_name:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A
+  ====== =======
+
+  Description
+    	Action server name.
+
+:server_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 10
+  ====== =======
+
+  Description
+    	Action server timeout (ms).
+
+Example
+-------
+
+.. code-block:: xml
+
+  <AssistedTeleop is_recovery="false" server_name="assisted_teleop_server" server_timeout="10"/>

configuration/packages/bt-plugins/actions/CancelAssistedTeleop.rst

@@ -0,0 +1,39 @@
+.. _bt_cancel_assisted_teleop:
+
+CancelAssistedTeleop
+====================
+
+Used to cancel the AssistedTeleop action that is part of the behavior server. The server address can be remapped using the ``server_name`` input port.
+
+Input Ports
+-----------
+
+:service_name:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A
+  ====== =======
+
+  Description
+      Service name, if not using default of ``assisted_teleop`` due to remapping.
+
+
+:server_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 10
+  ====== =======
+
+  Description
+      Server timeout (ms).
+
+Example
+-------
+
+.. code-block:: xml
+
+  <CancelAssistedTeleop server_name="assisted_teleop" server_timeout="10"/>

configuration/packages/configuring-behavior-server.rst

@@ -211,6 +211,44 @@ DriveOnHeading distance, speed and time_allowance is given from the action reque
   Description
     Time to look ahead for collisions (s).
 
+AssistedTeleop Behavior Parameters
+**********************************
+
+AssistedTeleop time_allowance is given in the action request
+
+:projection_time:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         1.0
+  ============== =============================
+
+  Description
+    Time to look ahead for collisions (s).
+
+:simulation_time_step:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.1
+  ============== =============================
+
+  Description
+    Time step for projections (s).
+
+:cmd_vel_teleop:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  string         cmd_vel_teleop
+  ============== =============================
+
+  Description
+    Topic to listen for teleop messages.
+
 Example
 *******
 .. code-block:: yaml
@@ -220,7 +258,7 @@ Example
         costmap_topic: local_costmap/costmap_raw
         footprint_topic: local_costmap/published_footprint
         cycle_frequency: 10.0
-        behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
+        behavior_plugins: ["spin", "backup", "drive_on_heading", "wait", "assisted_teleop"]
         spin:
           plugin: "nav2_behaviors/Spin"
         backup:
@@ -229,6 +267,8 @@ Example
           plugin: "nav2_behaviors/DriveOnHeading"
         wait:
           plugin: "nav2_behaviors/Wait"
+        assisted_teleop:
+          plugin: "nav2_behaviors/AssistedTeleop"
         global_frame: odom
         robot_base_frame: base_link
         transform_timeout: 0.1

configuration/packages/configuring-bt-xml.rst

@@ -23,6 +23,7 @@ Action Plugins
   bt-plugins/actions/Spin.rst
   bt-plugins/actions/BackUp.rst
   bt-plugins/actions/DriveOnHeading.rst
+  bt-plugins/actions/AssistedTeleop.rst
   bt-plugins/actions/ComputePathToPose.rst
   bt-plugins/actions/FollowPath.rst
   bt-plugins/actions/NavigateToPose.rst
@@ -43,6 +44,7 @@ Action Plugins
   bt-plugins/actions/CancelSpin.rst
   bt-plugins/actions/CancelWait.rst
   bt-plugins/actions/CancelDriveOnHeading.rst
+  bt-plugins/actions/CancelAssistedTeleop.rst
   bt-plugins/actions/Smooth.rst
 
 Condition Plugins

migration/Galactic.rst

@@ -315,3 +315,7 @@ Goal Checker API Changed
 ************************
 `PR 2965 <https://github.com/ros-planning/navigation2/pull/2965>`_ adds an extra argument in the initialize function of the `nav2_core::GoalChecker` class.
 The extra argument is a costmap_ros pointer. This is used to check if the goal is in collision, so that we can avoid moving towards the goal and replanning can be initiates using some BT plugin.
+
+Added Assisted Teleop
+*********************
+`PR 2965 <https://github.com/ros-planning/navigation2/pull/2904>`_ adds a new behavior for assisted teleop along with two new BT nodes AssistedTeleop and CancelAssistedTeleop.

plugins/index.rst

@@ -198,12 +198,17 @@ Behaviors
 |  `Drive On Heading`_ | Joshua Wallace         | Drive on heading behavior with   |
 |                      |                        | configurable distance to drive   |
 +----------------------+------------------------+----------------------------------+
+|  `Assisted Teleop`_  | Joshua Wallace         | AssistedTeleop behavior that     |
+|                      |                        | scales teleop commands to        |
+|                      |                        | prevent collisions.              |
++----------------------+------------------------+----------------------------------+
 
 .. _Back Up: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins
 .. _Spin: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins
 .. _Wait: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins
 .. _Drive On Heading: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins
 .. _Clear Costmap: https://github.com/ros-planning/navigation2/blob/main/nav2_costmap_2d/src/clear_costmap_service.cpp
+.. _Assisted Teleop: https://github.com/ros-planning/navigation2/tree/main/nav2_behaviors/plugins
 
 Waypoint Task Executors
 =======================
@@ -275,6 +280,8 @@ Behavior Tree Nodes
 +--------------------------------------------+---------------------+------------------------------------------+
 | `Drive On Heading Action`_                 | Joshua Wallace      | Calls drive on heading behavior action   |
 +--------------------------------------------+---------------------+------------------------------------------+
+| `Assisted Teleop Action`_                  | Joshua Wallace      | Calls assisted teleop behavior action    |
++--------------------------------------------+---------------------+------------------------------------------+
 | `Clear Entire Costmap Service`_            | Carl Delsey         | Calls clear entire costmap service       |
 +--------------------------------------------+---------------------+------------------------------------------+
 | `Clear Costmap Except Region Service`_     | Guillaume Doisy     | Calls clear costmap except region service|
@@ -333,11 +340,14 @@ Behavior Tree Nodes
 +--------------------------------------------+---------------------+------------------------------------------+
 | `Cancel Wait Action`_                      |Pradheep Padmanabhan | Cancels wait behavior action             |
 +--------------------------------------------+---------------------+------------------------------------------+
-| `Cancel Drive on Heading Action`_          |Jousha Wallace       | Cancels drive on heading behavior action |
+| `Cancel Drive on Heading Action`_          | Joshua Wallace      | Cancels drive on heading behavior action |
++--------------------------------------------+---------------------+------------------------------------------+
+| `Cancel Assisted Teleop Action`_           | Joshua Wallace      | Cancels assisted teleop behavior action  |
 +--------------------------------------------+---------------------+------------------------------------------+
 
 .. _Back Up Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/back_up_action.cpp
 .. _Drive On Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
+.. _Assisted Teleop Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
 .. _Clear Entire Costmap Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp
 .. _Clear Costmap Except Region Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp
 .. _Clear Costmap Around Robot Service: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/clear_costmap_service.cpp
@@ -361,6 +371,7 @@ Behavior Tree Nodes
 .. _Cancel Spin Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp
 .. _Cancel Wait Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp
 .. _Cancel Drive on Heading Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/drive_on_heading_cancel_node.cpp
+.. _Cancel Assisted Teleop Action: https://github.com/ros-planning/navigation2/tree/main/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp
 
 
 +------------------------------------+--------------------+------------------------+