diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index 4fa9a78c97b..b0dfd7957c7 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -667,6 +667,14 @@ When `recovery_plugins` parameter is not overridden, the following default plugi ## Conditions +### BT Node DistanceTraveled + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| distance | 1.0 | Distance in meters after which the node should return success | +| global_frame | "map" | Reference frame | +| robot_base_frame | "base_link" | Robot base frame | + ### BT Node GoalReached | Input Port | Default | Description | @@ -675,7 +683,21 @@ When `recovery_plugins` parameter is not overridden, the following default plugi | global_frame | "map" | Reference frame | | robot_base_frame | "base_link" | Robot base frame | -### BT Node TransformAvailable (condition) +### BT Node IsBatteryLow + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| min_battery | N/A | Minimum battery percentage/voltage | +| battery_topic | "/battery_status" | Battery topic | +| is_voltage | false | If true voltage will be used to check for low battery | + +### BT Node TimeExpired + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| seconds | 1.0 | Number of seconds after which node returns success | + +### BT Node TransformAvailable | Input Port | Default | Description | | ---------- | ------- | ----------- | diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt index b062c777973..c92b06228fb 100644 --- a/nav2_behavior_tree/CMakeLists.txt +++ b/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) diff --git a/nav2_behavior_tree/README.md b/nav2_behavior_tree/README.md index 2917bed7639..2a9cfac472b 100644 --- a/nav2_behavior_tree/README.md +++ b/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. | diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp new file mode 100644 index 00000000000..0bc30cd5635 --- /dev/null +++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp @@ -0,0 +1,66 @@ +// Copyright (c) 2020 Sarthak Mittal +// Copyright (c) 2019 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__CONDITION__IS_BATTERY_LOW_CONDITION_HPP_ +#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_BATTERY_LOW_CONDITION_HPP_ + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/battery_state.hpp" +#include "behaviortree_cpp_v3/condition_node.h" + +namespace nav2_behavior_tree +{ + +class IsBatteryLowCondition : public BT::ConditionNode +{ +public: + IsBatteryLowCondition( + const std::string & condition_name, + const BT::NodeConfiguration & conf); + + IsBatteryLowCondition() = delete; + + BT::NodeStatus tick() override; + + static BT::PortsList providedPorts() + { + return { + BT::InputPort("min_battery", "Minimum battery percentage/voltage"), + BT::InputPort( + "battery_topic", std::string("/battery_status"), "Battery topic"), + BT::InputPort( + "is_voltage", false, "If true voltage will be used to check for low battery"), + }; + } + +private: + void batteryCallback(sensor_msgs::msg::BatteryState::SharedPtr msg); + + rclcpp::Node::SharedPtr node_; + rclcpp::Subscription::SharedPtr battery_sub_; + std::string battery_topic_; + double min_battery_; + bool is_voltage_; + bool is_battery_low_; + std::mutex mutex_; +}; + +} // namespace nav2_behavior_tree + +#endif // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_BATTERY_LOW_CONDITION_HPP_ diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml index a012a86e20e..e3600947cc8 100644 --- a/nav2_behavior_tree/package.xml +++ b/nav2_behavior_tree/package.xml @@ -17,10 +17,10 @@ rclcpp rclcpp_action rclcpp_lifecycle - std_msgs behaviortree_cpp_v3 builtin_interfaces geometry_msgs + sensor_msgs nav2_msgs nav_msgs tf2 @@ -39,6 +39,7 @@ behaviortree_cpp_v3 builtin_interfaces geometry_msgs + sensor_msgs nav2_msgs nav_msgs tf2 diff --git a/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp new file mode 100644 index 00000000000..4aad6d16769 --- /dev/null +++ b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp @@ -0,0 +1,67 @@ +// Copyright (c) 2020 Sarthak Mittal +// Copyright (c) 2019 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. + +#include + +#include "nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp" + +namespace nav2_behavior_tree +{ + +IsBatteryLowCondition::IsBatteryLowCondition( + const std::string & condition_name, + const BT::NodeConfiguration & conf) +: BT::ConditionNode(condition_name, conf), + battery_topic_("/battery_status"), + min_battery_(0.0), + is_voltage_(false), + is_battery_low_(false) +{ + getInput("min_battery", min_battery_); + getInput("battery_topic", battery_topic_); + getInput("is_voltage", is_voltage_); + node_ = config().blackboard->get("node"); + battery_sub_ = node_->create_subscription( + battery_topic_, + rclcpp::SystemDefaultsQoS(), + std::bind(&IsBatteryLowCondition::batteryCallback, this, std::placeholders::_1)); +} + +BT::NodeStatus IsBatteryLowCondition::tick() +{ + std::lock_guard lock(mutex_); + if (is_battery_low_) { + return BT::NodeStatus::SUCCESS; + } + return BT::NodeStatus::FAILURE; +} + +void IsBatteryLowCondition::batteryCallback(sensor_msgs::msg::BatteryState::SharedPtr msg) +{ + std::lock_guard lock(mutex_); + if (is_voltage_) { + is_battery_low_ = msg->voltage <= min_battery_; + } else { + is_battery_low_ = msg->percentage <= min_battery_; + } +} + +} // namespace nav2_behavior_tree + +#include "behaviortree_cpp_v3/bt_factory.h" +BT_REGISTER_NODES(factory) +{ + factory.registerNodeType("IsBatteryLow"); +} diff --git a/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt b/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt index e8d9d8d3d51..b1350f74537 100644 --- a/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt +++ b/nav2_behavior_tree/test/plugins/condition/CMakeLists.txt @@ -25,3 +25,7 @@ ament_target_dependencies(test_condition_transform_available ${dependencies}) ament_add_gtest(test_condition_is_stuck test_is_stuck.cpp) target_link_libraries(test_condition_is_stuck nav2_is_stuck_condition_bt_node) ament_target_dependencies(test_condition_is_stuck ${dependencies}) + +ament_add_gtest(test_condition_is_battery_low test_is_battery_low.cpp) +target_link_libraries(test_condition_is_battery_low nav2_is_battery_low_condition_bt_node) +ament_target_dependencies(test_condition_is_battery_low ${dependencies}) diff --git a/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp b/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp new file mode 100644 index 00000000000..992c50297de --- /dev/null +++ b/nav2_behavior_tree/test/plugins/condition/test_is_battery_low.cpp @@ -0,0 +1,162 @@ +// Copyright (c) 2020 Sarthak Mittal +// Copyright (c) 2019 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. + +#include +#include +#include +#include +#include + +#include "sensor_msgs/msg/battery_state.hpp" + +#include "../../test_behavior_tree_fixture.hpp" +#include "nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp" + +class IsBatteryLowConditionTestFixture : public ::testing::Test +{ +public: + static void SetUpTestCase() + { + node_ = std::make_shared("test_is_battery_low"); + factory_ = std::make_shared(); + + config_ = new BT::NodeConfiguration(); + + // Create the blackboard that will be shared by all of the nodes in the tree + config_->blackboard = BT::Blackboard::create(); + // Put items on the blackboard + config_->blackboard->set( + "node", + node_); + + factory_->registerNodeType("IsBatteryLow"); + + battery_pub_ = node_->create_publisher( + "/battery_status", + rclcpp::SystemDefaultsQoS()); + } + + static void TearDownTestCase() + { + delete config_; + config_ = nullptr; + battery_pub_.reset(); + node_.reset(); + factory_.reset(); + } + +protected: + static rclcpp::Node::SharedPtr node_; + static BT::NodeConfiguration * config_; + static std::shared_ptr factory_; + static rclcpp::Publisher::SharedPtr battery_pub_; +}; + +rclcpp::Node::SharedPtr IsBatteryLowConditionTestFixture::node_ = nullptr; +BT::NodeConfiguration * IsBatteryLowConditionTestFixture::config_ = nullptr; +std::shared_ptr IsBatteryLowConditionTestFixture::factory_ = nullptr; +rclcpp::Publisher::SharedPtr +IsBatteryLowConditionTestFixture::battery_pub_ = nullptr; + +TEST_F(IsBatteryLowConditionTestFixture, test_behavior_percentage) +{ + std::string xml_txt = + R"( + + + + + )"; + + auto tree = factory_->createTreeFromText(xml_txt, config_->blackboard); + + sensor_msgs::msg::BatteryState battery_msg; + battery_msg.percentage = 1.0; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + + battery_msg.percentage = 0.49; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + + battery_msg.percentage = 0.51; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + + battery_msg.percentage = 0.0; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); +} + +TEST_F(IsBatteryLowConditionTestFixture, test_behavior_voltage) +{ + std::string xml_txt = + R"( + + + + + )"; + + auto tree = factory_->createTreeFromText(xml_txt, config_->blackboard); + + sensor_msgs::msg::BatteryState battery_msg; + battery_msg.voltage = 10.0; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + + battery_msg.voltage = 4.9; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); + + battery_msg.voltage = 5.1; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::FAILURE); + + battery_msg.voltage = 0.0; + battery_pub_->publish(battery_msg); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + rclcpp::spin_some(node_); + EXPECT_EQ(tree.tickRoot(), BT::NodeStatus::SUCCESS); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + + // initialize ROS + rclcpp::init(argc, argv); + + bool all_successful = RUN_ALL_TESTS(); + + // shutdown ROS + rclcpp::shutdown(); + + return all_successful; +}