Add nav2_gps_waypoint_follower

nav2_msgs/CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(nav_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geographic_msgs)
 find_package(action_msgs REQUIRED)
 
 nav2_package()
@@ -49,7 +50,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Spin.action"
   "action/DummyBehavior.action"
   "action/FollowWaypoints.action"
-  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs
+  "action/FollowGPSWaypoints.action"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs geographic_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)

nav2_msgs/action/FollowGPSWaypoints.action

@@ -0,0 +1,17 @@
+#goal definition
+uint32 number_of_loops
+uint32 goal_index 0
+geographic_msgs/GeoPose[] gps_poses
+---
+#result definition
+
+# Error codes
+# Note: The expected priority order of the errors should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=600
+uint16 TASK_EXECUTOR_FAILED=601
+
+MissedWaypoint[] missed_waypoints
+---
+#feedback
+uint32 current_waypoint

nav2_msgs/package.xml

@@ -19,6 +19,7 @@
   <depend>geometry_msgs</depend>
   <depend>action_msgs</depend>
   <depend>nav_msgs</depend>
+  <depend>geographic_msgs</depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -25,7 +25,8 @@
 from lifecycle_msgs.srv import GetState
 from nav2_msgs.action import AssistedTeleop, BackUp, Spin
 from nav2_msgs.action import ComputePathThroughPoses, ComputePathToPose
-from nav2_msgs.action import FollowPath, FollowWaypoints, NavigateThroughPoses, NavigateToPose
+from nav2_msgs.action import FollowPath, FollowWaypoints, FollowGPSWaypoints, \
+    NavigateThroughPoses, NavigateToPose
 from nav2_msgs.action import SmoothPath
 from nav2_msgs.srv import ClearEntireCostmap, GetCostmap, LoadMap, ManageLifecycleNodes
 
@@ -67,6 +68,8 @@ def __init__(self, node_name='basic_navigator'):
                                                      'navigate_through_poses')
         self.nav_to_pose_client = ActionClient(self, NavigateToPose, 'navigate_to_pose')
         self.follow_waypoints_client = ActionClient(self, FollowWaypoints, 'follow_waypoints')
+        self.follow_gps_waypoints_client = ActionClient(self, FollowGPSWaypoints,
+                                                        'follow_gps_waypoints')
         self.follow_path_client = ActionClient(self, FollowPath, 'follow_path')
         self.compute_path_to_pose_client = ActionClient(self, ComputePathToPose,
                                                         'compute_path_to_pose')
@@ -182,6 +185,28 @@ def followWaypoints(self, poses):
         self.result_future = self.goal_handle.get_result_async()
         return True
 
+    def followGpsWaypoints(self, gps_poses):
+        """Send a `FollowGPSWaypoints` action request."""
+        self.debug("Waiting for 'FollowWaypoints' action server")
+        while not self.follow_gps_waypoints_client.wait_for_server(timeout_sec=1.0):
+            self.info("'FollowWaypoints' action server not available, waiting...")
+
+        goal_msg = FollowGPSWaypoints.Goal()
+        goal_msg.gps_poses = gps_poses
+
+        self.info(f'Following {len(goal_msg.gps_poses)} gps goals....')
+        send_goal_future = self.follow_gps_waypoints_client.send_goal_async(goal_msg,
+                                                                            self._feedbackCallback)
+        rclpy.spin_until_future_complete(self, send_goal_future)
+        self.goal_handle = send_goal_future.result()
+
+        if not self.goal_handle.accepted:
+            self.error(f'Following {len(gps_poses)} gps waypoints request was rejected!')
+            return False
+
+        self.result_future = self.goal_handle.get_result_async()
+        return True
+
     def spin(self, spin_dist=1.57, time_allowance=10):
         self.debug("Waiting for 'Spin' action server")
         while not self.spin_client.wait_for_server(timeout_sec=1.0):
@@ -310,7 +335,8 @@ def getResult(self):
 
     def waitUntilNav2Active(self, navigator='bt_navigator', localizer='amcl'):
         """Block until the full navigation system is up and running."""
-        self._waitForNodeToActivate(localizer)
+        if localizer != "robot_localization":  # non-lifecycle node
+            self._waitForNodeToActivate(localizer)
         if localizer == 'amcl':
             self._waitForInitialPose()
         self._waitForNodeToActivate(navigator)

nav2_system_tests/CMakeLists.txt

@@ -114,6 +114,7 @@ if(BUILD_TESTING)
   add_subdirectory(src/system_failure)
   add_subdirectory(src/updown)
   add_subdirectory(src/waypoint_follower)
+  add_subdirectory(src/gps_navigation)
   add_subdirectory(src/behaviors/spin)
   add_subdirectory(src/behaviors/wait)
   add_subdirectory(src/behaviors/backup)

nav2_system_tests/src/gps_navigation/CMakeLists.txt

@@ -0,0 +1,11 @@
+ament_add_test(test_gps_waypoint_follower
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_case_py.launch.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  TIMEOUT 180
+  ENV
+    TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
+    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo_gps.world
+    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
+    BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
+)

nav2_system_tests/src/gps_navigation/dual_ekf_navsat.launch.py

@@ -0,0 +1,63 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# 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.
+
+from launch import LaunchDescription
+import launch_ros.actions
+import os
+import launch.actions
+
+
+def generate_launch_description():
+    launch_dir = os.path.dirname(os.path.realpath(__file__))
+    params_file = os.path.join(launch_dir, "dual_ekf_navsat_params.yaml")
+    os.environ["FILE_PATH"] = str(launch_dir)
+    return LaunchDescription(
+        [
+            launch.actions.DeclareLaunchArgument(
+                "output_final_position", default_value="false"
+            ),
+            launch.actions.DeclareLaunchArgument(
+                "output_location", default_value="~/dual_ekf_navsat_example_debug.txt"
+            ),
+            launch_ros.actions.Node(
+                package="robot_localization",
+                executable="ekf_node",
+                name="ekf_filter_node_odom",
+                output="screen",
+                parameters=[params_file, {"use_sim_time": True}],
+                remappings=[("odometry/filtered", "odometry/local")],
+            ),
+            launch_ros.actions.Node(
+                package="robot_localization",
+                executable="ekf_node",
+                name="ekf_filter_node_map",
+                output="screen",
+                parameters=[params_file, {"use_sim_time": True}],
+                remappings=[("odometry/filtered", "odometry/global")],
+            ),
+            launch_ros.actions.Node(
+                package="robot_localization",
+                executable="navsat_transform_node",
+                name="navsat_transform",
+                output="screen",
+                parameters=[params_file, {"use_sim_time": True}],
+                remappings=[
+                    ("imu/data", "imu/data"),
+                    ("gps/fix", "gps/fix"),
+                    ("gps/filtered", "gps/filtered"),
+                    ("odometry/gps", "odometry/gps"),
+                    ("odometry/filtered", "odometry/global"),
+                ],
+            ),
+        ]
+    )

nav2_system_tests/src/gps_navigation/dual_ekf_navsat_params.yaml

@@ -0,0 +1,127 @@
+# For parameter descriptions, please refer to the template parameter files for each node.
+
+ekf_filter_node_odom:
+  ros__parameters:
+    frequency: 30.0
+    two_d_mode: true # Recommended to use 2d mode for nav2, since its world representation is 2d
+    print_diagnostics: true
+    debug: false
+    publish_tf: true
+
+    map_frame: map
+    odom_frame: odom
+    base_link_frame: base_link
+    world_frame: odom
+
+    odom0: odom
+    odom0_config: [false, false, false,
+                  false, false, false,
+                  true,  true,  true,
+                  false, false, true,
+                  false, false, false]
+    odom0_queue_size: 10
+    odom0_differential: false
+    odom0_relative: false
+
+    imu0: imu/data
+    imu0_config: [false, false, false,
+                  false,  false,  true,
+                  false, false, false,
+                  false,  false,  false,
+                  false,  false,  false]
+    imu0_differential: false  # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
+    imu0_relative: false
+    imu0_queue_size: 10
+    imu0_remove_gravitational_acceleration: true
+
+    use_control: false
+
+    process_noise_covariance: [1e-3, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    1e-3,  0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    1e-3,  0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.3,   0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.3,   0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.01,  0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,    0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,   0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,   0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,   0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,   0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,   0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.3]
+
+ekf_filter_node_map:
+  ros__parameters:
+    frequency: 30.0
+    two_d_mode: true  # Recommended to use 2d mode for nav2, since its world representation is 2d
+    print_diagnostics: true
+    debug: false
+    publish_tf: true
+
+    map_frame: map
+    odom_frame: odom
+    base_link_frame: base_link
+    world_frame: map
+
+    odom0: odom
+    odom0_config: [false, false, false,
+                  false, false, false,
+                  true,  true,  true,
+                  false, false, true,
+                  false, false, false]
+    odom0_queue_size: 10
+    odom0_differential: false
+    odom0_relative: false
+
+    odom1: odometry/gps
+    odom1_config: [true,  true,  false,
+                  false, false, false,
+                  false, false, false,
+                  false, false, false,
+                  false, false, false]
+    odom1_queue_size: 10
+    odom1_differential: false
+    odom1_relative: false
+
+    imu0: imu/data
+    imu0_config: [false, false, false,
+                  false,  false,  true,
+                  false, false, false,
+                  false,  false,  false,
+                  false,  false,  false]
+    imu0_differential: false  # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
+    imu0_relative: false
+    imu0_queue_size: 10
+    imu0_remove_gravitational_acceleration: true
+
+    use_control: false
+
+    process_noise_covariance: [1.0,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    1.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    1e-3,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.01,   0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,    0.0,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,    0.0,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,    0.0,
+                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.3]
+
+navsat_transform:
+  ros__parameters:
+    frequency: 30.0
+    delay: 3.0
+    magnetic_declination_radians: 0.0429351  # For lat/long 55.944831, -3.186998
+    yaw_offset: 0.0
+    zero_altitude: true
+    broadcast_utm_transform: true
+    publish_filtered_gps: true
+    use_odometry_yaw: true
+    wait_for_datum: false