Modified nav2_behavior_tree and nav2_bt_navigator by HarunTeper · Pull Request #3653 · ros-navigation/navigation2

HarunTeper · 2023-06-24T15:34:56Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3574
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo

Description of contribution in a few bullet points

For navigators in nav2_bt_navigator, added parameter pass through from bt_navigator to bt_navigator/client_node_name for robot_base_frame and global_frame.
For plugins in nav2_behavior_tree, removed default parameters for behavior tree input ports for robot_base_frame and global_frame, and added the following behavior:

Check behavior tree for user-specified values in behavior tree.
If those are not available, check client_node parameters.
If those are not available, use default values.

Description of documentation updates required from your changes

The parameters global_frame and robot_base frame can now be used by the navigators, instead of the behavior tree specification.

Future work that may be required in bullet points

This could be extended for other parameters or adapted for more plugins/navigators.
For future plugins, the same procedure as in this commit needs to be applied to enable these functionalities.

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

… parameters as backup for behavior tree parameters

mergify · 2023-06-24T15:39:27Z

@HarunTeper, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

… parameters as backup for behavior tree parameters

SteveMacenski

Good first stab at it!

nav2_bt_navigator/src/navigators/navigate_through_poses.cpp

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp

nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp

mergify · 2023-07-10T17:33:17Z

@HarunTeper, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org>

HarunTeper · 2023-07-12T15:13:48Z

What should I do about the test errors, and the error about the missing bt_conversions.hpp code coverage test.

SteveMacenski · 2023-07-13T19:29:56Z

What should I do about the test errors, and the error about the missing bt_conversions.hpp code coverage test.

Look into why they're failing, these tests should not be failing if your PR did not introduce breaking changes and/or caused potentially unintended problem.

W.r.t. adding new tests, we need test coverage for all new features - so the deconflictPortAndParamFrame function needs some tests

…nodes

SteveMacenski

Just a couple of small things!

nav2_behavior_tree/plugins/decorator/distance_controller.cpp

nav2_behavior_tree/test/plugins/condition/test_goal_reached.cpp

nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml

nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml

HarunTeper · 2023-07-22T16:51:10Z

The last error occurs because I renamed bt_conversions.hpp to bt_utils hpp, and now the code coverage cannot find bt_conversions anymore. Did I forget to rename it somewhere?

SteveMacenski · 2023-07-24T09:53:32Z

Try incrementing any instances of v14 to v15 to break the cache https://github.com/ros-planning/navigation2/blob/main/.circleci/config.yml -- you need to do all 3 of them as the same thing (v15)

HarunTeper · 2023-07-25T14:45:47Z

Did that, but now a test didn't generate a results file.

SteveMacenski · 2023-07-26T19:02:47Z

Retriggering

SteveMacenski · 2023-07-28T17:13:04Z

@HarunTeper thanks for your contribution here, this is a really nice update! I appreciate your responsiveness and diligence during this!

* Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * implemented feedback from pull request * fixed RCLCPP_DEBUG error Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> * fixed hpp layout, removed previous code line in distance_controller * fixed all CI/CD errors, modified tests * fixed bt_navigator coding style. Modified behavior trees for updated nodes * implemented comments, fixed distance in distance_controller * updated circleci v14 to v15 --------- Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> Co-authored-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> Signed-off-by: enricosutera <enricosutera@outlook.com>

* Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * implemented feedback from pull request * fixed RCLCPP_DEBUG error Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> * fixed hpp layout, removed previous code line in distance_controller * fixed all CI/CD errors, modified tests * fixed bt_navigator coding style. Modified behavior trees for updated nodes * implemented comments, fixed distance in distance_controller * updated circleci v14 to v15 --------- Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> Co-authored-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org>

Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator…

f6bd5a9

… parameters as backup for behavior tree parameters

HarunTeper mentioned this pull request Jun 24, 2023

RemovePassedGoals Plugin frame parameter inheritance #3574

Closed

HarunTeper and others added 2 commits June 26, 2023 16:57

Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator…

7e4ae13

… parameters as backup for behavior tree parameters

added condition hpp files

ab0ffc3

SteveMacenski linked an issue Jun 26, 2023 that may be closed by this pull request

RemovePassedGoals Plugin frame parameter inheritance #3574

Closed

SteveMacenski requested changes Jun 26, 2023

View reviewed changes

HarunTeper and others added 3 commits June 30, 2023 13:38

Merge branch 'ros-planning:main' into main

f20fdbb

Merge branch 'ros-planning:main' into main

14287a7

implemented feedback from pull request

5527c92

vboxuser and others added 2 commits July 10, 2023 19:37

fixed RCLCPP_DEBUG error

9cb3dbe

Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org>

Merge branch 'ros-planning:main' into main

e1d3097

HarunTeper and others added 4 commits July 19, 2023 15:43

Merge branch 'ros-planning:main' into main

32af0a5

fixed hpp layout, removed previous code line in distance_controller

9053fa4

fixed all CI/CD errors, modified tests

8f4ba36

fixed bt_navigator coding style. Modified behavior trees for updated …

a3b3c5f

…nodes

SteveMacenski requested changes Jul 22, 2023

View reviewed changes

implemented comments, fixed distance in distance_controller

755ab87

updated circleci v14 to v15

24c6785

SteveMacenski approved these changes Jul 28, 2023

View reviewed changes

SteveMacenski merged commit 418fc80 into ros-navigation:main Jul 28, 2023

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HarunTeper commented Jun 24, 2023 • edited by SteveMacenski Loading Uh oh! There was an error while loading. Please reload this page.

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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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mergify bot commented Jul 10, 2023

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HarunTeper commented Jul 12, 2023

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SteveMacenski commented Jul 13, 2023

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HarunTeper commented Jul 22, 2023

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SteveMacenski commented Jul 24, 2023

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HarunTeper commented Jul 25, 2023

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SteveMacenski commented Jul 26, 2023

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SteveMacenski commented Jul 28, 2023

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HarunTeper commented Jun 24, 2023 •

edited by SteveMacenski

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