Iron Sync 3 - Sept 25

nav2_amcl/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.2.2</version>
+  <version>1.2.3</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_behavior_tree/README.md

@@ -63,4 +63,4 @@ The BehaviorTree engine has a run method that accepts an XML description of a BT
 
 See the code in the [BT Navigator](../nav2_bt_navigator/src/bt_navigator.cpp) for an example usage of the BehaviorTreeEngine.
 
-For more information about the behavior tree nodes that are available in the default BehaviorTreeCPP library, see documentation here: https://www.behaviortree.dev/bt_basics/
+For more information about the behavior tree nodes that are available in the default BehaviorTreeCPP library, see documentation here: https://www.behaviortree.dev/docs/learn-the-basics/bt_basics/

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

@@ -196,6 +196,11 @@ class BtActionServer
    */
   void populateErrorCode(typename std::shared_ptr<typename ActionT::Result> result);
 
+  /**
+   * @brief Setting BT error codes to success. Used to clean blackboard between different BT runs
+   */
+  void cleanErrorCodes();
+
   // Action name
   std::string action_name_;
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -26,6 +26,7 @@
 #include "nav2_msgs/action/navigate_to_pose.hpp"
 #include "nav2_behavior_tree/bt_action_server.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "nav2_util/node_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -60,6 +61,9 @@ BtActionServer<ActionT>::BtActionServer(
   if (!node->has_parameter("default_server_timeout")) {
     node->declare_parameter("default_server_timeout", 20);
   }
+  if (!node->has_parameter("action_server_result_timeout")) {
+    node->declare_parameter("action_server_result_timeout", 900.0);
+  }
 
   std::vector<std::string> error_code_names = {
     "follow_path_error_code",
@@ -122,19 +126,38 @@ bool BtActionServer<ActionT>::on_configure()
   // Support for handling the topic-based goal pose from rviz
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
+  // Declare parameters for common client node applications to share with BT nodes
+  // Declare if not declared in case being used an external application, then copying
+  // all of the main node's parameters to the client for BT nodes to obtain
+  nav2_util::declare_parameter_if_not_declared(
+    node, "global_frame", rclcpp::ParameterValue(std::string("map")));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
+  nav2_util::declare_parameter_if_not_declared(
+    node, "transform_tolerance", rclcpp::ParameterValue(0.1));
+  nav2_util::copy_all_parameters(node, client_node_);
+
+  // set the timeout in seconds for the action server to discard goal handles if not finished
+  double action_server_result_timeout;
+  node->get_parameter("action_server_result_timeout", action_server_result_timeout);
+  rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
+  server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
+
   action_server_ = std::make_shared<ActionServer>(
     node->get_node_base_interface(),
     node->get_node_clock_interface(),
     node->get_node_logging_interface(),
     node->get_node_waitables_interface(),
-    action_name_, std::bind(&BtActionServer<ActionT>::executeCallback, this));
+    action_name_, std::bind(&BtActionServer<ActionT>::executeCallback, this),
+    nullptr, std::chrono::milliseconds(500), false, server_options);
 
   // Get parameters for BT timeouts
-  int timeout;
-  node->get_parameter("bt_loop_duration", timeout);
-  bt_loop_duration_ = std::chrono::milliseconds(timeout);
-  node->get_parameter("default_server_timeout", timeout);
-  default_server_timeout_ = std::chrono::milliseconds(timeout);
+  int bt_loop_duration;
+  node->get_parameter("bt_loop_duration", bt_loop_duration);
+  bt_loop_duration_ = std::chrono::milliseconds(bt_loop_duration);
+  int default_server_timeout;
+  node->get_parameter("default_server_timeout", default_server_timeout);
+  default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
 
   // Get error code id names to grab off of the blackboard
   error_code_names_ = node->get_parameter("error_code_names").as_string_array();
@@ -224,6 +247,7 @@ void BtActionServer<ActionT>::executeCallback()
 {
   if (!on_goal_received_callback_(action_server_->get_current_goal())) {
     action_server_->terminate_current();
+    cleanErrorCodes();
     return;
   }
 
@@ -278,6 +302,8 @@ void BtActionServer<ActionT>::executeCallback()
       action_server_->terminate_all(result);
       break;
   }
+
+  cleanErrorCodes();
 }
 
 template<class ActionT>
@@ -304,6 +330,14 @@ void BtActionServer<ActionT>::populateErrorCode(
   }
 }
 
+template<class ActionT>
+void BtActionServer<ActionT>::cleanErrorCodes()
+{
+  for (const auto & error_code : error_code_names_) {
+    blackboard_->set<unsigned short>(error_code, 0);  //NOLINT
+  }
+}
+
 }  // namespace nav2_behavior_tree
 
 #endif  // NAV2_BEHAVIOR_TREE__BT_ACTION_SERVER_IMPL_HPP_

nav2_behavior_tree/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.2.2</version>
+  <version>1.2.3</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp

@@ -63,7 +63,7 @@ class Wait : public TimedBehavior<WaitAction>
   CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}
 
 protected:
-  std::chrono::time_point<std::chrono::steady_clock> wait_end_;
+  rclcpp::Time wait_end_;
   WaitAction::Feedback::SharedPtr feedback_;
 };
 

nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp

@@ -133,9 +133,19 @@ class TimedBehavior : public nav2_core::Behavior
     node->get_parameter("robot_base_frame", robot_base_frame_);
     node->get_parameter("transform_tolerance", transform_tolerance_);
 
+    if (!node->has_parameter("action_server_result_timeout")) {
+      node->declare_parameter("action_server_result_timeout", 10.0);
+    }
+
+    double action_server_result_timeout;
+    node->get_parameter("action_server_result_timeout", action_server_result_timeout);
+    rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
+    server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
+
     action_server_ = std::make_shared<ActionServer>(
       node, behavior_name_,
-      std::bind(&TimedBehavior::execute, this));
+      std::bind(&TimedBehavior::execute, this), nullptr, std::chrono::milliseconds(
+        500), false, server_options);
 
     local_collision_checker_ = local_collision_checker;
     global_collision_checker_ = global_collision_checker;

nav2_behaviors/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behaviors</name>
-  <version>1.2.2</version>
+  <version>1.2.3</version>
   <description>TODO</description>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

nav2_behaviors/plugins/wait.cpp

@@ -30,21 +30,19 @@ Wait::~Wait() = default;
 
 ResultStatus Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
 {
-  wait_end_ = std::chrono::steady_clock::now() +
-    rclcpp::Duration(command->time).to_chrono<std::chrono::nanoseconds>();
+  wait_end_ = node_.lock()->now() + rclcpp::Duration(command->time);
   return ResultStatus{Status::SUCCEEDED};
 }
 
 ResultStatus Wait::onCycleUpdate()
 {
-  auto current_point = std::chrono::steady_clock::now();
-  auto time_left =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(wait_end_ - current_point).count();
+  auto current_point = node_.lock()->now();
+  auto time_left = wait_end_ - current_point;
 
-  feedback_->time_left = rclcpp::Duration(rclcpp::Duration::from_nanoseconds(time_left));
+  feedback_->time_left = time_left;
   action_server_->publish_feedback(feedback_);
 
-  if (time_left > 0) {
+  if (time_left.nanoseconds() > 0) {
     return ResultStatus{Status::RUNNING};
   } else {
     return ResultStatus{Status::SUCCEEDED};

nav2_bringup/README.md

@@ -1,17 +1,44 @@
 # nav2_bringup
 
-The `nav2_bringup` package is an example bringup system for Nav2 applications. 
+The `nav2_bringup` package is an example bringup system for Nav2 applications.
 
-This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. 
+This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified.
 
 Usual robot stacks will have a `<robot_name>_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of.
 
 Dynamically composed bringup (based on  [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`.
 
 * Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175.
 
-To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. 
+To use, please see the Nav2 [Getting Started Page](https://navigation.ros.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://navigation.ros.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more.
 
 Note:
 * gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly.
 * spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument <remapping>/tf:=tf</remapping>  <remapping>/tf_static:=tf_static</remapping> under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot.
+
+## Launch
+
+### Multi-robot Simulation
+
+This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments.
+
+#### Cloned
+
+This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default.
+The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`.
+
+Please refer to below examples.
+
+```shell
+ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}"
+```
+
+#### Unique
+
+There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up.
+
+If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script.
+
+```shell
+ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
+```

nav2_bringup/launch/bringup_launch.py

@@ -23,9 +23,9 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
-from launch_ros.actions import PushRosNamespace
+from launch_ros.actions import PushROSNamespace
 from launch_ros.descriptions import ParameterFile
-from nav2_common.launch import RewrittenYaml
+from nav2_common.launch import RewrittenYaml, ReplaceString
 
 
 def generate_launch_description():
@@ -54,6 +54,15 @@ def generate_launch_description():
     remappings = [('/tf', 'tf'),
                   ('/tf_static', 'tf_static')]
 
+    # Only it applys when `use_namespace` is True.
+    # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
+    # in config file 'nav2_multirobot_params.yaml' as a default & example.
+    # User defined config file should contain '<robot_namespace>' keyword for the replacements.
+    params_file = ReplaceString(
+        source_file=params_file,
+        replacements={'<robot_namespace>': ('/', namespace)},
+        condition=IfCondition(use_namespace))
+
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
@@ -113,7 +122,7 @@ def generate_launch_description():
 
     # Specify the actions
     bringup_cmd_group = GroupAction([
-        PushRosNamespace(
+        PushROSNamespace(
             condition=IfCondition(use_namespace),
             namespace=namespace),