Humble sync 10: April 4, 2024

nav2_amcl/include/nav2_amcl/amcl_node.hpp

@@ -35,6 +35,7 @@
 #include "nav2_amcl/sensors/laser/laser.hpp"
 #include "nav2_msgs/msg/particle.hpp"
 #include "nav2_msgs/msg/particle_cloud.hpp"
+#include "nav2_msgs/srv/set_initial_pose.hpp"
 #include "nav_msgs/srv/set_map.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "std_srvs/srv/empty.hpp"
@@ -210,6 +211,16 @@ class AmclNode : public nav2_util::LifecycleNode
     const std::shared_ptr<std_srvs::srv::Empty::Request> request,
     std::shared_ptr<std_srvs::srv::Empty::Response> response);
 
+  // service server for providing an initial pose guess
+  rclcpp::Service<nav2_msgs::srv::SetInitialPose>::SharedPtr initial_guess_srv_;
+  /*
+   * @brief Service callback for an initial pose guess request
+   */
+  void initialPoseReceivedSrv(
+    const std::shared_ptr<rmw_request_id_t> request_header,
+    const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> request,
+    std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response> response);
+
   // Let amcl update samples without requiring motion
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr nomotion_update_srv_;
   /*

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>1.1.13</version>
+  <version>1.1.14</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_amcl/src/amcl_node.cpp

@@ -325,13 +325,17 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   // Get rid of the inputs first (services and message filter input), so we
   // don't continue to process incoming messages
   global_loc_srv_.reset();
+  initial_guess_srv_.reset();
   nomotion_update_srv_.reset();
+  executor_thread_.reset();  //  to make sure initial_pose_sub_ completely exit
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
+  tf_listener_.reset();  //  listener may access lase_scan_filter_, so it should be reset earlier
   laser_scan_filter_.reset();
   laser_scan_sub_.reset();
 
   // Map
+  map_sub_.reset();  //  map_sub_ may access map_, so it should be reset earlier
   if (map_ != NULL) {
     map_free(map_);
     map_ = nullptr;
@@ -341,7 +345,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
 
   // Transforms
   tf_broadcaster_.reset();
-  tf_listener_.reset();
   tf_buffer_.reset();
 
   // PubSub
@@ -493,6 +496,15 @@ AmclNode::globalLocalizationCallback(
   pf_init_ = false;
 }
 
+void
+AmclNode::initialPoseReceivedSrv(
+  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
+  const std::shared_ptr<nav2_msgs::srv::SetInitialPose::Request> req,
+  std::shared_ptr<nav2_msgs::srv::SetInitialPose::Response>/*res*/)
+{
+  initialPoseReceived(std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>(req->pose));
+}
+
 // force nomotion updates (amcl updating without requiring motion)
 void
 AmclNode::nomotionUpdateCallback(
@@ -1093,20 +1105,20 @@ AmclNode::initParameters()
   // Semantic checks
   if (laser_likelihood_max_dist_ < 0) {
     RCLCPP_WARN(
-      get_logger(), "You've set laser_likelihood_max_dist to be negtive,"
+      get_logger(), "You've set laser_likelihood_max_dist to be negative,"
       " this isn't allowed so it will be set to default value 2.0.");
     laser_likelihood_max_dist_ = 2.0;
   }
   if (max_particles_ < 0) {
     RCLCPP_WARN(
-      get_logger(), "You've set max_particles to be negtive,"
+      get_logger(), "You've set max_particles to be negative,"
       " this isn't allowed so it will be set to default value 2000.");
     max_particles_ = 2000;
   }
 
   if (min_particles_ < 0) {
     RCLCPP_WARN(
-      get_logger(), "You've set min_particles to be negtive,"
+      get_logger(), "You've set min_particles to be negative,"
       " this isn't allowed so it will be set to default value 500.");
     min_particles_ = 500;
   }
@@ -1120,7 +1132,7 @@ AmclNode::initParameters()
 
   if (resample_interval_ <= 0) {
     RCLCPP_WARN(
-      get_logger(), "You've set resample_interval to be zero or negtive,"
+      get_logger(), "You've set resample_interval to be zero or negative,"
       " this isn't allowed so it will be set to default value to 1.");
     resample_interval_ = 1;
   }
@@ -1533,6 +1545,10 @@ AmclNode::initServices()
     "reinitialize_global_localization",
     std::bind(&AmclNode::globalLocalizationCallback, this, _1, _2, _3));
 
+  initial_guess_srv_ = create_service<nav2_msgs::srv::SetInitialPose>(
+    "set_initial_pose",
+    std::bind(&AmclNode::initialPoseReceivedSrv, this, _1, _2, _3));
+
   nomotion_update_srv_ = create_service<std_srvs::srv::Empty>(
     "request_nomotion_update",
     std::bind(&AmclNode::nomotionUpdateCallback, this, _1, _2, _3));

nav2_amcl/src/sensors/laser/likelihood_field_model.cpp

@@ -53,6 +53,17 @@ LikelihoodFieldModel::sensorFunction(LaserData * data, pf_sample_set_t * set)
 
   self = reinterpret_cast<LikelihoodFieldModel *>(data->laser);
 
+  // Pre-compute a couple of things
+  double z_hit_denom = 2 * self->sigma_hit_ * self->sigma_hit_;
+  double z_rand_mult = 1.0 / data->range_max;
+
+  step = (data->range_count - 1) / (self->max_beams_ - 1);
+
+  // Step size must be at least 1
+  if (step < 1) {
+    step = 1;
+  }
+
   total_weight = 0.0;
 
   // Compute the sample weights
@@ -65,17 +76,6 @@ LikelihoodFieldModel::sensorFunction(LaserData * data, pf_sample_set_t * set)
 
     p = 1.0;
 
-    // Pre-compute a couple of things
-    double z_hit_denom = 2 * self->sigma_hit_ * self->sigma_hit_;
-    double z_rand_mult = 1.0 / data->range_max;
-
-    step = (data->range_count - 1) / (self->max_beams_ - 1);
-
-    // Step size must be at least 1
-    if (step < 1) {
-      step = 1;
-    }
-
     for (i = 0; i < data->range_count; i += step) {
       obs_range = data->ranges[i][0];
       obs_bearing = data->ranges[i][1];

nav2_behavior_tree/CMakeLists.txt

@@ -192,6 +192,9 @@ list(APPEND plugin_libs nav2_smoother_selector_bt_node)
 add_library(nav2_goal_checker_selector_bt_node SHARED plugins/action/goal_checker_selector_node.cpp)
 list(APPEND plugin_libs nav2_goal_checker_selector_bt_node)
 
+add_library(nav2_progress_checker_selector_bt_node SHARED plugins/action/progress_checker_selector_node.cpp)
+list(APPEND plugin_libs nav2_progress_checker_selector_bt_node)
+
 add_library(nav2_goal_updated_controller_bt_node SHARED plugins/decorator/goal_updated_controller.cpp)
 list(APPEND plugin_libs nav2_goal_updated_controller_bt_node)
 

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp

@@ -0,0 +1,96 @@
+// Copyright (c) 2024 Open Navigation LLC
+//
+// 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__ACTION__PROGRESS_CHECKER_SELECTOR_NODE_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__PROGRESS_CHECKER_SELECTOR_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "behaviortree_cpp_v3/action_node.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief The ProgressCheckerSelector behavior is used to switch the progress checker
+ * of the controller server. It subscribes to a topic "progress_checker_selector"
+ * to get the decision about what progress_checker must be used. It is usually used before of
+ * the FollowPath. The selected_progress_checker output port is passed to progress_checker_id
+ * input port of the FollowPath
+ */
+class ProgressCheckerSelector : public BT::SyncActionNode
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::ProgressCheckerSelector
+   *
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param conf  BT node configuration
+   */
+  ProgressCheckerSelector(
+    const std::string & xml_tag_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return {
+      BT::InputPort<std::string>(
+        "default_progress_checker",
+        "the default progress_checker to use if there is not any external topic message received."),
+
+      BT::InputPort<std::string>(
+        "topic_name",
+        "progress_checker_selector",
+        "the input topic name to select the progress_checker"),
+
+      BT::OutputPort<std::string>(
+        "selected_progress_checker",
+        "Selected progress_checker by subscription")
+    };
+  }
+
+private:
+  /**
+   * @brief Function to perform some user-defined operation on tick
+   */
+  BT::NodeStatus tick() override;
+
+  /**
+   * @brief callback function for the progress_checker_selector topic
+   *
+   * @param msg the message with the id of the progress_checker_selector
+   */
+  void callbackProgressCheckerSelect(const std_msgs::msg::String::SharedPtr msg);
+
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr progress_checker_selector_sub_;
+
+  std::string last_selected_progress_checker_;
+
+  rclcpp::Node::SharedPtr node_;
+
+  std::string topic_name_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__PROGRESS_CHECKER_SELECTOR_NODE_HPP_

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -174,6 +174,12 @@
         <output_port name="selected_goal_checker">Name of the selected goal checker received from the topic subcription</output_port>
     </Action>
 
+    <Action ID="ProgressCheckerSelector">
+        <input_port name="topic_name">Name of the topic to receive progress checker selection commands</input_port>
+        <input_port name="default_progress_checker">Default progress checker of the controller selector</input_port>
+        <output_port name="selected_progress_checker">Name of the selected progress checker received from the topic subcription</output_port>
+    </Action>
+
     <Action ID="Spin">
       <input_port name="spin_dist">Spin distance</input_port>
       <input_port name="time_allowance">Allowed time for spinning</input_port>

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>1.1.13</version>
+  <version>1.1.14</version>
   <description>TODO</description>
   <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
   <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

nav2_behavior_tree/plugins/action/progress_checker_selector_node.cpp

@@ -0,0 +1,81 @@
+// Copyright (c) 2024 Open Navigation LLC
+//
+// 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 <string>
+#include <memory>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace nav2_behavior_tree
+{
+
+using std::placeholders::_1;
+
+ProgressCheckerSelector::ProgressCheckerSelector(
+  const std::string & name,
+  const BT::NodeConfiguration & conf)
+: BT::SyncActionNode(name, conf)
+{
+  node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+
+  getInput("topic_name", topic_name_);
+
+  rclcpp::QoS qos(rclcpp::KeepLast(1));
+  qos.transient_local().reliable();
+
+  progress_checker_selector_sub_ = node_->create_subscription<std_msgs::msg::String>(
+    topic_name_, qos, std::bind(&ProgressCheckerSelector::callbackProgressCheckerSelect, this, _1));
+}
+
+BT::NodeStatus ProgressCheckerSelector::tick()
+{
+  rclcpp::spin_some(node_);
+
+  // This behavior always use the last selected progress checker received from the topic input.
+  // When no input is specified it uses the default goaprogressl checker.
+  // If the default progress checker is not specified then we work in
+  // "required progress checker mode": In this mode, the behavior returns failure if the progress
+  // checker selection is not received from the topic input.
+  if (last_selected_progress_checker_.empty()) {
+    std::string default_progress_checker;
+    getInput("default_progress_checker", default_progress_checker);
+    if (default_progress_checker.empty()) {
+      return BT::NodeStatus::FAILURE;
+    } else {
+      last_selected_progress_checker_ = default_progress_checker;
+    }
+  }
+
+  setOutput("selected_progress_checker", last_selected_progress_checker_);
+
+  return BT::NodeStatus::SUCCESS;
+}
+
+void
+ProgressCheckerSelector::callbackProgressCheckerSelect(const std_msgs::msg::String::SharedPtr msg)
+{
+  last_selected_progress_checker_ = msg->data;
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<nav2_behavior_tree::ProgressCheckerSelector>("ProgressCheckerSelector");
+}

nav2_behavior_tree/test/plugins/action/CMakeLists.txt

@@ -107,3 +107,7 @@ ament_target_dependencies(test_smoother_selector_node ${dependencies})
 ament_add_gtest(test_goal_checker_selector_node test_goal_checker_selector_node.cpp)
 target_link_libraries(test_goal_checker_selector_node nav2_goal_checker_selector_bt_node)
 ament_target_dependencies(test_goal_checker_selector_node ${dependencies})
+
+ament_add_gtest(test_progress_checker_selector_node test_progress_checker_selector_node.cpp)
+target_link_libraries(test_progress_checker_selector_node nav2_progress_checker_selector_bt_node)
+ament_target_dependencies(test_progress_checker_selector_node ${dependencies})