Dock panel

[ajtudela]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	Morphia robot / Gazebo
Does this PR contain AI generated software?	No

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New panel for docking / undocking action, similar to Nav2 panel:

• Goal status and feedback.
• Error codes.
• Docking action its 1000% configurable: dock id, pose and type; and flag for nav to stage.

panel_docking.webm

Description of documentation updates required from your changes

---

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.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

[SteveMacenski]

Very cool, I love this! Can we get this in the Nav2 default rviz config? Maybe on the right side of the window since the left side is getting pretty crowded. Or I suppose I wouldn't be opposed to rearranging the panel setup in rviz to be less "default" for a Nav2 specific layout. Perhaps:

• Move the displays panel (where you toggle/pick stuff to visualize) to the right top, with the views on the right bottom
• Move the Nav2 main panel to the top left, Nav2 docking center left, Nav2 controller selector bottom left

But just a suggestion! If we're going to have more of these plugins, its worth optimizing for them now! Maybe there's a configuration option to make the entire rviz window Nav2 blue... that would be cool... but dreams for another time

Only nitpick is to make the text align: Navigate to staging pose with the feedback stuff & "reached/unknown/active" with the feedback items as well.

Can you rebase to fix CI?

[ajtudela]

I personally use a config similar to this:

[ajtudela]

So fixing the alignment for the docking panel, also fixed the alignment for the Nav2 panel!

And I also noticed that the logo in the Nav2 panel doesn't show in some scenarios. I'll fix it in a separate PR.

[SteveMacenski]

Great! Let me know when you want me to look at it again! This is really quick turn around on this tool and its unquestionably valuable to have, thanks!

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

[ajtudela]

Great! Let me know when you want me to look at it again! This is really quick turn around on this tool and its unquestionably valuable to have, thanks!

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

You can review it now. I've fixed the log and the layout

[SteveMacenski]

Can you also push the updated rviz config to include the new panel + Nav2 panel groupings?

[ajtudela]

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

The only option is to merge the panels in "tabs". You can see them at the bottom.

[SteveMacenski]

The only option is to merge the panels in "tabs". You can see them at the bottom.

Can't you move the top Displays panel to the right hand side where the Views are?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

[ajtudela]

The only option is to merge the panels in "tabs". You can see them at the bottom.

Can't you move the top Displays panel to the right hand side where the Views are?

After a bit of struggle, if have this:

[SteveMacenski]

Eh ok, you've convinced me about #4458 (comment) can you push that one? I'll test and merge. My eyes glaze over with the Qt state machines and its easier just to hit all the buttons a bunch and check that they do what I expect 😆

[ajtudela]

Done!

[SteveMacenski]

Weird... basically all the tests failed. Trying again!

[mergify]

@ajtudela, 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).

[mergify]

@ajtudela, 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).

[ajtudela]

Weird... basically all the tests failed. Trying again!

Yeah, I thought CI was failing again. I made a rebase and now the tests passed.

[SteveMacenski]

Thanks! This looks great! Amazing tool to have now for users!

[SteveMacenski]

@ajtudela I'm running into a problem while using the panel developing #4405 on main. It doesn't appear that the terminal state (i.e. action completed) is updating the state machine properly. When docking, it works fine but then never exits the "active action" state (i.e. keeps the dock/undock button greyed out and the cancel button active) even though the action was long completed. That prevents us from being able to undock or redock

[ajtudela]

It's weird, I saw the code of the new non-charging dock type and it doesn't change the code of the docking server. The status of the buttons and text only depends on the goal status actions. Maybe these callbacks are not called when the action is completed?

navigation2/nav2_rviz_plugins/src/docking_panel.cpp

Lines 152 to 181 in c2e4aab

	// Create action goal status subscribers
	docking_goal_status_sub_ = node->create_subscription<action_msgs::msg::GoalStatusArray>(
	"dock_robot/_action/status",
	rclcpp::SystemDefaultsQoS(),
	[this](const action_msgs::msg::GoalStatusArray::SharedPtr msg) {
	docking_goal_status_indicator_->setText(
	nav2_rviz_plugins::getGoalStatusLabel("Feedback", msg->status_list.back().status));
	if (msg->status_list.back().status != action_msgs::msg::GoalStatus::STATUS_EXECUTING) {
	docking_button_->setText("Dock robot");
	undocking_button_->setEnabled(true);
	docking_in_progress_ = false;
	}
	// Reset values when action is completed
	if (msg->status_list.back().status == action_msgs::msg::GoalStatus::STATUS_SUCCEEDED) {
	docking_feedback_indicator_->setText(getDockFeedbackLabel());
	}
	});
	undocking_goal_status_sub_ = node->create_subscription<action_msgs::msg::GoalStatusArray>(
	"undock_robot/_action/status",
	rclcpp::SystemDefaultsQoS(),
	[this](const action_msgs::msg::GoalStatusArray::SharedPtr msg) {
	docking_goal_status_indicator_->setText(
	nav2_rviz_plugins::getGoalStatusLabel("Feedback", msg->status_list.back().status));
	if (msg->status_list.back().status != action_msgs::msg::GoalStatus::STATUS_EXECUTING) {
	docking_button_->setEnabled(true);
	undocking_button_->setText("Undock robot");
	undocking_in_progress_ = false;
	}
	});

I'll check it out as soon as I get back to the lab.

[ajtudela]

@ajtudela I'm running into a problem while using the panel developing #4405 on main. It doesn't appear that the terminal state (i.e. action completed) is updating the state machine properly. When docking, it works fine but then never exits the "active action" state (i.e. keeps the dock/undock button greyed out and the cancel button active) even though the action was long completed. That prevents us from being able to undock or redock

I've tried several times to perform dock/undock actions using the new non-charging dock successfully using the dock panel . Can you give me more details about your system so I can try to reproduce the bug?

[SteveMacenski]

That is weird, because I saw this consistently. I used the main branch and the provided nav2_bringup launch files so the server bringup / branch should be the same between us (nothing custom). Then using the rviz tool which interacts with the docking server fine (i.e. it docks) but then the rviz panel state seems to miss the results or something