From 1654264ebfb077fb89085712b69490c7742f3f31 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Tue, 3 Jul 2018 08:57:14 -0700 Subject: [PATCH 01/27] Add the requirements document --- LICENSE | 201 ++++++++++++ README.md | 8 +- design/README.md | 15 - doc/README.md | 10 + doc/images/ros2-logo.png | Bin 0 -> 7010 bytes .../requirements/_template_requirement.md | 0 .../images/Command-Pipeline-Support.png | Bin 0 -> 62509 bytes doc/requirements/images/Command-Pipeline.png | Bin 0 -> 44970 bytes doc/requirements/images/Command-Pipeline.vsdx | Bin 0 -> 208318 bytes doc/requirements/images/Mapping-Use-Cases.png | Bin 0 -> 68578 bytes .../images/Mission-Execution-Use-Cases.png | Bin 0 -> 35750 bytes .../images/Mission-Planning-Use-Cases.png | Bin 0 -> 37747 bytes doc/requirements/requirements.md | 306 ++++++++++++++++++ .../use_cases/_template_use_case.md | 0 .../use_cases/collision_avoidance_use_case.md | 0 .../use_cases/indoor_localization_use_case.md | 0 .../use_cases/indoor_navigation_use_case.md | 0 .../use_cases/keep_out_zones_use_case.md | 0 .../multi-story-building_use_case.md | 0 .../outdoor_localization_use_case.md | 0 .../use_cases/outdoor_navigation_use_case.md | 0 include/.gitignore | 0 src/.gitignore | 0 test/.gitignore | 0 24 files changed, 522 insertions(+), 18 deletions(-) create mode 100644 LICENSE delete mode 100644 design/README.md create mode 100644 doc/README.md create mode 100644 doc/images/ros2-logo.png rename {design => doc}/requirements/_template_requirement.md (100%) create mode 100644 doc/requirements/images/Command-Pipeline-Support.png create mode 100644 doc/requirements/images/Command-Pipeline.png create mode 100644 doc/requirements/images/Command-Pipeline.vsdx create mode 100644 doc/requirements/images/Mapping-Use-Cases.png create mode 100644 doc/requirements/images/Mission-Execution-Use-Cases.png create mode 100644 doc/requirements/images/Mission-Planning-Use-Cases.png create mode 100644 doc/requirements/requirements.md rename {design => doc}/use_cases/_template_use_case.md (100%) rename {design => doc}/use_cases/collision_avoidance_use_case.md (100%) rename {design => doc}/use_cases/indoor_localization_use_case.md (100%) rename {design => doc}/use_cases/indoor_navigation_use_case.md (100%) rename {design => doc}/use_cases/keep_out_zones_use_case.md (100%) rename {design => doc}/use_cases/multi-story-building_use_case.md (100%) rename {design => doc}/use_cases/outdoor_localization_use_case.md (100%) rename {design => doc}/use_cases/outdoor_navigation_use_case.md (100%) create mode 100644 include/.gitignore create mode 100644 src/.gitignore create mode 100644 test/.gitignore diff --git a/LICENSE b/LICENSE new file mode 100644 index 00000000000..261eeb9e9f8 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/README.md b/README.md index 40ac5df4224..c3c8adf2eab 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,11 @@ +![ROS2](doc/images/ros2-logo.png) + # Navigation2 -ROS2 Navigation +ROS2 Navigation System # Overview -The ROS2 Navigation system is the central control system for a robot to autonomously move to a given location on a map. Given a current pose, a map and a destination, the system uses sensor input to localize the robot on the map, generates a plan to reach the destination, and outputs commands to drive a robot to that location. It will also autonomously avoid obstacles and re-plan if needed to bypass them. +The ROS 2 Navigation System is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a specific map. Given a current pose, a map, and a goal, such as a destination pose, the navigation system generates a plan to reach the goal, and outputs commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way. # Contributing -Currently we are in the design phase, and are accepting input and requirements. To contribute, see the [design README.md](design/README.md) +We are currently in the requirements analysis phase, and are accepting input and requirements. To contribute, see the [documentation README](doc/README.md). diff --git a/design/README.md b/design/README.md deleted file mode 100644 index 1ad42a54359..00000000000 --- a/design/README.md +++ /dev/null @@ -1,15 +0,0 @@ -# ROS2 Navigation design documentation -This is where the ROS2 Navigation design documentation is being collected and vetted - -# Use Cases -These are for defining how the user interacts with the system - -See the [use case template](use_cases/_template_use_case.md) - -# Requirements -These are for defining the technical requirements - -See the [requirement template](requirements/_template_requirement.md) - -# Contributing -To submit a request for a use case or requirement, copy and modify the template and submit a pull request for review diff --git a/doc/README.md b/doc/README.md new file mode 100644 index 00000000000..108d6ac6d41 --- /dev/null +++ b/doc/README.md @@ -0,0 +1,10 @@ +![ROS2](../doc/images/ros2-logo.png) + +# ROS2 Navigation System Documentation +This is where the ROS2 Navigation System documentation is being collected and vetted. + +# Requirements +See the [requirements document](requirements/requirements.md) for the current list of requirements. + +# Contributing +To propose additions or changes to the requirements, modify the requirements document and submit a pull request for review. diff --git a/doc/images/ros2-logo.png b/doc/images/ros2-logo.png new file mode 100644 index 0000000000000000000000000000000000000000..3eba505cea57d713da6490c045db0bf9847fcf06 GIT binary patch literal 7010 zcmcJU)l(Y`u*GpN*5FdyT}vTYaVb)q;>F#Ay9T$w2gTi;;_ehH?!lqZ-~_+D|HHix zXLo*2JF~M7=gh{af02KOMUI7lfbdRHK}Pdm5BgtWp#7^O-Bj=YHAHt!d1-{&Y08s- zfMPABDusa1kcj`)5fE^P{#S_U?6?#N2;}#QGE!O~$7l?o(_SW0?$CCq^SE$-}~C-!D~3_5I(= z5pRe8-=PdEH#cNh*mD2G;2xht)=Z-T-do+Q;?E_IIz?oq&cbnQiRSL^u4kwp>;B5w z2=~tFoiUO2Hz$8>r@bC^zk7tajaXnf@Sw?bQ4p&0Q2z<@uhCf}t|f#-zxX@Z6) z!S$1ESEmQ(>nk(yuw@CIT2sEX${(wE0xCgrXgs-s^-|u=jfxDXK^QVGbFyKQnqq_| 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zu=lyu1_apqJ&FZb1D|zK!j9K!{r^v{TOp;quCA`Oopt;B_b}=?Bx@9^Kw3s-dTQ!G mV!QX-&iyTgq)-$JHFKTYCzMln!P(#dSkTrER!@-LH~#~D`06zP literal 0 HcmV?d00001 diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md new file mode 100644 index 00000000000..bb833e19a88 --- /dev/null +++ b/doc/requirements/requirements.md @@ -0,0 +1,306 @@ +![ROS2](../images/ros2-logo.png) + +# ROS 2 Navigation System Requirements + +The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a specific map. Given a current pose, a map, and a goal, such as a destination pose, the navigation system generates a plan to reach the goal, and outputs commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way. + +This document lists the requirements for the ROS 2 Navigation System. + +# 1. Introduction + +This section describes the format of each requirement, the keywords used in the requirements, and the basic concepts needed to define and understand the requirements. + +## 1.1 Requirement Fields + +Each requirement is presented in tabular form with the following fields: + +* **Id** - A unique identifier for the requirement +* **Handle** - A short, scoped, description summarizing the essence of the requirement +* **Priority** - An associated priority level: **1** (high), **2** (medium), and **3** (low) +* **Requirement** - The requirement itself, stated in clear, concise requirements language +* **Notes** - Elaboration and related information for the requirement + +## 1.2 Requirement Language Keywords + +In the requirements specified below, certain keywords have a specific meaning as they appear in the text. These keywords are defined as follows and must be capitalized whenever used in a manner intended to specify a behavior or requirement. + +1. **MUST**: This word, or the terms "REQUIRED" or "SHALL", mean that the definition is an absolute requirement of the specification. + +2. **MUST NOT**: This phrase, or the phrase "SHALL NOT", mean that the definition is an absolute prohibition of the specification. + +3. **SHOULD**: This word, or the adjective "RECOMMENDED", mean that there may exist valid reasons in particular circumstances to ignore a particular item, but the full implications must be understood and carefully weighed before choosing a different course. + +4. **SHOULD NOT**: This phrase, or the phrase "NOT RECOMMENDED" mean that there may exist valid reasons in particular circumstances when the particular behavior is acceptable or even useful, but the full implications should be understood and the case carefully weighed before implementing any behavior described with this label. + +5. **MAY**: This word, or the adjective "OPTIONAL", mean that an item is truly optional. One vendor may choose to include the item because a particular marketplace requires it or because the vendor feels that it enhances the product while another vendor may omit the same item. An implementation which does not include a particular option MUST be prepared to interoperate with another implementation which does include the option, though perhaps with reduced functionality. In the same vein an implementation which does include a particular option MUST be prepared to interoperate with another implementation which does not include the option (except, of course, for the feature the option provides.) + +These definitions are derived from the IETF Best Current Practices Document #14. + +## 1.3 Use Cases + +The Navigation System is part of a larger system that involves a person or automated system ("the user") directing the operation of one or more robots. To provide context for the Navigation System, this section lists the expected interactions between the user and the robot system. + +## 1.3.1 Mapping Use Cases + +The user will typically create a map of the area in which the robot is to navigate. This map identifies significant features of the environment, such as safety zones, known obstacles, walls, virtual lanes, etc. While the creation of the map itself is outside the scope of the Navigation System, the system is dependent on the map format(s). The map will need to be rich enough to support the Navigation System requirements listed in this document. + +The following use case diagram shows an example of the kinds of operations provided by a mapping interface. + +![Mapping Use Cases](./images/Mapping-Use-Cases.png) + +## 1.3.2 Mission Planning Use Cases + +Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Position**, **Navigate to Area**, **Wait**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation Stack, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. + +![Mission Planning Use Cases](./images/Mission-Planning-Use-Cases.png) + +## 1.3.2 Mission Execution Use Cases + +The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel any mission that is in progress. In addition, the user may be required to provide the robot with its initial location if the robot is not able to determine it automatically. + +![Mission Execution Use Cases](./images/Mission-Execution-Use-Cases.png) + +## 1.4 Architectural Components + +The design of the ROS 2 Navigation System will attempt to generalize the navigation system from ROS 1 and address some of its limitations. While this document does not attempt to define the ROS 2 Navigation System architecture, there are some expected modules that are convenient to call out for the purposes of defining more detailed requirements for the system. It is useful to split these modules into two general categories: those that are involved in the *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and those modules that are *support modules* used by modules in the command chain. + +## 1.4.1 Command Chain + +The command chain is the sequence of modules that comprise the chain of command from the user, at the top, to the robot, at the bottom. + +* **User** - The user interacts with a Mission Planning subsystem to specify a plan for the robot. +* **Mission Planning** - The Mission Planning module provides an interface to the user to allow the user to create mission plans. The resulting plans are available for assignment to robots and subsequent execution. The Mission Planning subsystem is outside the scope of the Navigation System. However, the data format, or messages, required to interact with the subsystem area within scope and must be specified as the Navigation System needs to receive this information to be able to execute the mission plans. +* **Mission Execution** - The Mission Execution module receives the mission plan as input and is responsible to execute it. It can select the appropriate global and local planners to use to perform each primitive maneuver. It also reports back progress on the execution of the mission plan. +* **Global Planning** - The Global Planning module, of which there could be several specialied implementations, use information from the map(s) to determine a route for the robot to achieve its goal. +* **Local Planning** - The Local Planning module, of which there could also be several specialized implementations, uses the defined route from the Global Planner and information from robot sensors to handle any required deviations from the route to achieve its goal. +* **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means to control the robot and learn about its capabilities. There should be a standard set of messages to control the robot and, perhaps, a standard way to determine a robot's capabilities and attributes. This may require a layer on top of the vendor interface. + +![Command Pipeline](./images/Command-Pipeline.png) + +## 1.4.2 Support Modules + +In addition to the main command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules are all outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements are defined. + +* **Mapping** - The Navigation System uses a map to plan the robot's route. The map contains information about known (static) obstacles in the environment. The map is typically created in advance and is available to the Navigation System. The map can also be dynamically updated, to reflect the current state of the environment. +* **Sensing** - There is a sensing subsystem that can utilize various sensors (and sensor fusion), the goal of which is to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System, especially the Local Planning module, in directing the robot's motion. +* **Localization** - The Navigation System also needs a Localization module to provide the current location of the robot. + +In a complete robot system these modules are utilized by the core navigation modules (the command chain). This document does not specify the architecture for the complete system, but simply names the various comonents and subsystems for the purpose of listing their associated requirements. The information provided by these modules should be available to all of the modules in the command pipeline. + +![Command Pipeline with Support](./images/Command-Pipeline-Support.png) + +To facilitate error recovery, each module in the chain, if it is unable to carry out its task, its able to propagate error information to its predecessor in the command chain. + +## 1.5 Design Goals + +The Navigation System designers should strive to meet the following high-level design goals: + +* **Modularity** - The Navigation Stack should allow for other implementers to easily replace architectural level components with alternative implementations, in particular, the global and local planners. +* **Portability** - The Navigation Stack should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. +* **Performance** - *TODO: What are the performance goals?* +* **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* +* *Other important design goals?* + +In particular, there are several specific goals for the ROS 2 Navigation System with respect to improving the existing ROS navigation stack: + +* The global and local planners should be easy to replace and chain together in a dynamic way. For example, a user may want to have a global planner for classic point-A-to-point-B travel, but upon reaching point B, have a special planner then control a series of maneuvers such as docking to a charging station or a conveyor belt. +* The user should be able to plan complex missions which include a series of movements, and the Navigation System should be able to accept those mission plans and execute them. +* The user should be able to specify different types of Robot drive types, such as Ackerman (automobile) steering, and Robot shapes (the current navigation stack is very limited in these areas). +* The Navigation System should be able to handle more map types and orientations, including outdoor and 2D+ terrain. + +# 2.0 Requirements + +This section lists the requirements for the Navigation System. + +## 2.1 Implementation Constraints + +There are various constraints on the development of the ROS 2 Navigation stack. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +IC001 | Developer's Guide | 1 | The Navigation System SHALL be developed in accordance with the ROS 2 Devloper's Guide | [ROS 2 Developer's Guide](https://github.com/ros2/ros2/wiki/Developer-Guide) +IC002 | Implementation Language.C++.Version | 1 | Developers SHALL assume the availability of C++14 language features | Per the ROS 2 Developer's Guide +IC003 | Implementation Language.C++.API Preference | 1 | Developers SHALL prefer standard C++, then Boost, then custom code, in that order. | Boost may be used if equivalent functionality is not already available in the C++ standard library +IC004 | Implementation Language.C++.Supported Compilers.g++ | 1 | The Navigation System code SHALL compile with gcc 5.4 or newer +IC004 | Implementation Language.C++.Supported Compilers.Clang | 1 | The Navigation System code SHALL compile with Clang, version *x* +IC004 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | The Navigation System code SHOULD compile with the Intel C++ Compiler, version *x* | Could be useful for optimization purposes +IC005 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 +IC006 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System MUST use the Qt library, via C++ or Python (PyQt) | *Which version?* +IC006 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML + +## 2.2 Development Tools + +This section specifies the development tools and associated targets that will be used for the project. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +DEV001 | Tools.ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* +DEV002 | Tools.Unit Test.Library | 1 | *TODO: GTest and GMock?* +DEV003 | Tools.Unit Test.Module Requirements | 1 | *TODO: What are the module level requirements?* +DEV004 | Tools.Static Analysis | 1 | *TODO: What is the static analysis tool to use?* +DEV005 | Tools.Static Analysis.Quality Targets | 1 | *TODO: What are the static analysis targets?* +DEV006 | Tools.Dynamic Analysis | 1 | *TODO: What dynamic analysis tool(s) to use?* +DEV007 | Tools.Dynamic Analysis.Code Coverage Targets | 1 | *TODO: What are the code coverage targets?* +DEV008 | Tools.Dynamic Analysis.Memory Checking | 1 | *TODO: What is/are the memory checking tool(s) to use?* + +## 2.3 Target Platforms + +The Navigation System will run on the latest versions of the operating systems supported by the core ROS 2 code. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +PLT001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04 +PLT002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave) +PLT003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional +PLT004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the latest version of Intel's Clear Linux distribution | What is the latest version number? +PLT005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size +PLT006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* + +## 2.4 Command Chain Modules + +This section lists the requirements for the core command chain modules in the Navigation System. + +### 2.4.1 Mission Planning + +A complete system, which incorporates the Navigation System, would also have a Mission Planning subsystem that generates a Mission Plan from input provided by the User. The Mission Plan is a sequence of primitive operations and any associated policy about how the plan should be carried out. The design and implementation of the subsystem that creates the Mission Plan is outside the scope of the Navigation System, but its output, the Mission Plan, has a direct relationship to the capabilities that the Navigation System must provide. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +MP001 | Mission Planning.Primitives | 1 | The Mission Plan MUST be able to express the plan as a sequence of the following Primitives (MP002 - MP010) +MP002 | Mission Planning.Primitives.Navigate to Position | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified destination pose. +MP003 | Mission Planning.Primitives.Navigate to Area | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified area. | *TODO: How to define "area"?* +MP004 | Mission Planning.Primitives.Enqueue | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a position behind another specified robot. +MP005 | Mission Planning.Primitives.Follow | 1 | The Navigation System MUST be able to direct the Robot to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies some more information such as "follow until destination reached" +MP006 | Mission Planning.Primitives.Orbit | 1 | *TODO: How is this defined?* | Similar to Follow in that it doesn't complete (unless it specifies time) +MP007 | Mission Planning.Primitives.Wait | 1 | The Navigation System MUST be able to idle at the current location until directed otherwise +MP008 | Mission Planning.Primitives.Park | 1 | *TODO: What does parking mean? Some low-power state?* +MP009 | Mission Planning.Primitives.Enter Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its current location onto an elevator. | *TODO: Would the elevator door be automated?* +MP010 | Mission Planning.Primitives.Exit Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its position in an elevator to a specified location outside the elevator. +MP011 | Mission Planning.Policy | 1 | The Mission Plan MUST be able to express the following policy associated with how to carry out the mission (MP012 - MP015)| *What are the important qualities for how the primitives should be carried out? Should there be per-primitive policy?* +MP012 | Mission Planning.Policy.Timeliness | 1 | The Navigation System MUST respect any timeliness constraints in the Mission Plan | *TODO: Is it important to specify by when the mission should be completed, for example?* +MP013 | Mission Planning.Policy.Safety Constraints | 1 | The Navigation System MUST respect any safety constraints in the Mission Plan | *TODO: Is there a set of global safety-related policy for the robot to follow?* +MP014 | Mission Planning.Policy.Safety Constraints.Maximum Speed | 1 | The Navigation System MUST respect the maximum speed specified in the Mission Plan +MP015 | Mission Planning.Policy.Safety Constraints.Minimum Safety Buffer | 1 | The Navigation System MUST maintain a minimum safe distance between the robot and other objects at all times, as specified int he Mission Plan | Configurable safety zone around the robot. *TODO: Variable with speed? Differ in each direction?* + +*TODO: How to handle reverse direction? Does each primitive include this information?* + +### 2.4.2 Mission Execution + +The Mission Execution module has the responsibility to execute a provided mission. It provides each successive primitive operation to the global planner, monitoring and reporting progress towards the goal. This is similar to the current navigation stack's **move_base** module. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +ME001 | Mission Execution.Inputs.Mission Plan | 1 | The Mission Execution module MUST accept the Mission Plan to execute. +ME002 | Mission Execution.Inputs.Commands.Execute Mission | 1 | The Mission Execution module MUST execute the provided Mission Plan, respecting any specified constraints. +ME003 | Mission Execution.Inputs.Commands.Cancel Mission | 1 | The Mission Execution module MUST be able to interrupt the Robot's navigation and cancel the current mission. +ME004 | Mission Execution.Select Planners | 1 | The Mission Execution module SHOULD select the best planners to use for each mission primitive | Can dynamically utilize planners +ME005 | Mission Execution.Outputs | 1 | At each stage of the Mission Plan, the Mission Execution module SHALL output the next primitive to execute and WILL monitor for completion of each primitive before sending the next. | Tracks completion of the mission and sequences the operations. *TODO: What about primitives that don't complete? Would they be defined with a time element so that they can complete?* +ME006 | Mission Execution.Feedback.Outputs.Notify Progress | 1 | The Mission Execution module MUST provide progress notifications on the execution of the mission, including mission completion. | The current stack, once it reaches a goal, publishes a message. This would be a generalization of that feature. We can determine the elapsed time using the message timestamp. +ME007 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log activity for later analysis. | In case of forensic analysis of a safety event, for example. +ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure (from a Global Planner), the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. +ME009 | Mission Execution.Feedback.Outputs.Error Information | 1 | If the Mission Execution module is unable to execute the mission, it MUST report the failure | This would be received by the higher-level software. Perhaps a remote operating center where the remote operator "rescues" the robot. +ME010 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | *TODO: Define "safe state"* The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. + +### 2.4.3 Global Planning + +The Global Planning module compute the intended route for the robot, typically using a static map, the robot's initial pose, and the desired primitive to execute. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +GP001 | Global Planning | 1 | The Navigation System SHOULD have a Global Planning module which generates the route for the robot to follow for the specified primitive, respecting any policy guidance contained in the Mission Plan | Could use pluggable cost functions +GP002 | Global Planning.Inputs.Static Map | 1 | The Global Planner SHALL have a static map available that describes the environment | Assumes the map has already been created and available as an input +GP003 | Global Planning.Inputs.Current Pose | 1 | The Global Planner SHALL have the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) +GP004 | Global Planning.Inputs.Primitive to Execute | 1 | The Global Planner SHALL have the primitive operation to execute +GP005 | Global Planning.Inputs.Policy | 1 | The Global Planner SHALL have policy guidance associated with the primitive operation to execute | This could be global policy and/or per-primitive policy +GP006 | Global Planning.Multiple Global Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners +GP007 | Global Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners +GP008 | Global Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners +GP009 | Global Planning.Conventions | 1 | *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example.* +GP010 | Global Planning.Feedback.Inputs | 1 | The Global Planner MUST receive error input from the Local Planner so that it can attempt to recover | For example, if a local planner can't execute the route, because it is blocked, the global planner has an opportunity to define an alternative route +GP011 | Global Planning.Feedback.Outputs | 1 | If the Global Planner is unable to define a route to its goal state, it SHALL report the error on its error output channel +GP012 | Global Planning.Outputs.Route | 1 | The Global Planning module should output a route that the robot is to follow to execute the primitive | *TODO: Should there be attributes associated, such as time to be at particular waypoints?* + +### 2.4.4 Local Planning + +The Local Planning module receives the route from the Global Planner and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the sensory subsystem and possibly makes local adjustments to the route, such as when avoiding collisions with objects crossing its path. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +LP001 | Local Planning | 1 | The Navigation System SHOULD have a Local Planning module which carries out the route provided by the Global Planner +LP002 | Local Planning.Inputs.Route | 1 | The Local Planning module MUST receive the Route from the Global Planning module. +LP003 | Local Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Local Planning module MUST support negative velocity values +LP004 | Local Planning.Inputs.Policy | 1 | The Local Planning module MUST receive any policy information which could inform its planning +LP005 | Local Planning.Inputs.Sensory Input | 1 | The Local Planning module MUST receive object-level data from the Sensory Subsystem +LP006 | Local Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. +LP007 | Local Planning.Collision Avoidance.Avoid Stationary Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot's speed?* +LP008 | Local Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots +LP009 | Local Planning.Collision Avoidance.Avoid Moving Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot speed?* +LP010 | Local Planning.Collision Avoidance.Parameters | 1 | *TODO: Any specific parameters foer the collision avoidance? Perhaps different global values for object-specific properties in the environment.* +LP011 | Local Planning.Collision Detection | 1 | *TODO: What module first detects if there has been a collision?* Some way of detecting if a collision has occurred within some low latency (50ms?). This could be additional HW such as bumpers (like Turtlebot has), or other sensor input such as wheel feedback +LP012 | Local Planning.Collision Reporting | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* +LP013 | Local Planning.Collision Recovery | 1 | The Local Planning module MUST provide a way to recover from collisions | Like back up slowly, notify user, etc., which could be configurable based on the robot/environment/application +LP014 | Local Planning.Feedback.Inputs | 1 | TODO | Could be failures from the sensors, for example +LP015 | Local Planning.Feedback.Outputs | 1 | TODO | Could provide failure to execute the route. Perhaps the passageway is blocked, for example +LP016 | Local Planning.Outputs | 1 | The Local Planning module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. + +### 2.4.5 Robot Interface + +*TODO: What to say about the robot interface?* *Should there be a robot abstraction?* *Perhaps this would be a convenient place to put some safety-related functionality* + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +ROB001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. +ROB002 | Robot Interface.Dynamic Switching | 1 | Can the robot dynamically change attributes? +ROB003 | Robot Interface.Safety.Limited Parameters | 1 | A list of parameters used to limit certain circumstances and provide the hooks for users to set those values if they want +ROB004 | Robot Interface.Safety.Speed Limiting | 1 | TODO +ROB005 | Robot Interface.Safety.Force Limiting | 1 | TODO +ROB006 | Robot Interface.EMO Button | 1 | TODO +ROB007 | Robot Interface.Feedback.Outputs | 1 | TODO + +## 2.5 Support Modules + +There are a few support modules and subsystems that are not part of the Navigation System proper, but are necessary components in a complete system. The Navigation System depends on the data interfaces to these components. This section describes the requirements and assumptions of these interface. + +### 2.5.1 Mapping + +The map data format should be capable of describing common indoor and outdoor environments. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its static environment. Used in global planning +MAP002 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information +MAP003 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information | *TODO: How is this defined?* +MAP004 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information | *TODO: Use voxel-based?* +MAP005 | Mapping.Multiple Maps Per Environment | 1 | The Mapping system SHOULD provide multiple maps of the same environment. | *TODO: Different scales and elevations?* +MAP006 | Mapping.Dynamic Updates | 1 | The Mapping System SHOULD provide real-time updates of map information | For example, to create a keep-out zone in the event of a spill hazard. +MAP007 | Mapping.Data Model.Traversable Surface | 1 | Planar (2D) surface (street, floor). +MAP008 | Mapping.Data Model.Traversable Surface.Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces | Uneven ground +MAP009 | Mapping.Data Model.Safety Zone | 1 | Specify limitations to be respected while the robot is in this zone. Speed, (increased) distance to people. +MAP010 | Mapping.Data Model.Safety Zone.Keep Out Zone | 1 | Robot MUST NOT navigate through a keep-out zone +MAP011 | Mapping.Data Model.Safety Zone.Intersection | 1 | May want to slow down (or even stop), for example, when approaching an intersection | Robots can slow down when coming to an intersection in order to ensure that they can see anyone coming and other people/robots can see them +MAP012 | Mapping.Data Model.Lanes | 1 | Able to specify virtual lanes. Prefer the specified lanes (such as in a warehouse) +MAP013 | Mapping.Data Model.Building Levels | 1 | Able to specify single and multi-level buildings +MAP014 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | Able to specify level connecting features, such as elevators, stairways, ramps. +MAP015 | Mapping.Data Model.Unknown Space | 1 | To be dynamically mapped? In global maps, it can be areas beyond the edge of the map, or areas within the center of the map for which we didn't have any observations during map building. In the current system, this is the "dark grey" portion of the map (free space is light grey, obstacles are black) +MAP016 | Mapping.Data Model.Extensibility | 1 | *TODO: Map attributes. Layers concept?* + +### 2.5.2 Sensing + +The Navigation System requires dyanamic information about objects in its environment. This information is provided by a Sensory Subsystem that is outside the scope of the Navigation System. This information would typically be provided by a set of sensors on the robot and a sensor fusion capability. This section lists the requirements on the data that the Sensory Subsystem provides. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +SEN001 | Sensing | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot | Info sufficient to carry out the Navigation System requirements +SEN002 | Sensing.Latency | 1 | TODO +SEN003 | Sensing.Environment Model | 1 | *TODO: What, specifically, should be in the environment model?* +SEN004 | Sensing.Environment Model.Object Prediction | 1 | The Sensing Subsystem SHOULD provide an object prediction capability that projects the position of the objects into the future. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects +SEN005 | Sensing.Environment Model.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* + +### 2.5.5 Localization + +The Navigation System requires the Robot's current pose, provided by an external Localization module. This section lists the requirements for the information from the Localization module. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way +LOC002 | Localization.Robot Pose.Accuracy | 1 | *TODO: What are the requirements on the accuracy of this pose?* diff --git a/design/use_cases/_template_use_case.md b/doc/use_cases/_template_use_case.md similarity index 100% rename from design/use_cases/_template_use_case.md rename to doc/use_cases/_template_use_case.md diff --git a/design/use_cases/collision_avoidance_use_case.md b/doc/use_cases/collision_avoidance_use_case.md similarity index 100% rename from design/use_cases/collision_avoidance_use_case.md rename to doc/use_cases/collision_avoidance_use_case.md diff --git a/design/use_cases/indoor_localization_use_case.md b/doc/use_cases/indoor_localization_use_case.md similarity index 100% rename from design/use_cases/indoor_localization_use_case.md rename to doc/use_cases/indoor_localization_use_case.md diff --git a/design/use_cases/indoor_navigation_use_case.md b/doc/use_cases/indoor_navigation_use_case.md similarity index 100% rename from design/use_cases/indoor_navigation_use_case.md rename to doc/use_cases/indoor_navigation_use_case.md diff --git a/design/use_cases/keep_out_zones_use_case.md b/doc/use_cases/keep_out_zones_use_case.md similarity index 100% rename from design/use_cases/keep_out_zones_use_case.md rename to doc/use_cases/keep_out_zones_use_case.md diff --git a/design/use_cases/multi-story-building_use_case.md b/doc/use_cases/multi-story-building_use_case.md similarity index 100% rename from design/use_cases/multi-story-building_use_case.md rename to doc/use_cases/multi-story-building_use_case.md diff --git a/design/use_cases/outdoor_localization_use_case.md b/doc/use_cases/outdoor_localization_use_case.md similarity index 100% rename from design/use_cases/outdoor_localization_use_case.md rename to doc/use_cases/outdoor_localization_use_case.md diff --git a/design/use_cases/outdoor_navigation_use_case.md b/doc/use_cases/outdoor_navigation_use_case.md similarity index 100% rename from design/use_cases/outdoor_navigation_use_case.md rename to doc/use_cases/outdoor_navigation_use_case.md diff --git a/include/.gitignore b/include/.gitignore new file mode 100644 index 00000000000..e69de29bb2d diff --git a/src/.gitignore b/src/.gitignore new file mode 100644 index 00000000000..e69de29bb2d diff --git a/test/.gitignore b/test/.gitignore new file mode 100644 index 00000000000..e69de29bb2d From 29207aaba873a2147ec4e6405108e85d6f80384b Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Fri, 6 Jul 2018 14:05:03 -0700 Subject: [PATCH 02/27] Update up-front material in requirements doc based on review feedback --- README.md | 2 - doc/README.md | 2 - doc/requirements/images/Command-Pipeline.png | Bin 44970 -> 34203 bytes doc/requirements/images/Context.png | Bin 0 -> 29868 bytes doc/requirements/images/Navigation-System.png | Bin 0 -> 13718 bytes .../images/With-Support-Modules.png | Bin 0 -> 46541 bytes doc/requirements/requirements.md | 253 +++++++++++------- 7 files changed, 163 insertions(+), 94 deletions(-) create mode 100644 doc/requirements/images/Context.png create mode 100644 doc/requirements/images/Navigation-System.png create mode 100644 doc/requirements/images/With-Support-Modules.png diff --git a/README.md b/README.md index c3c8adf2eab..4596500a75d 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,3 @@ -![ROS2](doc/images/ros2-logo.png) - # Navigation2 ROS2 Navigation System diff --git a/doc/README.md b/doc/README.md index 108d6ac6d41..096818d82dc 100644 --- a/doc/README.md +++ b/doc/README.md @@ -1,5 +1,3 @@ -![ROS2](../doc/images/ros2-logo.png) - # ROS2 Navigation System Documentation This is where the ROS2 Navigation System documentation is being collected and vetted. diff --git a/doc/requirements/images/Command-Pipeline.png b/doc/requirements/images/Command-Pipeline.png index 3b296e64b9ff484d5b32efe7cc6edb496fafbd70..edd46d382b3ec502db0bb0c6bd419378ce2a0095 100644 GIT binary patch literal 34203 zcmc$`1yo#5`zDCHy9B49kpKY_+`X};aSsFuBte6_yEhgf(6}TaxCWQdXn-UTAUFYn zyR(5QB-Slw66%J!*lXQ*-{?uev6)kH(LTd`dHZNd1=c z$wo<5A;-I!1WFR9>`r%`2|M{v7eoKpCTa%KP$KZZ{*Ai!lRy-5Lz4lg?nJQGi zXK$e`Gdmr0UIgA}2FFF`=H?!JoeK=HzxUdluj-7@yxT}^w79#x@xmUs`^T+PZyxsaSVNVJgRouG|J z?a+|tt|m8~_?&3+scE{=!)^qjf-*}fclP6*7gLy+KA^u5`}~Z=IGUR3)|185CgIPgn@5B(1F=>p5Lt4TE;pF z1_-}^g65II6|DAia^EfbxQ(qY5q}gj*my-teO%P%>O*KfZQGWKE85O2N|4#Y0a zYrp?ye@P6}#`b%L6vEI+*`_iYX`g^30-=O9nRj^pUC7h6gt~p4Wu&6;eImsZl?`&e zB+%JHjJ$wG=61p^_(g0fH6#~+@8Dkt4D zo!Lumr_BD)h85UsU3V9)u?2QNG-*C4@2n)Fs-a5?AE&{v<%4t;zfHGXn#GiX?^gf* z_3ms}={~q1ONAD8#R1Oe;+BH%xYM+7(a!$tDQaT$zN$Sc>Ku!(=%CGk4{?b1t<_m2=s|Kz)ei- 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zS0XU`a28-7Jd^$4jUsdFH^t+P_4RsQpi-v8JZXn_{zaw!*?h^mX12>{!sgz+dl(GH z(-ZF(`LU>o?~UjqeIfIO*+S%bWL?X@E~mora>nn>Gqjm_*wD7?Nc?@*-X`J}^07_& f|HS`ozQ|&fc3(cXt~<32zAm0KIg8i7_3-}y!)-o| literal 0 HcmV?d00001 diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index bb833e19a88..b034f1fd1df 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -1,10 +1,8 @@ -![ROS2](../images/ros2-logo.png) - # ROS 2 Navigation System Requirements -The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a specific map. Given a current pose, a map, and a goal, such as a destination pose, the navigation system generates a plan to reach the goal, and outputs commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way. +The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a given map. Provided with a current pose, a map, and a goal, such as a destination pose, the Navigation System generates a plan to reach the goal, and outputs control commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way. -This document lists the requirements for the ROS 2 Navigation System. +This document lists the requirements for the ROS 2 Navigation System. The ROS 2 Navigation System will be a generalization of the ROS 1 navigation stack and will address some of its known limitations. # 1. Introduction @@ -50,44 +48,56 @@ The following use case diagram shows an example of the kinds of operations provi ## 1.3.2 Mission Planning Use Cases -Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Position**, **Navigate to Area**, **Wait**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation Stack, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. +Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation Stack, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. ![Mission Planning Use Cases](./images/Mission-Planning-Use-Cases.png) ## 1.3.2 Mission Execution Use Cases -The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel any mission that is in progress. In addition, the user may be required to provide the robot with its initial location if the robot is not able to determine it automatically. +The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel any mission that is in progress. In addition, the user may be required to provide the robot with its initial pose if the robot is not able to determine it automatically. ![Mission Execution Use Cases](./images/Mission-Execution-Use-Cases.png) ## 1.4 Architectural Components -The design of the ROS 2 Navigation System will attempt to generalize the navigation system from ROS 1 and address some of its limitations. While this document does not attempt to define the ROS 2 Navigation System architecture, there are some expected modules that are convenient to call out for the purposes of defining more detailed requirements for the system. It is useful to split these modules into two general categories: those that are involved in the *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and those modules that are *support modules* used by modules in the command chain. +The Navigation System is part of a larger robot software system. This document does not specify the architecture for the complete system, but simply names the various components and subsystems for the purpose of listing their associated requirements. + +The Navigation System has a *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and *support modules* which are used by modules in the command chain. ## 1.4.1 Command Chain The command chain is the sequence of modules that comprise the chain of command from the user, at the top, to the robot, at the bottom. -* **User** - The user interacts with a Mission Planning subsystem to specify a plan for the robot. -* **Mission Planning** - The Mission Planning module provides an interface to the user to allow the user to create mission plans. The resulting plans are available for assignment to robots and subsequent execution. The Mission Planning subsystem is outside the scope of the Navigation System. However, the data format, or messages, required to interact with the subsystem area within scope and must be specified as the Navigation System needs to receive this information to be able to execute the mission plans. -* **Mission Execution** - The Mission Execution module receives the mission plan as input and is responsible to execute it. It can select the appropriate global and local planners to use to perform each primitive maneuver. It also reports back progress on the execution of the mission plan. -* **Global Planning** - The Global Planning module, of which there could be several specialied implementations, use information from the map(s) to determine a route for the robot to achieve its goal. -* **Local Planning** - The Local Planning module, of which there could also be several specialized implementations, uses the defined route from the Global Planner and information from robot sensors to handle any required deviations from the route to achieve its goal. -* **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means to control the robot and learn about its capabilities. There should be a standard set of messages to control the robot and, perhaps, a standard way to determine a robot's capabilities and attributes. This may require a layer on top of the vendor interface. +* **Mission Planning** - Mission Planning provides an interface to the user to allow the user to create mission plans and assign them to robots for execution. A *Mission Plan* is a sequence of *Navigation Commands* along with associated information about how the commands should be carried out. +* **Mission Execution** - Mission Execution receives the Mission Plan and is responsible to execute the plan and report progress on its execution +* **Navigation System** - The Navigation System receives a segment of an overall plan to execute (a *Navigation Command*) and generates the control commands to the robot to carry it out. +* **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means for the Navigation System to control the robot, learn about its capabilities, and receive feedback from the robot. + +![Command Chain](./images/Context.png) + +The Navigation System itself can be decomposed into two general responsibilities, *Planning*, and *Execution*. + +* **Planning** - The Planning Module is responsible to execute Navigation Commands. To do so, this module can evaluate input maps and continually assess the robot's environment to plan motion and provide trajectories for the robot to follow to eventually achieve completion of the Navigation Command. +* **Control** - The Control Module is responsible to execute the trajectories provided by Planning, generating the control signals required to execute the Trajectory. + +![Navigation System](./images/Navigation-System.png) + +Decomposing the Navigation System, the overall command chain is as follows: ![Command Pipeline](./images/Command-Pipeline.png) ## 1.4.2 Support Modules -In addition to the main command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules are all outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements are defined. +In addition to the main command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. -* **Mapping** - The Navigation System uses a map to plan the robot's route. The map contains information about known (static) obstacles in the environment. The map is typically created in advance and is available to the Navigation System. The map can also be dynamically updated, to reflect the current state of the environment. -* **Sensing** - There is a sensing subsystem that can utilize various sensors (and sensor fusion), the goal of which is to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System, especially the Local Planning module, in directing the robot's motion. -* **Localization** - The Navigation System also needs a Localization module to provide the current location of the robot. +* **Mapping** - The Mapping Subsystem generates maps that can be used by the Navigation System to plan the robot's motion. Maps are typically created in advance and are available to the Navigation System. A map can be updated to reflect changes in the environment. The frequency of these updates will vary among implementations. +* **Perception** - The Perception Subsystem utilizes sensors to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System in directing the robot's motion. +* **Prediction** - The Prediction Subsystem anticipates future motion trajectories of any perceived objects. +* **Localization** - The Localization Subsystem provides the current location of the robot. -In a complete robot system these modules are utilized by the core navigation modules (the command chain). This document does not specify the architecture for the complete system, but simply names the various comonents and subsystems for the purpose of listing their associated requirements. The information provided by these modules should be available to all of the modules in the command pipeline. +In a complete robot system these modules are available to the core navigation modules (the command chain), as shown in the following diagram: -![Command Pipeline with Support](./images/Command-Pipeline-Support.png) +![Command Pipeline with Support](./images/With-Support-Modules.png) To facilitate error recovery, each module in the chain, if it is unable to carry out its task, its able to propagate error information to its predecessor in the command chain. @@ -95,16 +105,17 @@ To facilitate error recovery, each module in the chain, if it is unable to carry The Navigation System designers should strive to meet the following high-level design goals: -* **Modularity** - The Navigation Stack should allow for other implementers to easily replace architectural level components with alternative implementations, in particular, the global and local planners. -* **Portability** - The Navigation Stack should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. +* **Extensibility** - The Navigation Stack should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System. +* **Modularity** - The Navigation Stack should allow other developers to *easily replace components* with alternative implementations. +* **Generality** - The Navigation Stack should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. * **Performance** - *TODO: What are the performance goals?* * **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* * *Other important design goals?* In particular, there are several specific goals for the ROS 2 Navigation System with respect to improving the existing ROS navigation stack: -* The global and local planners should be easy to replace and chain together in a dynamic way. For example, a user may want to have a global planner for classic point-A-to-point-B travel, but upon reaching point B, have a special planner then control a series of maneuvers such as docking to a charging station or a conveyor belt. -* The user should be able to plan complex missions which include a series of movements, and the Navigation System should be able to accept those mission plans and execute them. +* The user should be able to plan complex missions which include a series of navigation commands, and the Navigation System should be able to accept those commands and execute them. +* It should be possible to define navigation components for specific navigation commands. In executing a mission plan, the Navigation System would dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. * The user should be able to specify different types of Robot drive types, such as Ackerman (automobile) steering, and Robot shapes (the current navigation stack is very limited in these areas). * The Navigation System should be able to handle more map types and orientations, including outdoor and 2D+ terrain. @@ -118,32 +129,18 @@ There are various constraints on the development of the ROS 2 Navigation stack. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -IC001 | Developer's Guide | 1 | The Navigation System SHALL be developed in accordance with the ROS 2 Devloper's Guide | [ROS 2 Developer's Guide](https://github.com/ros2/ros2/wiki/Developer-Guide) +IC001 | Developer's Guide | 1 | The Navigation System SHOULD be developed in accordance with the ROS 2 Devloper's Guide | [ROS 2 Developer's Guide](https://github.com/ros2/ros2/wiki/Developer-Guide) IC002 | Implementation Language.C++.Version | 1 | Developers SHALL assume the availability of C++14 language features | Per the ROS 2 Developer's Guide -IC003 | Implementation Language.C++.API Preference | 1 | Developers SHALL prefer standard C++, then Boost, then custom code, in that order. | Boost may be used if equivalent functionality is not already available in the C++ standard library +IC003 | Implementation Language.C++.API Preference | 1 | Developers SHOULD prefer standard C++, then Boost, then custom code, in that order. | Boost may be used if equivalent functionality is not already available in the C++ standard library IC004 | Implementation Language.C++.Supported Compilers.g++ | 1 | The Navigation System code SHALL compile with gcc 5.4 or newer IC004 | Implementation Language.C++.Supported Compilers.Clang | 1 | The Navigation System code SHALL compile with Clang, version *x* IC004 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | The Navigation System code SHOULD compile with the Intel C++ Compiler, version *x* | Could be useful for optimization purposes IC005 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 IC006 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System MUST use the Qt library, via C++ or Python (PyQt) | *Which version?* IC006 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML +IC007 | ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* -## 2.2 Development Tools - -This section specifies the development tools and associated targets that will be used for the project. - -Id | Handle | Priority | Description | Notes --- | ------ | -------- | ----------- | ----- -DEV001 | Tools.ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* -DEV002 | Tools.Unit Test.Library | 1 | *TODO: GTest and GMock?* -DEV003 | Tools.Unit Test.Module Requirements | 1 | *TODO: What are the module level requirements?* -DEV004 | Tools.Static Analysis | 1 | *TODO: What is the static analysis tool to use?* -DEV005 | Tools.Static Analysis.Quality Targets | 1 | *TODO: What are the static analysis targets?* -DEV006 | Tools.Dynamic Analysis | 1 | *TODO: What dynamic analysis tool(s) to use?* -DEV007 | Tools.Dynamic Analysis.Code Coverage Targets | 1 | *TODO: What are the code coverage targets?* -DEV008 | Tools.Dynamic Analysis.Memory Checking | 1 | *TODO: What is/are the memory checking tool(s) to use?* - -## 2.3 Target Platforms +## 2.2 Target Platforms The Navigation System will run on the latest versions of the operating systems supported by the core ROS 2 code. @@ -156,23 +153,29 @@ PLT004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation Sys PLT005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size PLT006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* -## 2.4 Command Chain Modules +## 2.3 Command Chain Modules This section lists the requirements for the core command chain modules in the Navigation System. -### 2.4.1 Mission Planning +### 2.3.1 Mission Planning + +TODO: -A complete system, which incorporates the Navigation System, would also have a Mission Planning subsystem that generates a Mission Plan from input provided by the User. The Mission Plan is a sequence of primitive operations and any associated policy about how the plan should be carried out. The design and implementation of the subsystem that creates the Mission Plan is outside the scope of the Navigation System, but its output, the Mission Plan, has a direct relationship to the capabilities that the Navigation System must provide. +The Mission Planning subsystem is outside the scope of the Navigation System. However, the data format, or messages, required to interact with the subsystem area within scope and must be specified as the Navigation System needs to receive this information to be able to execute the mission plans. + +A complete system, which incorporates the Navigation System, would also have a Mission Planning subsystem that generates a Mission Plan from input provided by the User. The Mission Plan is a sequence of primitive operations and any associated policy about how the plan should be carried out. The design and implementation of the subsystem that creates the Mission Plan is outside the scope of the Navigation System, but its output, the Mission Plan, may have an impact on capabilities that the Navigation System must provide. + +*TODO: Rephrase using "mission plan" terminology rather than taking the robot's perspective* Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- MP001 | Mission Planning.Primitives | 1 | The Mission Plan MUST be able to express the plan as a sequence of the following Primitives (MP002 - MP010) -MP002 | Mission Planning.Primitives.Navigate to Position | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified destination pose. +MP002 | Mission Planning.Primitives.Navigate to Pose | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified destination pose. MP003 | Mission Planning.Primitives.Navigate to Area | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified area. | *TODO: How to define "area"?* MP004 | Mission Planning.Primitives.Enqueue | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a position behind another specified robot. MP005 | Mission Planning.Primitives.Follow | 1 | The Navigation System MUST be able to direct the Robot to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies some more information such as "follow until destination reached" MP006 | Mission Planning.Primitives.Orbit | 1 | *TODO: How is this defined?* | Similar to Follow in that it doesn't complete (unless it specifies time) -MP007 | Mission Planning.Primitives.Wait | 1 | The Navigation System MUST be able to idle at the current location until directed otherwise +MP007 | Mission Planning.Primitives.Maintain Pose | 1 | The Navigation System MUST be able to maintain its current pose | Could be indefinite or time-based MP008 | Mission Planning.Primitives.Park | 1 | *TODO: What does parking mean? Some low-power state?* MP009 | Mission Planning.Primitives.Enter Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its current location onto an elevator. | *TODO: Would the elevator door be automated?* MP010 | Mission Planning.Primitives.Exit Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its position in an elevator to a specified location outside the elevator. @@ -184,9 +187,9 @@ MP015 | Mission Planning.Policy.Safety Constraints.Minimum Safety Buffer | 1 | T *TODO: How to handle reverse direction? Does each primitive include this information?* -### 2.4.2 Mission Execution +### 2.3.2 Mission Execution -The Mission Execution module has the responsibility to execute a provided mission. It provides each successive primitive operation to the global planner, monitoring and reporting progress towards the goal. This is similar to the current navigation stack's **move_base** module. +The Mission Execution module has the responsibility to execute a provided mission. It provides each successive primitive operation to the global planner, monitoring and reporting progress towards the goal. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- @@ -197,55 +200,70 @@ ME004 | Mission Execution.Select Planners | 1 | The Mission Execution module SHO ME005 | Mission Execution.Outputs | 1 | At each stage of the Mission Plan, the Mission Execution module SHALL output the next primitive to execute and WILL monitor for completion of each primitive before sending the next. | Tracks completion of the mission and sequences the operations. *TODO: What about primitives that don't complete? Would they be defined with a time element so that they can complete?* ME006 | Mission Execution.Feedback.Outputs.Notify Progress | 1 | The Mission Execution module MUST provide progress notifications on the execution of the mission, including mission completion. | The current stack, once it reaches a goal, publishes a message. This would be a generalization of that feature. We can determine the elapsed time using the message timestamp. ME007 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log activity for later analysis. | In case of forensic analysis of a safety event, for example. -ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure (from a Global Planner), the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. +ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure (from a Planner), the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. ME009 | Mission Execution.Feedback.Outputs.Error Information | 1 | If the Mission Execution module is unable to execute the mission, it MUST report the failure | This would be received by the higher-level software. Perhaps a remote operating center where the remote operator "rescues" the robot. ME010 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | *TODO: Define "safe state"* The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. -### 2.4.3 Global Planning +### 2.3.3 Routing + +The Routing Module computes the intended route for the robot, typically using a map, the robot's initial pose, and the desired primitive to execute. + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +GP001 | Routing | 1 | The Navigation System SHOULD have a Routing Module which generates the route for the robot to follow for the specified primitive, respecting any policy guidance contained in the Mission Plan +GP002 | Routing.Inputs.Map | 1 | The Routing Module SHALL have a map available that describes the environment | Assumes the map has already been created and available as an input +GP003 | Routing.Inputs.Current Pose | 1 | The Routing Module MUST have the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) +GP004 | Routing.Inputs.Primitive to Execute | 1 | The Routing Module SHALL have the primitive operation to execute +GP005 | Routing.Inputs.Policy | 1 | The Routing Module SHALL have policy guidance associated with the primitive operation to execute | This could be global policy and/or per-primitive policy +GP009 | Routing.Inputs.Policy.Conventions | 1 | *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example.* +GP012 | Routing.Outputs.Route | 1 | The Path Planning Module should output a route that the robot is to follow to execute the primitive +GP013 | Routing.Outputs.Policy Attributes | 1 | *TODO: Should there be attributes associated, such as time to be at particular waypoints?* + +*TODO: Routing Plugins* +GP006 | Routing.Multiple Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners +GP007 | Routing.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners +GP008 | Routing.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners +*TODO: Well documented, examples* + +GP010 | Routing.Feedback.Inputs | 1 | The Planner MUST receive error input from the Planning Module so that it can attempt to recover from planning failures | For example, if a planner can't execute the route because it is blocked, the global planner has an opportunity to define an alternative route +GP011 | Routing.Feedback.Outputs | 1 | If the Planner is unable to define a route to its goal state, it SHALL report the error on its feedback output + +### 2.3.4 Planning -The Global Planning module compute the intended route for the robot, typically using a static map, the robot's initial pose, and the desired primitive to execute. +The Planning Module receives the route from the Routing Module and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the Perception Subsystem, possibly making local adjustments to the route, such as when avoiding collisions with objects crossing its path. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -GP001 | Global Planning | 1 | The Navigation System SHOULD have a Global Planning module which generates the route for the robot to follow for the specified primitive, respecting any policy guidance contained in the Mission Plan | Could use pluggable cost functions -GP002 | Global Planning.Inputs.Static Map | 1 | The Global Planner SHALL have a static map available that describes the environment | Assumes the map has already been created and available as an input -GP003 | Global Planning.Inputs.Current Pose | 1 | The Global Planner SHALL have the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) -GP004 | Global Planning.Inputs.Primitive to Execute | 1 | The Global Planner SHALL have the primitive operation to execute -GP005 | Global Planning.Inputs.Policy | 1 | The Global Planner SHALL have policy guidance associated with the primitive operation to execute | This could be global policy and/or per-primitive policy -GP006 | Global Planning.Multiple Global Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners -GP007 | Global Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners -GP008 | Global Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners -GP009 | Global Planning.Conventions | 1 | *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example.* -GP010 | Global Planning.Feedback.Inputs | 1 | The Global Planner MUST receive error input from the Local Planner so that it can attempt to recover | For example, if a local planner can't execute the route, because it is blocked, the global planner has an opportunity to define an alternative route -GP011 | Global Planning.Feedback.Outputs | 1 | If the Global Planner is unable to define a route to its goal state, it SHALL report the error on its error output channel -GP012 | Global Planning.Outputs.Route | 1 | The Global Planning module should output a route that the robot is to follow to execute the primitive | *TODO: Should there be attributes associated, such as time to be at particular waypoints?* - -### 2.4.4 Local Planning - -The Local Planning module receives the route from the Global Planner and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the sensory subsystem and possibly makes local adjustments to the route, such as when avoiding collisions with objects crossing its path. +LP001 | Planning | 1 | The Navigation System SHOULD have a Planning Module which carries out the route provided by the Planner +LP002 | Planning.Inputs.Route | 1 | The Planning Module MUST receive the Route from the Path Planning Module. +LP003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values +LP004 | Planning.Inputs.Policy | 1 | The Planning Module MUST receive any policy information which could inform its planning +LP005 | Planning.Inputs.Sensory Input | 1 | The Planning Module MUST receive object-level data from the Sensory Subsystem +LP016 | Planning.Outputs | 1 | The Planning Module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. + +LP006 | Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. +LP007 | Planning.Collision Avoidance.Avoid Stationary Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot's speed?* +LP008 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots +LP009 | Planning.Collision Avoidance.Avoid Moving Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot speed?* +LP010 | Planning.Collision Avoidance.Parameters | 1 | *TODO: Any specific parameters foer the collision avoidance? Perhaps different global values for object-specific properties in the environment.* +LP011 | Planning.Collision Detection | 1 | *TODO: What module first detects if there has been a collision?* Some way of detecting if a collision has occurred within some low latency (50ms?). This could be additional HW such as bumpers (like Turtlebot has), or other sensor input such as wheel feedback +LP012 | Planning.Collision Reporting | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* +LP013 | Planning.Collision Recovery | 1 | The Planning Module MUST provide a way to recover from collisions | Like back up slowly, notify user, etc., which could be configurable based on the robot/environment/application +LP014 | Planning.Feedback.Inputs | 1 | TODO | Could be failures from the sensors, for example +LP015 | Planning.Feedback.Outputs | 1 | TODO | Could provide failure to execute the route. Perhaps the passageway is blocked, for example + +### 2.3.5 Control + +*TODO: The Control Module ... Bottom half of the Local Planner (Planning)* Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -LP001 | Local Planning | 1 | The Navigation System SHOULD have a Local Planning module which carries out the route provided by the Global Planner -LP002 | Local Planning.Inputs.Route | 1 | The Local Planning module MUST receive the Route from the Global Planning module. -LP003 | Local Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Local Planning module MUST support negative velocity values -LP004 | Local Planning.Inputs.Policy | 1 | The Local Planning module MUST receive any policy information which could inform its planning -LP005 | Local Planning.Inputs.Sensory Input | 1 | The Local Planning module MUST receive object-level data from the Sensory Subsystem -LP006 | Local Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. -LP007 | Local Planning.Collision Avoidance.Avoid Stationary Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot's speed?* -LP008 | Local Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots -LP009 | Local Planning.Collision Avoidance.Avoid Moving Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot speed?* -LP010 | Local Planning.Collision Avoidance.Parameters | 1 | *TODO: Any specific parameters foer the collision avoidance? Perhaps different global values for object-specific properties in the environment.* -LP011 | Local Planning.Collision Detection | 1 | *TODO: What module first detects if there has been a collision?* Some way of detecting if a collision has occurred within some low latency (50ms?). This could be additional HW such as bumpers (like Turtlebot has), or other sensor input such as wheel feedback -LP012 | Local Planning.Collision Reporting | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -LP013 | Local Planning.Collision Recovery | 1 | The Local Planning module MUST provide a way to recover from collisions | Like back up slowly, notify user, etc., which could be configurable based on the robot/environment/application -LP014 | Local Planning.Feedback.Inputs | 1 | TODO | Could be failures from the sensors, for example -LP015 | Local Planning.Feedback.Outputs | 1 | TODO | Could provide failure to execute the route. Perhaps the passageway is blocked, for example -LP016 | Local Planning.Outputs | 1 | The Local Planning module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. - -### 2.4.5 Robot Interface +CTL001 | Control | 1 | The Navigation System SHOULD have a Control Module which TODO + +### 2.3.6 Robot Interface *TODO: What to say about the robot interface?* *Should there be a robot abstraction?* *Perhaps this would be a convenient place to put some safety-related functionality* +There should be a uniform interface to the various supported robots. This may require a layer on top of the vendor-specific interface(s). Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- @@ -257,17 +275,17 @@ ROB005 | Robot Interface.Safety.Force Limiting | 1 | TODO ROB006 | Robot Interface.EMO Button | 1 | TODO ROB007 | Robot Interface.Feedback.Outputs | 1 | TODO -## 2.5 Support Modules +## 2.4 Support Modules There are a few support modules and subsystems that are not part of the Navigation System proper, but are necessary components in a complete system. The Navigation System depends on the data interfaces to these components. This section describes the requirements and assumptions of these interface. -### 2.5.1 Mapping +### 2.4.1 Mapping The map data format should be capable of describing common indoor and outdoor environments. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its static environment. Used in global planning +MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Used in global planning MAP002 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information MAP003 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information | *TODO: How is this defined?* MAP004 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information | *TODO: Use voxel-based?* @@ -284,7 +302,7 @@ MAP014 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | Able MAP015 | Mapping.Data Model.Unknown Space | 1 | To be dynamically mapped? In global maps, it can be areas beyond the edge of the map, or areas within the center of the map for which we didn't have any observations during map building. In the current system, this is the "dark grey" portion of the map (free space is light grey, obstacles are black) MAP016 | Mapping.Data Model.Extensibility | 1 | *TODO: Map attributes. Layers concept?* -### 2.5.2 Sensing +### 2.4.2 Perception The Navigation System requires dyanamic information about objects in its environment. This information is provided by a Sensory Subsystem that is outside the scope of the Navigation System. This information would typically be provided by a set of sensors on the robot and a sensor fusion capability. This section lists the requirements on the data that the Sensory Subsystem provides. @@ -296,7 +314,15 @@ SEN003 | Sensing.Environment Model | 1 | *TODO: What, specifically, should be in SEN004 | Sensing.Environment Model.Object Prediction | 1 | The Sensing Subsystem SHOULD provide an object prediction capability that projects the position of the objects into the future. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects SEN005 | Sensing.Environment Model.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* -### 2.5.5 Localization +### 2.4.3 Prediction + +The Prediction Subsystem TODO + +Id | Handle | Priority | Description | Notes +-- | ------ | -------- | ----------- | ----- +PRE001 | Localization.Robot Pose | 1 | TDOO + +### 2.4.4 Localization The Navigation System requires the Robot's current pose, provided by an external Localization module. This section lists the requirements for the information from the Localization module. @@ -304,3 +330,50 @@ Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way LOC002 | Localization.Robot Pose.Accuracy | 1 | *TODO: What are the requirements on the accuracy of this pose?* + + +1 1 + +TODO: + +DONE: (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). + +(mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. + +(mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. + +Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? Yes, we do this for Automotive + +Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. + +Turtlebot image: (Carl) + +MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) + +MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? + +MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. + +MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. + +MP008: (Carl) Going to a low power state seems out of scope for the navstack. + +MP001: (mikefurgeson) I understand the desire to be able to "plan several legs of a trip at once, so if one is impassable you don't start the trip at all", but I feel like that is fairly incongruent with how actions typically are implemented. I know actionlib isn't implemented in ROS2 yet, but the issue I see arising is: how do you cancel part way through? + +MP009: (Carl) Why is this a special primitive? Can't "go to area" suffice? (Me) I'm not sure. We'd have to capture that the floor isn't always present, at least. It can't be freely navigated into. + +MP010: (Carl) Can't we just use go to location/area to get out of the elevator. (Me) I think we need to consider how to handle elevators and other kinds of lifts, where the mechanism has various states. If there's an external controller that's handling the elevator doors, etc., the Execution mechanism for the robot needs to at least feedback that it's ready to enter (or exit) an elevator and wait for the go-head. I think we should mock up some example mission plans and work through these issues. + +MP012: (Carl) How would this work? What if we can't meet the time requirement? Do we need to calculate out the ETA before starting so we can throw an error as soon as the command is given? What happens if the time constraint is much greater than required? Do we slow down or wait somewhere? (Me) Good questions. For me, the first question is whether it is important to introduce time-related requirements into the mission plan or not. If so, we'll have to address the issues that you mention. Would be good to get input from users. + +Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." +Suggestion: Changing the phrase "known obstacles" to "known static obstacles". + +DONE: Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" + +DONE: Mission Execution Use Cases: (Mohammad) We might want to change the phrase "initial location" to "initial pose" which includes both position and orientation. + +DONE: GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. + +MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? + +DONE: MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. \ No newline at end of file From d0e5ec08a78aea0b1ab850bbef02013102fb0651 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Fri, 6 Jul 2018 15:05:28 -0700 Subject: [PATCH 03/27] Update Mission Planning and Execution sections --- doc/requirements/requirements.md | 83 +++++++++++++++----------------- 1 file changed, 38 insertions(+), 45 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index b034f1fd1df..f928a72d540 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -48,7 +48,7 @@ The following use case diagram shows an example of the kinds of operations provi ## 1.3.2 Mission Planning Use Cases -Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation Stack, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. +Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation System, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. ![Mission Planning Use Cases](./images/Mission-Planning-Use-Cases.png) @@ -105,9 +105,9 @@ To facilitate error recovery, each module in the chain, if it is unable to carry The Navigation System designers should strive to meet the following high-level design goals: -* **Extensibility** - The Navigation Stack should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System. -* **Modularity** - The Navigation Stack should allow other developers to *easily replace components* with alternative implementations. -* **Generality** - The Navigation Stack should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. +* **Extensibility** - The Navigation System should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System. +* **Modularity** - The Navigation System should allow other developers to *easily replace components* with alternative implementations. +* **Generality** - The Navigation System should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. * **Performance** - *TODO: What are the performance goals?* * **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* * *Other important design goals?* @@ -133,12 +133,12 @@ IC001 | Developer's Guide | 1 | The Navigation System SHOULD be developed in acc IC002 | Implementation Language.C++.Version | 1 | Developers SHALL assume the availability of C++14 language features | Per the ROS 2 Developer's Guide IC003 | Implementation Language.C++.API Preference | 1 | Developers SHOULD prefer standard C++, then Boost, then custom code, in that order. | Boost may be used if equivalent functionality is not already available in the C++ standard library IC004 | Implementation Language.C++.Supported Compilers.g++ | 1 | The Navigation System code SHALL compile with gcc 5.4 or newer -IC004 | Implementation Language.C++.Supported Compilers.Clang | 1 | The Navigation System code SHALL compile with Clang, version *x* -IC004 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | The Navigation System code SHOULD compile with the Intel C++ Compiler, version *x* | Could be useful for optimization purposes -IC005 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 -IC006 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System MUST use the Qt library, via C++ or Python (PyQt) | *Which version?* -IC006 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML -IC007 | ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* +IC005 | Implementation Language.C++.Supported Compilers.Clang | 1 | The Navigation System code SHALL compile with Clang, version *x* +IC006 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | The Navigation System code SHOULD compile with the Intel C++ Compiler, version *x* | Could be useful for optimization purposes +IC007 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 +IC008 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System MUST use the Qt library, via C++ or Python (PyQt) | *Which version?* +IC009 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML +IC010 | ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* ## 2.2 Target Platforms @@ -159,55 +159,46 @@ This section lists the requirements for the core command chain modules in the Na ### 2.3.1 Mission Planning -TODO: - -The Mission Planning subsystem is outside the scope of the Navigation System. However, the data format, or messages, required to interact with the subsystem area within scope and must be specified as the Navigation System needs to receive this information to be able to execute the mission plans. - -A complete system, which incorporates the Navigation System, would also have a Mission Planning subsystem that generates a Mission Plan from input provided by the User. The Mission Plan is a sequence of primitive operations and any associated policy about how the plan should be carried out. The design and implementation of the subsystem that creates the Mission Plan is outside the scope of the Navigation System, but its output, the Mission Plan, may have an impact on capabilities that the Navigation System must provide. - -*TODO: Rephrase using "mission plan" terminology rather than taking the robot's perspective* +A complete system would have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands and any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -MP001 | Mission Planning.Primitives | 1 | The Mission Plan MUST be able to express the plan as a sequence of the following Primitives (MP002 - MP010) -MP002 | Mission Planning.Primitives.Navigate to Pose | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified destination pose. -MP003 | Mission Planning.Primitives.Navigate to Area | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a specified area. | *TODO: How to define "area"?* -MP004 | Mission Planning.Primitives.Enqueue | 1 | The Navigation System MUST be able to navigate the Robot from its current location to a position behind another specified robot. -MP005 | Mission Planning.Primitives.Follow | 1 | The Navigation System MUST be able to direct the Robot to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies some more information such as "follow until destination reached" -MP006 | Mission Planning.Primitives.Orbit | 1 | *TODO: How is this defined?* | Similar to Follow in that it doesn't complete (unless it specifies time) -MP007 | Mission Planning.Primitives.Maintain Pose | 1 | The Navigation System MUST be able to maintain its current pose | Could be indefinite or time-based -MP008 | Mission Planning.Primitives.Park | 1 | *TODO: What does parking mean? Some low-power state?* -MP009 | Mission Planning.Primitives.Enter Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its current location onto an elevator. | *TODO: Would the elevator door be automated?* -MP010 | Mission Planning.Primitives.Exit Elevator | 1 | The Navigation System MUST be able to navigate the Robot from its position in an elevator to a specified location outside the elevator. -MP011 | Mission Planning.Policy | 1 | The Mission Plan MUST be able to express the following policy associated with how to carry out the mission (MP012 - MP015)| *What are the important qualities for how the primitives should be carried out? Should there be per-primitive policy?* -MP012 | Mission Planning.Policy.Timeliness | 1 | The Navigation System MUST respect any timeliness constraints in the Mission Plan | *TODO: Is it important to specify by when the mission should be completed, for example?* -MP013 | Mission Planning.Policy.Safety Constraints | 1 | The Navigation System MUST respect any safety constraints in the Mission Plan | *TODO: Is there a set of global safety-related policy for the robot to follow?* -MP014 | Mission Planning.Policy.Safety Constraints.Maximum Speed | 1 | The Navigation System MUST respect the maximum speed specified in the Mission Plan -MP015 | Mission Planning.Policy.Safety Constraints.Minimum Safety Buffer | 1 | The Navigation System MUST maintain a minimum safe distance between the robot and other objects at all times, as specified int he Mission Plan | Configurable safety zone around the robot. *TODO: Variable with speed? Differ in each direction?* - -*TODO: How to handle reverse direction? Does each primitive include this information?* +MP001 | Mission Planning.Navigation Commands | 1 | The Mission Plan MUST be able to express the plan as a coordinated sequence of Navigation Commands. | Could include time and policy aspects (*when* and *how*, not just *what*) +MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator) +MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. +MP004 | Mission Planning.Navigation Commands.Navigate to Area | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape +MP005 | Mission Planning.Navigation Commands.Enqueue | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. +MP006 | Mission Planning.Navigation Commands.Follow | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached" +MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based +MP008 | Mission Planning.Navigation Commands.Park | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | Presumably after Navigation-to-Pose *TODO: What does parking mean? Does the robot also enter some low-power state?* +MP009 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | *What are the important qualities for how the primitives should be carried out? For example, time and safety constraints.* +MP010 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin. +MP011 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end. +MP012 | Mission Planning.Policy.Safety.Maximum Speed | 1 | The Mission Plan SHOULD be able to convey a maximum speed for the robot. | The robot would respect this value in carrying out the plan. This could be site-specific policy. +MP013 | Mission Planning.Policy.Safety.Minimum Safety Buffer | 1 | The Mission Plan SHOULD be able to convey a minimum safety buffer distance. | The robot would respect this value and maintain the distance from other objects at all times. *TODO: Variable with speed? Differ in each direction?* ### 2.3.2 Mission Execution -The Mission Execution module has the responsibility to execute a provided mission. It provides each successive primitive operation to the global planner, monitoring and reporting progress towards the goal. +The Mission Execution module has the responsibility to execute a provided mission. It provides each successive Navigation Command operation to the Navigation Subsystem, monitoring and reporting progress towards the goal. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- ME001 | Mission Execution.Inputs.Mission Plan | 1 | The Mission Execution module MUST accept the Mission Plan to execute. -ME002 | Mission Execution.Inputs.Commands.Execute Mission | 1 | The Mission Execution module MUST execute the provided Mission Plan, respecting any specified constraints. -ME003 | Mission Execution.Inputs.Commands.Cancel Mission | 1 | The Mission Execution module MUST be able to interrupt the Robot's navigation and cancel the current mission. -ME004 | Mission Execution.Select Planners | 1 | The Mission Execution module SHOULD select the best planners to use for each mission primitive | Can dynamically utilize planners -ME005 | Mission Execution.Outputs | 1 | At each stage of the Mission Plan, the Mission Execution module SHALL output the next primitive to execute and WILL monitor for completion of each primitive before sending the next. | Tracks completion of the mission and sequences the operations. *TODO: What about primitives that don't complete? Would they be defined with a time element so that they can complete?* -ME006 | Mission Execution.Feedback.Outputs.Notify Progress | 1 | The Mission Execution module MUST provide progress notifications on the execution of the mission, including mission completion. | The current stack, once it reaches a goal, publishes a message. This would be a generalization of that feature. We can determine the elapsed time using the message timestamp. -ME007 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log activity for later analysis. | In case of forensic analysis of a safety event, for example. -ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure (from a Planner), the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. -ME009 | Mission Execution.Feedback.Outputs.Error Information | 1 | If the Mission Execution module is unable to execute the mission, it MUST report the failure | This would be received by the higher-level software. Perhaps a remote operating center where the remote operator "rescues" the robot. -ME010 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | *TODO: Define "safe state"* The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. +ME002 | Mission Execution.Inputs.Commands.Execute Mission | 1 | When commanded to do so, the Mission Execution module MUST execute the provided Mission Plan, respecting any specified constraints. | It tracks completion of the mission and sequences the operations. *TODO: What about primitives that don't complete? Would they be defined with a time element so that they can complete?* +ME003 | Mission Execution.Inputs.Commands.Cancel Mission | 1 | When commanded to do so, the Mission Execution module MUST interrupt the Robot's navigation and cancel the current mission. +ME004 | Mission Execution.Outputs.Navigation Command | 1 | Upon completion of each Navigation Command, the Mission Execution module SHALL output the next Navigation Command to execute. +ME005 | Mission Execution.Command Sequencing | 1 | The Mission Execution module MUST monitor for completion of each Navigation Command before sending the next command. +ME006 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log its activity. | In case of forensic analysis of a safety event, for example. +ME007 | Mission Execution.Feedback.Outputs.Notify Progress | 1 | The Mission Execution module MUST provide progress notifications on the execution of the mission, including mission completion. | The current stack, once it reaches a goal, publishes a message. This would be a generalization of that feature. +ME008 | Mission Execution.Feedback.Outputs.Error Information | 1 | If the Mission Execution module is unable to execute the mission, it MUST report the failure | This would be received by the higher-level software. Perhaps a remote operating center where the remote operator "rescues" the robot. +ME009 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | *TODO: Define "safe state"* The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. ### 2.3.3 Routing The Routing Module computes the intended route for the robot, typically using a map, the robot's initial pose, and the desired primitive to execute. +ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure, the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. + Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- GP001 | Routing | 1 | The Navigation System SHOULD have a Routing Module which generates the route for the robot to follow for the specified primitive, respecting any policy guidance contained in the Mission Plan @@ -376,4 +367,6 @@ DONE: GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? -DONE: MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. \ No newline at end of file +DONE: MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. + +*TODO: How to handle reverse direction? Does each primitive include this information?* From 3697967600c2b1c5a9175548dbf67d13add39ca7 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Fri, 6 Jul 2018 17:37:51 -0700 Subject: [PATCH 04/27] Begin integration of separate sections into a Planning section --- doc/requirements/requirements.md | 141 ++++++++++++++----------------- 1 file changed, 64 insertions(+), 77 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index f928a72d540..45f66a6715c 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -60,7 +60,7 @@ The user will be able to initiate the execution of specific mission plans ("miss ## 1.4 Architectural Components -The Navigation System is part of a larger robot software system. This document does not specify the architecture for the complete system, but simply names the various components and subsystems for the purpose of listing their associated requirements. +The Navigation System is part of a larger robot software system. This document does not specify the architecture for the complete system, but simply gives an conceptual overview for the purpose of requirements definition. The Navigation System has a *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and *support modules* which are used by modules in the command chain. @@ -146,12 +146,12 @@ The Navigation System will run on the latest versions of the operating systems s Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PLT001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04 -PLT002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave) -PLT003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional -PLT004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the latest version of Intel's Clear Linux distribution | What is the latest version number? -PLT005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size -PLT006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* +TP001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04 +TP002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave) +TP003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional +TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the latest version of Intel's Clear Linux distribution | What is the latest version number? +TP005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size +TP006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* ## 2.3 Command Chain Modules @@ -159,99 +159,88 @@ This section lists the requirements for the core command chain modules in the Na ### 2.3.1 Mission Planning -A complete system would have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands and any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. +A complete system would have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands, along with any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- MP001 | Mission Planning.Navigation Commands | 1 | The Mission Plan MUST be able to express the plan as a coordinated sequence of Navigation Commands. | Could include time and policy aspects (*when* and *how*, not just *what*) -MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator) +MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator). MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. -MP004 | Mission Planning.Navigation Commands.Navigate to Area | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape +MP004 | Mission Planning.Navigation Commands.Navigate to Area | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. MP005 | Mission Planning.Navigation Commands.Enqueue | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. -MP006 | Mission Planning.Navigation Commands.Follow | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached" -MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based -MP008 | Mission Planning.Navigation Commands.Park | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | Presumably after Navigation-to-Pose *TODO: What does parking mean? Does the robot also enter some low-power state?* -MP009 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | *What are the important qualities for how the primitives should be carried out? For example, time and safety constraints.* +MP006 | Mission Planning.Navigation Commands.Follow | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached." +MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based. +MP008 | Mission Planning.Navigation Commands.Park | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to, for example, cause it to shut down or enter a low-power state. +MP009 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints. MP010 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin. MP011 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end. MP012 | Mission Planning.Policy.Safety.Maximum Speed | 1 | The Mission Plan SHOULD be able to convey a maximum speed for the robot. | The robot would respect this value in carrying out the plan. This could be site-specific policy. -MP013 | Mission Planning.Policy.Safety.Minimum Safety Buffer | 1 | The Mission Plan SHOULD be able to convey a minimum safety buffer distance. | The robot would respect this value and maintain the distance from other objects at all times. *TODO: Variable with speed? Differ in each direction?* +MP013 | Mission Planning.Policy.Safety.Minimum Safety Buffer | 1 | The Mission Plan SHOULD be able to convey a minimum safety buffer distance. | The robot would respect this value and maintain the distance from other objects at all times. Should vary with relative velocities. ### 2.3.2 Mission Execution -The Mission Execution module has the responsibility to execute a provided mission. It provides each successive Navigation Command operation to the Navigation Subsystem, monitoring and reporting progress towards the goal. +The Mission Execution module has the responsibility to execute a provided mission. It provides each successive Navigation Command to the Navigation Subsystem, monitoring and reporting progress towards completion of the plan. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- ME001 | Mission Execution.Inputs.Mission Plan | 1 | The Mission Execution module MUST accept the Mission Plan to execute. -ME002 | Mission Execution.Inputs.Commands.Execute Mission | 1 | When commanded to do so, the Mission Execution module MUST execute the provided Mission Plan, respecting any specified constraints. | It tracks completion of the mission and sequences the operations. *TODO: What about primitives that don't complete? Would they be defined with a time element so that they can complete?* +ME002 | Mission Execution.Inputs.Commands.Execute Mission | 1 | When commanded to do so, the Mission Execution module MUST execute the provided Mission Plan, respecting any specified constraints. ME003 | Mission Execution.Inputs.Commands.Cancel Mission | 1 | When commanded to do so, the Mission Execution module MUST interrupt the Robot's navigation and cancel the current mission. ME004 | Mission Execution.Outputs.Navigation Command | 1 | Upon completion of each Navigation Command, the Mission Execution module SHALL output the next Navigation Command to execute. ME005 | Mission Execution.Command Sequencing | 1 | The Mission Execution module MUST monitor for completion of each Navigation Command before sending the next command. ME006 | Mission Execution.Logging | 1 | The Mission Execution module SHOULD log its activity. | In case of forensic analysis of a safety event, for example. -ME007 | Mission Execution.Feedback.Outputs.Notify Progress | 1 | The Mission Execution module MUST provide progress notifications on the execution of the mission, including mission completion. | The current stack, once it reaches a goal, publishes a message. This would be a generalization of that feature. -ME008 | Mission Execution.Feedback.Outputs.Error Information | 1 | If the Mission Execution module is unable to execute the mission, it MUST report the failure | This would be received by the higher-level software. Perhaps a remote operating center where the remote operator "rescues" the robot. -ME009 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | *TODO: Define "safe state"* The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. +ME007 | Mission Execution.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure (unable to execute the Navigation Command), the Mission Execution module SHOULD attempt to recover and continue execution of the mission. +ME008 | Mission Execution.Feedback.Outputs.Progress Notification | 1 | The Mission Execution module SHALL provide progress notifications on the execution of the mission. | Intermediate steps of interest. +ME009 | Mission Execution.Feedback.Outputs.Mission Completed | 1 | Upon successfull completion of the mission, the Mission Execution module SHALL output a corresponding notification. +ME010 | Mission Execution.Feedback.Outputs.Mission Canceled | 1 | Upon receiving a cancellation command and cancelling the mission, the Mission Execution module SHALL output a corresponding notification. +ME011 | Mission Execution.Feedback.Outputs.Mission Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST output a failure notification. | This would be received by the user-level interface and could necessitate user intervention, such as having a remote operating center where the remote operator "rescues" the robot. +ME012 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. -### 2.3.3 Routing +### 2.3.3 Navigation System.Planning The Routing Module computes the intended route for the robot, typically using a map, the robot's initial pose, and the desired primitive to execute. -ME008 | Mission Execution.Feedback.Inputs.Error Notification.Automatic Error Recovery | 1 | Upon receipt of a downstream failure, the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Mission Execution module could have the robot perform a recovery maneuver of some kind, before continuing with execution of the mission plan. +The Planning Module receives the route from the Routing Module and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the Perception Subsystem, possibly making local adjustments to the route, such as when avoiding collisions with objects crossing its path. + +The Planning Module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -GP001 | Routing | 1 | The Navigation System SHOULD have a Routing Module which generates the route for the robot to follow for the specified primitive, respecting any policy guidance contained in the Mission Plan -GP002 | Routing.Inputs.Map | 1 | The Routing Module SHALL have a map available that describes the environment | Assumes the map has already been created and available as an input -GP003 | Routing.Inputs.Current Pose | 1 | The Routing Module MUST have the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) -GP004 | Routing.Inputs.Primitive to Execute | 1 | The Routing Module SHALL have the primitive operation to execute -GP005 | Routing.Inputs.Policy | 1 | The Routing Module SHALL have policy guidance associated with the primitive operation to execute | This could be global policy and/or per-primitive policy -GP009 | Routing.Inputs.Policy.Conventions | 1 | *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example.* -GP012 | Routing.Outputs.Route | 1 | The Path Planning Module should output a route that the robot is to follow to execute the primitive -GP013 | Routing.Outputs.Policy Attributes | 1 | *TODO: Should there be attributes associated, such as time to be at particular waypoints?* - -*TODO: Routing Plugins* -GP006 | Routing.Multiple Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners -GP007 | Routing.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners -GP008 | Routing.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners +PLN001 | Planning | 1 | The Navigation System SHALL have a Planning Module that generates trajectories to follow to implement a specified Navigation Command. +PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL receive the Navigation Command to execute. +PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute | This could be global policy and/or per-command policy. *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example?* +PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Routing Module MUST have access to one or more maps available that describe the robot's environment | Assumes the map has already been created and available as an input +PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Sensory Subsystem. +PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Sensory Subsystem. +PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Plann Module MUST have access to the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) +PLN008 | Planning.Outputs.Trajectory | 1 | The Path Planning Module MUST output trajectories for the robot to follow to execute the Navigation Command and MUST respect any associated policy. +PLN009 | Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. *TODO: How close can it come? Does it depend on the robot's speed?* +PLN010 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots *TODO: How close can it come? Does it depend on the robot speed?* *TODO: Any specific parameters for the collision avoidance? Perhaps different global values for object-specific properties in the environment.* +PLN011 | Planning.Collision Detection | 1 | The Planning Module SHOULD detect if a collision has occurred. +PLN011 | Planning.Collision Detection.Latency | 1 | The Planning Module SHOULD detect collisions within 50ms. | *What is the right latency value?* +PLN013 | Planning.Collision Recovery | 1 | The Planning Module SHOULD recover from collisions. | Recovery behavior could be configurable based on the robot/environment/application. +PLN014 | Planning.Feedback.Inputs | 1 | The Planner MUST receive error input from the Control Module so that it can attempt to recover from control failures. +PLN015 | Planning.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure, the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Planning Module could have the robot perform a recovery maneuver of some kind. +PLN016 | Planning.Feedback.Outputs.Command Completed | 1 | *TODO* +PLN017 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. +PLN018 | Planning.Feedback.Outputs.Collision Detected | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* +PLN019 | Planning.Feedback.Outputs.Recovered from Collision | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* +PLN020 | Planning.Multiple Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners +PLN021 | Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners +PLN022 | Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners + +*TODO: Planning Plugins* *TODO: Well documented, examples* -GP010 | Routing.Feedback.Inputs | 1 | The Planner MUST receive error input from the Planning Module so that it can attempt to recover from planning failures | For example, if a planner can't execute the route because it is blocked, the global planner has an opportunity to define an alternative route -GP011 | Routing.Feedback.Outputs | 1 | If the Planner is unable to define a route to its goal state, it SHALL report the error on its feedback output - -### 2.3.4 Planning - -The Planning Module receives the route from the Routing Module and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the Perception Subsystem, possibly making local adjustments to the route, such as when avoiding collisions with objects crossing its path. - -Id | Handle | Priority | Description | Notes --- | ------ | -------- | ----------- | ----- -LP001 | Planning | 1 | The Navigation System SHOULD have a Planning Module which carries out the route provided by the Planner -LP002 | Planning.Inputs.Route | 1 | The Planning Module MUST receive the Route from the Path Planning Module. -LP003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values -LP004 | Planning.Inputs.Policy | 1 | The Planning Module MUST receive any policy information which could inform its planning -LP005 | Planning.Inputs.Sensory Input | 1 | The Planning Module MUST receive object-level data from the Sensory Subsystem -LP016 | Planning.Outputs | 1 | The Planning Module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. - -LP006 | Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. -LP007 | Planning.Collision Avoidance.Avoid Stationary Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot's speed?* -LP008 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots -LP009 | Planning.Collision Avoidance.Avoid Moving Objects.*Qualities* | 1 | *TODO: How close can it come? Does it depend on the robot speed?* -LP010 | Planning.Collision Avoidance.Parameters | 1 | *TODO: Any specific parameters foer the collision avoidance? Perhaps different global values for object-specific properties in the environment.* -LP011 | Planning.Collision Detection | 1 | *TODO: What module first detects if there has been a collision?* Some way of detecting if a collision has occurred within some low latency (50ms?). This could be additional HW such as bumpers (like Turtlebot has), or other sensor input such as wheel feedback -LP012 | Planning.Collision Reporting | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -LP013 | Planning.Collision Recovery | 1 | The Planning Module MUST provide a way to recover from collisions | Like back up slowly, notify user, etc., which could be configurable based on the robot/environment/application -LP014 | Planning.Feedback.Inputs | 1 | TODO | Could be failures from the sensors, for example -LP015 | Planning.Feedback.Outputs | 1 | TODO | Could provide failure to execute the route. Perhaps the passageway is blocked, for example - -### 2.3.5 Control +### 2.3.4 Navigation System.Control *TODO: The Control Module ... Bottom half of the Local Planner (Planning)* Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -CTL001 | Control | 1 | The Navigation System SHOULD have a Control Module which TODO +CTL001 | Control | 1 | The Control Module MUST... -### 2.3.6 Robot Interface +### 2.3.5 Robot Interface *TODO: What to say about the robot interface?* *Should there be a robot abstraction?* *Perhaps this would be a convenient place to put some safety-related functionality* There should be a uniform interface to the various supported robots. This may require a layer on top of the vendor-specific interface(s). @@ -326,8 +315,6 @@ LOC002 | Localization.Robot Pose.Accuracy | 1 | *TODO: What are the requirements TODO: -DONE: (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). - (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. (mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. @@ -338,7 +325,6 @@ Localization: (mikefurgeson) This won't be exact -- so it should also provide a Turtlebot image: (Carl) -MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? @@ -359,14 +345,15 @@ MP012: (Carl) How would this work? What if we can't meet the time requirement? D Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." Suggestion: Changing the phrase "known obstacles" to "known static obstacles". -DONE: Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" - -DONE: Mission Execution Use Cases: (Mohammad) We might want to change the phrase "initial location" to "initial pose" which includes both position and orientation. - -DONE: GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. - -MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? - -DONE: MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. +**DONE** +* MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) +* (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). +* Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" +* Mission Execution Use Cases: (Mohammad) We might want to change the phrase "initial location" to "initial pose" which includes both position and orientation. +* GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. +* MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? +* MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. *TODO: How to handle reverse direction? Does each primitive include this information?* + +PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values \ No newline at end of file From 5854b00f410d0fcbd3fb6fe7ae114bf5e5943548 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Sun, 8 Jul 2018 18:48:13 -0700 Subject: [PATCH 05/27] Work on the Planning requirements section --- doc/requirements/requirements.md | 121 +++++++++++++++---------------- 1 file changed, 57 insertions(+), 64 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index 45f66a6715c..2662bb9c060 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -1,12 +1,12 @@ # ROS 2 Navigation System Requirements -The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a given map. Provided with a current pose, a map, and a goal, such as a destination pose, the Navigation System generates a plan to reach the goal, and outputs control commands to autonomously drive the robot, respecting any safety constraints and avoiding obstacles encountered along the way. +The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a given map. Provided with a navigation command to execute, the Navigation System generates a plan to achieve the desired result and outputs control commands to autonomously direct the robot, respecting any safety constraints and avoiding obstacles encountered along the way. -This document lists the requirements for the ROS 2 Navigation System. The ROS 2 Navigation System will be a generalization of the ROS 1 navigation stack and will address some of its known limitations. +This document lists the requirements for the ROS 2 Navigation System. The ROS 2 Navigation System is intended to be a generalization of the ROS 1 navigation stack and will address some of its known limitations. # 1. Introduction -This section describes the format of each requirement, the keywords used in the requirements, and the basic concepts needed to define and understand the requirements. +This section describes the format of each requirement, the keywords available for use in the definition of each requirement, and the basic concepts needed to define and understand the requirements. ## 1.1 Requirement Fields @@ -36,7 +36,7 @@ These definitions are derived from the IETF Best Current Practices Document #14. ## 1.3 Use Cases -The Navigation System is part of a larger system that involves a person or automated system ("the user") directing the operation of one or more robots. To provide context for the Navigation System, this section lists the expected interactions between the user and the robot system. +The Navigation System is part of a larger system that includes a person or automated system ("the user") directing the operation of one or more robots. To provide context for the Navigation System, this section lists the expected interactions between the user and the robot system. ## 1.3.1 Mapping Use Cases @@ -48,19 +48,19 @@ The following use case diagram shows an example of the kinds of operations provi ## 1.3.2 Mission Planning Use Cases -Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive functions, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation System, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. +Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive navigation commands, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation System, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. ![Mission Planning Use Cases](./images/Mission-Planning-Use-Cases.png) -## 1.3.2 Mission Execution Use Cases +## 1.3.3 Mission Execution Use Cases -The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel any mission that is in progress. In addition, the user may be required to provide the robot with its initial pose if the robot is not able to determine it automatically. +The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel the mission that is currently in progress. In addition, the user may be required to provide the robot with its initial pose if the robot is not able to determine it automatically. ![Mission Execution Use Cases](./images/Mission-Execution-Use-Cases.png) ## 1.4 Architectural Components -The Navigation System is part of a larger robot software system. This document does not specify the architecture for the complete system, but simply gives an conceptual overview for the purpose of requirements definition. +The Navigation System is part of a larger software system. This document does not specify the architecture for the complete system, but simply gives a conceptual overview for the purpose of requirements definition. The Navigation System has a *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and *support modules* which are used by modules in the command chain. @@ -69,10 +69,12 @@ The Navigation System has a *command chain*, where each level refines its comman The command chain is the sequence of modules that comprise the chain of command from the user, at the top, to the robot, at the bottom. * **Mission Planning** - Mission Planning provides an interface to the user to allow the user to create mission plans and assign them to robots for execution. A *Mission Plan* is a sequence of *Navigation Commands* along with associated information about how the commands should be carried out. -* **Mission Execution** - Mission Execution receives the Mission Plan and is responsible to execute the plan and report progress on its execution +* **Mission Execution** - Mission Execution receives the Mission Plan and is responsible to execute the plan and report progress on its execution. * **Navigation System** - The Navigation System receives a segment of an overall plan to execute (a *Navigation Command*) and generates the control commands to the robot to carry it out. * **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means for the Navigation System to control the robot, learn about its capabilities, and receive feedback from the robot. +The following diagram shows the modules in the command chain and the successive refinement of the control commands: + ![Command Chain](./images/Context.png) The Navigation System itself can be decomposed into two general responsibilities, *Planning*, and *Execution*. @@ -88,10 +90,10 @@ Decomposing the Navigation System, the overall command chain is as follows: ## 1.4.2 Support Modules -In addition to the main command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. +In addition to the command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. * **Mapping** - The Mapping Subsystem generates maps that can be used by the Navigation System to plan the robot's motion. Maps are typically created in advance and are available to the Navigation System. A map can be updated to reflect changes in the environment. The frequency of these updates will vary among implementations. -* **Perception** - The Perception Subsystem utilizes sensors to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System in directing the robot's motion. +* **Perception** - The Perception Subsystem utilizes sensors to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System, such as when avoiding obstacles in the robot's path. * **Prediction** - The Prediction Subsystem anticipates future motion trajectories of any perceived objects. * **Localization** - The Localization Subsystem provides the current location of the robot. @@ -99,13 +101,13 @@ In a complete robot system these modules are available to the core navigation mo ![Command Pipeline with Support](./images/With-Support-Modules.png) -To facilitate error recovery, each module in the chain, if it is unable to carry out its task, its able to propagate error information to its predecessor in the command chain. +To facilitate error recovery, each module in the command chain, if it is unable to carry out its task, its able to propagate error information to its predecessor in the chain. ## 1.5 Design Goals The Navigation System designers should strive to meet the following high-level design goals: -* **Extensibility** - The Navigation System should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System. +* **Extensibility** - The Navigation System should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System, such as adding the ability to handle new navigation commands. * **Modularity** - The Navigation System should allow other developers to *easily replace components* with alternative implementations. * **Generality** - The Navigation System should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. * **Performance** - *TODO: What are the performance goals?* @@ -115,7 +117,7 @@ The Navigation System designers should strive to meet the following high-level d In particular, there are several specific goals for the ROS 2 Navigation System with respect to improving the existing ROS navigation stack: * The user should be able to plan complex missions which include a series of navigation commands, and the Navigation System should be able to accept those commands and execute them. -* It should be possible to define navigation components for specific navigation commands. In executing a mission plan, the Navigation System would dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. +* It should be possible to implement navigation components for specific navigation commands. In executing a mission plan, the Navigation System should be able to dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. * The user should be able to specify different types of Robot drive types, such as Ackerman (automobile) steering, and Robot shapes (the current navigation stack is very limited in these areas). * The Navigation System should be able to handle more map types and orientations, including outdoor and 2D+ terrain. @@ -159,18 +161,18 @@ This section lists the requirements for the core command chain modules in the Na ### 2.3.1 Mission Planning -A complete system would have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands, along with any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. +A complete system should have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands, along with any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- MP001 | Mission Planning.Navigation Commands | 1 | The Mission Plan MUST be able to express the plan as a coordinated sequence of Navigation Commands. | Could include time and policy aspects (*when* and *how*, not just *what*) MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator). MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. -MP004 | Mission Planning.Navigation Commands.Navigate to Area | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. -MP005 | Mission Planning.Navigation Commands.Enqueue | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. -MP006 | Mission Planning.Navigation Commands.Follow | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached." +MP004 | Mission Planning.Navigation Commands.Navigate to Area | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. +MP005 | Mission Planning.Navigation Commands.Enqueue | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. +MP006 | Mission Planning.Navigation Commands.Follow | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached." MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based. -MP008 | Mission Planning.Navigation Commands.Park | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to, for example, cause it to shut down or enter a low-power state. +MP008 | Mission Planning.Navigation Commands.Park | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to cause it, for example, to shut down or enter a low-power state. MP009 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints. MP010 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin. MP011 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end. @@ -198,39 +200,36 @@ ME012 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution ### 2.3.3 Navigation System.Planning -The Routing Module computes the intended route for the robot, typically using a map, the robot's initial pose, and the desired primitive to execute. - -The Planning Module receives the route from the Routing Module and is responsible to carry it out. To do so, it evaluates the dynamic environment using input from the Perception Subsystem, possibly making local adjustments to the route, such as when avoiding collisions with objects crossing its path. - -The Planning Module interfaces to the robot to command its actuators. | TBD if this is through an abstraction of the robot or directly to a vendor's interface. +The Planning Module receives the Navigation Command from the Mission Execution module and is responsible to implement that command. To do so, the Planning Module can use information from the Mapping Subsystem to plan a route and use input from the Perception Subsystem to evaluate the dynamic environment and avoid collisions with objects crossing its path. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PLN001 | Planning | 1 | The Navigation System SHALL have a Planning Module that generates trajectories to follow to implement a specified Navigation Command. +PLN001 | Planning | 1 | The Navigation System SHOULD have a Planning Module that generates trajectories to follow to implement a specified Navigation Command. | Separate the planning phase from execution. PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL receive the Navigation Command to execute. -PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute | This could be global policy and/or per-command policy. *TODO: Should there be a specification of conventions for the robot to follow? Navigate on the right side of a path, for example?* -PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Routing Module MUST have access to one or more maps available that describe the robot's environment | Assumes the map has already been created and available as an input +PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example). +PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Sensory Subsystem. PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Sensory Subsystem. -PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Plann Module MUST have access to the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) -PLN008 | Planning.Outputs.Trajectory | 1 | The Path Planning Module MUST output trajectories for the robot to follow to execute the Navigation Command and MUST respect any associated policy. +PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) +PLN008 | Planning.Outputs.Trajectory | 1 | The Planning Module MUST output trajectories for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. PLN009 | Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. *TODO: How close can it come? Does it depend on the robot's speed?* -PLN010 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots *TODO: How close can it come? Does it depend on the robot speed?* *TODO: Any specific parameters for the collision avoidance? Perhaps different global values for object-specific properties in the environment.* +PLN010 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots *TODO: How close can it come? Does it depend on the robot speed? Any specific parameters for the collision avoidance? Perhaps different global values for object-specific properties in the environment?* PLN011 | Planning.Collision Detection | 1 | The Planning Module SHOULD detect if a collision has occurred. -PLN011 | Planning.Collision Detection.Latency | 1 | The Planning Module SHOULD detect collisions within 50ms. | *What is the right latency value?* +PLN012 | Planning.Collision Detection.Latency | 1 | The Planning Module SHOULD detect collisions within 50ms. | *What is the right latency value?* PLN013 | Planning.Collision Recovery | 1 | The Planning Module SHOULD recover from collisions. | Recovery behavior could be configurable based on the robot/environment/application. -PLN014 | Planning.Feedback.Inputs | 1 | The Planner MUST receive error input from the Control Module so that it can attempt to recover from control failures. +PLN014 | Planning.Feedback.Inputs | 1 | The Planner MUST receive error input from the downstream Control Module so that it can attempt to recover from control failures. PLN015 | Planning.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure, the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Planning Module could have the robot perform a recovery maneuver of some kind. -PLN016 | Planning.Feedback.Outputs.Command Completed | 1 | *TODO* +PLN016 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the provided Navigation Command, the Planning Module MUST report this event on its feedback output. PLN017 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. PLN018 | Planning.Feedback.Outputs.Collision Detected | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* PLN019 | Planning.Feedback.Outputs.Recovered from Collision | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -PLN020 | Planning.Multiple Planners | 1 | As part of the Navigation System, there SHOULD be multiple global planners available and chosen depending on the primite to be executed | Dynamic selection of global planners -PLN021 | Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing global planners -PLN022 | Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing global planners +PLN020 | Planning.Dynammic Selection of Planners | 1 | The selection of the Planning Module to use for a given Navigation Command should be dynamic. | There SHOULD be multiple planners available and chosen depending on the command to be executed +PLN021 | Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing planners. +PLN022 | Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing planners. +PLN023 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a planner. +PLN024 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planner | Developers could use this as a starting point. *TODO: Planning Plugins* -*TODO: Well documented, examples* ### 2.3.4 Navigation System.Control @@ -265,7 +264,7 @@ The map data format should be capable of describing common indoor and outdoor en Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Used in global planning +MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Used in planning MAP002 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information MAP003 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information | *TODO: How is this defined?* MAP004 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information | *TODO: Use voxel-based?* @@ -311,40 +310,29 @@ Id | Handle | Priority | Description | Notes LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way LOC002 | Localization.Robot Pose.Accuracy | 1 | *TODO: What are the requirements on the accuracy of this pose?* - +1 1 - -TODO: - -(mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. - -(mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. -Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? Yes, we do this for Automotive -Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. +**TODO** +* (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. -Turtlebot image: (Carl) +* (mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. +* Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? Yes, we do this for Automotive -MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? +* Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. -MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. - -MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. +* Turtlebot image: (Carl) -MP008: (Carl) Going to a low power state seems out of scope for the navstack. +* MP001: (mikefurgeson) I understand the desire to be able to "plan several legs of a trip at once, so if one is impassable you don't start the trip at all", but I feel like that is fairly incongruent with how actions typically are implemented. I know actionlib isn't implemented in ROS2 yet, but the issue I see arising is: how do you cancel part way through? -MP001: (mikefurgeson) I understand the desire to be able to "plan several legs of a trip at once, so if one is impassable you don't start the trip at all", but I feel like that is fairly incongruent with how actions typically are implemented. I know actionlib isn't implemented in ROS2 yet, but the issue I see arising is: how do you cancel part way through? +* MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? -MP009: (Carl) Why is this a special primitive? Can't "go to area" suffice? (Me) I'm not sure. We'd have to capture that the floor isn't always present, at least. It can't be freely navigated into. +* MP012: (Carl) How would this work? What if we can't meet the time requirement? Do we need to calculate out the ETA before starting so we can throw an error as soon as the command is given? What happens if the time constraint is much greater than required? Do we slow down or wait somewhere? (Me) Good questions. For me, the first question is whether it is important to introduce time-related requirements into the mission plan or not. If so, we'll have to address the issues that you mention. Would be good to get input from users. -MP010: (Carl) Can't we just use go to location/area to get out of the elevator. (Me) I think we need to consider how to handle elevators and other kinds of lifts, where the mechanism has various states. If there's an external controller that's handling the elevator doors, etc., the Execution mechanism for the robot needs to at least feedback that it's ready to enter (or exit) an elevator and wait for the go-head. I think we should mock up some example mission plans and work through these issues. - -MP012: (Carl) How would this work? What if we can't meet the time requirement? Do we need to calculate out the ETA before starting so we can throw an error as soon as the command is given? What happens if the time constraint is much greater than required? Do we slow down or wait somewhere? (Me) Good questions. For me, the first question is whether it is important to introduce time-related requirements into the mission plan or not. If so, we'll have to address the issues that you mention. Would be good to get input from users. - -Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." +* Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." Suggestion: Changing the phrase "known obstacles" to "known static obstacles". + **DONE** * MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) * (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). @@ -353,7 +341,12 @@ Suggestion: Changing the phrase "known obstacles" to "known static obstacles". * GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. * MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? * MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. - -*TODO: How to handle reverse direction? Does each primitive include this information?* - -PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values \ No newline at end of file +* MP009: (Carl) Why is this a special primitive? Can't "go to area" suffice? (Me) I'm not sure. We'd have to capture that the floor isn't always present, at least. It can't be freely navigated into. +* MP010: (Carl) Can't we just use go to location/area to get out of the elevator. (Me) I think we need to consider how to handle elevators and other kinds of lifts, where the mechanism has various states. If there's an external controller that's handling the elevator doors, etc., the Execution mechanism for the robot needs to at least feedback that it's ready to enter (or exit) an elevator and wait for the go-head. I think we should mock up some example mission plans and work through these issues. +* MP008: (Carl) Going to a low power state seems out of scope for the navstack. +* MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. +* MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. + +**OPENS** +* *TODO: How to handle reverse direction? Does each primitive include this information?* +* PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values \ No newline at end of file From 0e2babfbf2172eb0c3ede3cd810ee55f1f4acf2b Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 9 Jul 2018 13:37:59 -0700 Subject: [PATCH 06/27] More work on the Mapping section --- doc/requirements/requirements.md | 76 ++++++++++++++++---------------- 1 file changed, 39 insertions(+), 37 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index 2662bb9c060..2d4b2a4acf1 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -223,13 +223,11 @@ PLN016 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the p PLN017 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. PLN018 | Planning.Feedback.Outputs.Collision Detected | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* PLN019 | Planning.Feedback.Outputs.Recovered from Collision | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -PLN020 | Planning.Dynammic Selection of Planners | 1 | The selection of the Planning Module to use for a given Navigation Command should be dynamic. | There SHOULD be multiple planners available and chosen depending on the command to be executed +PLN020 | Planning.Dynammic Selection of Planners | 1 | The selection of the Planning Module to use for a given Navigation Command should be dynamic. | There SHOULD be multiple planners available and chosen depending on the command to be executed. PLN021 | Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing planners. PLN022 | Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing planners. PLN023 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a planner. -PLN024 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planner | Developers could use this as a starting point. - -*TODO: Planning Plugins* +PLN024 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planner | An easily understood module that developers and students could use as a starting point. ### 2.3.4 Navigation System.Control @@ -241,18 +239,21 @@ CTL001 | Control | 1 | The Control Module MUST... ### 2.3.5 Robot Interface -*TODO: What to say about the robot interface?* *Should there be a robot abstraction?* *Perhaps this would be a convenient place to put some safety-related functionality* +*TODO: What to say about the robot interface?* +* *Should there be a robot abstraction?* +* *Perhaps this would be a convenient place to put some safety-related functionality* + There should be a uniform interface to the various supported robots. This may require a layer on top of the vendor-specific interface(s). Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -ROB001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. -ROB002 | Robot Interface.Dynamic Switching | 1 | Can the robot dynamically change attributes? -ROB003 | Robot Interface.Safety.Limited Parameters | 1 | A list of parameters used to limit certain circumstances and provide the hooks for users to set those values if they want -ROB004 | Robot Interface.Safety.Speed Limiting | 1 | TODO -ROB005 | Robot Interface.Safety.Force Limiting | 1 | TODO -ROB006 | Robot Interface.EMO Button | 1 | TODO -ROB007 | Robot Interface.Feedback.Outputs | 1 | TODO +RI001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. +RI002 | Robot Interface.Dynamic Switching | 1 | Can the robot dynamically change attributes? +RI003 | Robot Interface.Safety.Limited Parameters | 1 | A list of parameters used to limit certain circumstances and provide the hooks for users to set those values if they want +RI004 | Robot Interface.Safety.Speed Limiting | 1 | TODO +RI005 | Robot Interface.Safety.Force Limiting | 1 | TODO +RI006 | Robot Interface.EMO Button | 1 | TODO +RI007 | Robot Interface.Feedback.Outputs | 1 | TODO ## 2.4 Support Modules @@ -260,38 +261,38 @@ There are a few support modules and subsystems that are not part of the Navigati ### 2.4.1 Mapping -The map data format should be capable of describing common indoor and outdoor environments. +The map data format should be capable of describing common indoor and outdoor environments encoutered by the robots. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Used in planning -MAP002 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information -MAP003 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information | *TODO: How is this defined?* -MAP004 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information | *TODO: Use voxel-based?* -MAP005 | Mapping.Multiple Maps Per Environment | 1 | The Mapping system SHOULD provide multiple maps of the same environment. | *TODO: Different scales and elevations?* -MAP006 | Mapping.Dynamic Updates | 1 | The Mapping System SHOULD provide real-time updates of map information | For example, to create a keep-out zone in the event of a spill hazard. -MAP007 | Mapping.Data Model.Traversable Surface | 1 | Planar (2D) surface (street, floor). -MAP008 | Mapping.Data Model.Traversable Surface.Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces | Uneven ground -MAP009 | Mapping.Data Model.Safety Zone | 1 | Specify limitations to be respected while the robot is in this zone. Speed, (increased) distance to people. -MAP010 | Mapping.Data Model.Safety Zone.Keep Out Zone | 1 | Robot MUST NOT navigate through a keep-out zone -MAP011 | Mapping.Data Model.Safety Zone.Intersection | 1 | May want to slow down (or even stop), for example, when approaching an intersection | Robots can slow down when coming to an intersection in order to ensure that they can see anyone coming and other people/robots can see them -MAP012 | Mapping.Data Model.Lanes | 1 | Able to specify virtual lanes. Prefer the specified lanes (such as in a warehouse) -MAP013 | Mapping.Data Model.Building Levels | 1 | Able to specify single and multi-level buildings +MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Can be used during planning. +MAP002 | Mapping.Dynamic Updates | 1 | The Mapping System SHALL provide real-time updates of map information, as the environment described by the map changes. +MAP003 | Mapping.Data Model.Obstacles | 1 | Maps provided by Mapping Subsystem MUST indicate the location of known obstacles. +MAP004 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map SHALL have a confidence metric associated with it. +MAP005 | Mapping.Data Model.Unknown Space | 1 | Maps provided by Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. +MAP006 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. +MAP007 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations. +MAP008 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* +MAP009 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. +MAP010 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. +MAP011 | Mapping.Data Model.Safety Zone.Policy.Keep Out | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. +MAP012 | Mapping.Data Model.Lanes | 1 | Able to specify virtual lanes. Prefer the specified lanes (such as in a warehouse). +MAP013 | Mapping.Data Model.Building Levels | 1 | Able to specify single and multi-level buildings. MAP014 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | Able to specify level connecting features, such as elevators, stairways, ramps. -MAP015 | Mapping.Data Model.Unknown Space | 1 | To be dynamically mapped? In global maps, it can be areas beyond the edge of the map, or areas within the center of the map for which we didn't have any observations during map building. In the current system, this is the "dark grey" portion of the map (free space is light grey, obstacles are black) -MAP016 | Mapping.Data Model.Extensibility | 1 | *TODO: Map attributes. Layers concept?* +MAP015 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Different scales and elevations? +MAP016 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment | *TODO: Layers concept?* +MAP017 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information. +MAP018 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information. | *TODO: How is this defined?* +MAP019 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information. | *TODO: Use voxel-based?* ### 2.4.2 Perception -The Navigation System requires dyanamic information about objects in its environment. This information is provided by a Sensory Subsystem that is outside the scope of the Navigation System. This information would typically be provided by a set of sensors on the robot and a sensor fusion capability. This section lists the requirements on the data that the Sensory Subsystem provides. +The Perception Subsystem provides information about objects detected in the robot's environment. This information would typically be generated from a fusion of sensor input. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -SEN001 | Sensing | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot | Info sufficient to carry out the Navigation System requirements -SEN002 | Sensing.Latency | 1 | TODO -SEN003 | Sensing.Environment Model | 1 | *TODO: What, specifically, should be in the environment model?* -SEN004 | Sensing.Environment Model.Object Prediction | 1 | The Sensing Subsystem SHOULD provide an object prediction capability that projects the position of the objects into the future. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects -SEN005 | Sensing.Environment Model.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* +PER001 | Perception | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot | Info sufficient to carry out the Navigation System requirements. +PER002 | Perception.Latency | 1 | TODO ### 2.4.3 Prediction @@ -299,7 +300,8 @@ The Prediction Subsystem TODO Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PRE001 | Localization.Robot Pose | 1 | TDOO +PRD001 | Prediction.Object Prediction | 1 | The Prediction Subsystem SHOULD predict the trajectories of detected objects. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects +PRD002 | Prediction.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* ### 2.4.4 Localization @@ -308,12 +310,11 @@ The Navigation System requires the Robot's current pose, provided by an external Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way -LOC002 | Localization.Robot Pose.Accuracy | 1 | *TODO: What are the requirements on the accuracy of this pose?* +LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the expected accuracy of its generated poses. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. **TODO** -* (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. * (mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. @@ -346,6 +347,7 @@ Suggestion: Changing the phrase "known obstacles" to "known static obstacles". * MP008: (Carl) Going to a low power state seems out of scope for the navstack. * MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. * MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. +* (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. **OPENS** * *TODO: How to handle reverse direction? Does each primitive include this information?* From 62cec95168478f7e081e0751cb5ba590648db1e6 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 9 Jul 2018 13:43:10 -0700 Subject: [PATCH 07/27] Change Control -> Execution --- doc/requirements/requirements.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index 2d4b2a4acf1..d01c927b822 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -80,7 +80,7 @@ The following diagram shows the modules in the command chain and the successive The Navigation System itself can be decomposed into two general responsibilities, *Planning*, and *Execution*. * **Planning** - The Planning Module is responsible to execute Navigation Commands. To do so, this module can evaluate input maps and continually assess the robot's environment to plan motion and provide trajectories for the robot to follow to eventually achieve completion of the Navigation Command. -* **Control** - The Control Module is responsible to execute the trajectories provided by Planning, generating the control signals required to execute the Trajectory. +* **Execution** - The Execution Module is responsible to execute the trajectories provided by Planning, generating the control signals required to execute the Trajectory. ![Navigation System](./images/Navigation-System.png) @@ -351,4 +351,4 @@ Suggestion: Changing the phrase "known obstacles" to "known static obstacles". **OPENS** * *TODO: How to handle reverse direction? Does each primitive include this information?* -* PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values \ No newline at end of file +* PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values From 645f9f4b24f6e3ab35cca7e82b3550bff9a97a0a Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Tue, 10 Jul 2018 13:03:47 -0700 Subject: [PATCH 08/27] Update the Planning and Execution sections --- doc/requirements/images/Command-Pipeline.png | Bin 34203 -> 34069 bytes doc/requirements/images/Navigation-System.png | Bin 13718 -> 13584 bytes .../images/With-Support-Modules.png | Bin 46541 -> 46403 bytes doc/requirements/requirements.md | 213 +++++++++--------- 4 files changed, 110 insertions(+), 103 deletions(-) diff --git a/doc/requirements/images/Command-Pipeline.png b/doc/requirements/images/Command-Pipeline.png index 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zUr>ODyQjd@ga3b6i@&8ICZ-{Y&i@jGE0UWeH&vNQ{_FKB++s`s6Tk#8fqyju|HZMu zkCDZH^(_A1-2Q)H9PzUTVq(9IW5L%xhCsMgfoJ~zYCiznUQ7TJ_-7GtLPy%aPX{0) z4Hhw2#9`@!<@UFc5%g|6GBN^hKNI>pN{}te4}$6NTK|whcaQm+X7epPf`UE$xWSO= z;=%Rt3=+vTAv~BIkG}rt%<(6wy_N#==CxFKu|&!esYr|EIu<&XmO7gH<`&B}ml^6B zY8vR7Yinw2FI#C~WuUEVxXOH^pTD06T0H%Ng1LU~Ki@3~gcTB}MytC5wD{>!J!Z_i zSEH%Dxv{pkHg~@$rTs_=C~ZM0GBPqGB*e?h%}sadzU|j1f4TfLR#MxEDQf?Z7Yy{j z3sg*OzG(hGhEOWG1m^yzhdN3^M?}kLha}`e=Y$0%+UOf$;`euJc$Yw04E{}!=#YSo zBnT3yFOT_=1D^>}Fus5SN7q4`FcE!{_#`_^ zHiz`%mkoJ8(;sWdR5fC*p%n81Hd;6EBDSz1_Inl3d~wzpqtYHV-s3NH?>rmHBX20BKosHQqgjhrZ^ zhDJ_Q(`80B7LKOcMl0jGIWPOdNtvv)v+ cx}ZW`K-s$3tc6#5^!k@|(fRwj{G(F-4H4!l>;M1& literal 0 HcmV?d00001 From b2a987c8c48c32fd1c9211cd03366954fbc92d19 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Fri, 20 Jul 2018 09:16:27 -0700 Subject: [PATCH 23/27] Add a cmake file for the robot directory --- Doxyfile | 4 ++-- .../task/TaskExecutionStateMachine.hpp | 1 - src/libs/task/package.xml | 19 ------------------- src/robot/CMakeLists.txt | 17 +++++++++++++++++ src/robot/include/robot/RosRobot.hpp | 12 +++++++++++- src/robot/src/RosRobot.cpp | 8 +++++++- 6 files changed, 37 insertions(+), 24 deletions(-) delete mode 100644 src/libs/task/package.xml create mode 100644 src/robot/CMakeLists.txt diff --git a/Doxyfile b/Doxyfile index 70ea929dbae..834f11b1a1e 100644 --- a/Doxyfile +++ b/Doxyfile @@ -771,7 +771,7 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = actuation can decision-making highway-pilot localization mission-planning navigation-maps route-planning sensing sensor-fusion trajectory-execution util vehicle virtual-bus world-model dash-sign +INPUT = src # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses @@ -1604,7 +1604,7 @@ EXTRA_SEARCH_MAPPINGS = # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output. # The default value is: YES. -GENERATE_LATEX = YES +GENERATE_LATEX = NO # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of diff --git a/src/libs/task/include/task/TaskExecutionStateMachine.hpp b/src/libs/task/include/task/TaskExecutionStateMachine.hpp index 3a56399ea5d..b2f774fe0c5 100644 --- a/src/libs/task/include/task/TaskExecutionStateMachine.hpp +++ b/src/libs/task/include/task/TaskExecutionStateMachine.hpp @@ -12,7 +12,6 @@ class TaskExecutionStateMachine explicit TaskExecutionStateMachine(TaskExecutionStateMachineBehavior * behavior); virtual ~TaskExecutionStateMachine(); - // No default constructor TaskExecutionStateMachine() = delete; typedef enum TaskExecutionEvent diff --git a/src/libs/task/package.xml b/src/libs/task/package.xml deleted file mode 100644 index 0230af4575d..00000000000 --- a/src/libs/task/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - task - 0.1.0 - TODO - Michael Jeronimo - Michael Jeronimo - Apache License 2.0 - ament_cmake - - - ament_cmake - - diff --git a/src/robot/CMakeLists.txt b/src/robot/CMakeLists.txt new file mode 100644 index 00000000000..24c6acdacf9 --- /dev/null +++ b/src/robot/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.5) +project(robot) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +include_directories( + include + ) + +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "../libs/") + +add_library(robot STATIC + src/RosRobot.cpp + ) diff --git a/src/robot/include/robot/RosRobot.hpp b/src/robot/include/robot/RosRobot.hpp index bd80bbe61a3..e2c6f9ae2b2 100644 --- a/src/robot/include/robot/RosRobot.hpp +++ b/src/robot/include/robot/RosRobot.hpp @@ -4,13 +4,23 @@ #ifndef ROBOT__ROSROBOT_HPP_ #define ROBOT__ROSROBOT_HPP_ +#include #include "robot/Robot.hpp" class RosRobot : public Robot { public: - RosRobot(); + /** + * Construct a RosRobot with a provided URDF file. + * + * @param[in] filename The filename of the URDF file describing this robot. + */ + RosRobot(std::string & filename); + + RosRobot() = delete; ~RosRobot(); + + void enterSafeState() override; }; #endif // ROBOT__ROSROBOT_HPP_ diff --git a/src/robot/src/RosRobot.cpp b/src/robot/src/RosRobot.cpp index ecd2a85ad20..3b7835962b1 100644 --- a/src/robot/src/RosRobot.cpp +++ b/src/robot/src/RosRobot.cpp @@ -3,10 +3,16 @@ #include "robot/RosRobot.hpp" -RosRobot::RosRobot() +RosRobot::RosRobot(std::string & /*filename*/) { + // Open and parser the URDF file } RosRobot::~RosRobot() { } + +void +RosRobot::enterSafeState() +{ +} From b1c01a11f03697ae77c927369c0289ecedebf115 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 23 Jul 2018 12:17:08 -0700 Subject: [PATCH 24/27] Make some changes to the Task hierarchy --- src/libs/.gitignore | 0 src/libs/task/CMakeLists.txt | 21 --- .../task/TaskExecutionStateMachine.hpp | 42 ----- .../TaskExecutionStateMachineBehavior.hpp | 17 -- .../task/src/TaskExecutionStateMachine.cpp | 169 ------------------ src/mission_execution/CMakeLists.txt | 2 - .../mission_execution/MissionExecution.hpp | 16 +- src/mission_execution/package.xml | 6 +- .../src/MissionExecution.cpp | 64 ------- .../include/navigation/NavigateToPose.hpp | 16 -- .../include/navigation/Navigation.hpp | 49 ----- .../include/navigation/NavigationTask.hpp | 19 -- src/navigation/src/Navigation.cpp | 123 ------------- src/navigation/src/main.cpp | 15 -- src/robot/include/robot/RosRobot.hpp | 2 +- src/robot/src/RosRobot.cpp | 1 + src/{navigation => task}/CMakeLists.txt | 20 +-- src/task/include/task/ControlTask.hpp | 19 ++ src/task/include/task/NavigationTask.hpp | 23 +++ src/task/include/task/PlanningTask.hpp | 19 ++ src/task/include/task/RobotTask.hpp | 21 +++ src/task/include/task/Task.hpp | 18 ++ src/{navigation => task}/package.xml | 12 +- .../src/ControlTask.cpp} | 7 +- src/task/src/NavigationTask.cpp | 13 ++ src/task/src/PlanningTask.cpp | 13 ++ .../src/RobotTask.cpp} | 7 +- 27 files changed, 154 insertions(+), 580 deletions(-) create mode 100644 src/libs/.gitignore delete mode 100644 src/libs/task/CMakeLists.txt delete mode 100644 src/libs/task/include/task/TaskExecutionStateMachine.hpp delete mode 100644 src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp delete mode 100644 src/libs/task/src/TaskExecutionStateMachine.cpp delete mode 100644 src/navigation/include/navigation/NavigateToPose.hpp delete mode 100644 src/navigation/include/navigation/Navigation.hpp delete mode 100644 src/navigation/include/navigation/NavigationTask.hpp delete mode 100644 src/navigation/src/Navigation.cpp delete mode 100644 src/navigation/src/main.cpp rename src/{navigation => task}/CMakeLists.txt (74%) create mode 100644 src/task/include/task/ControlTask.hpp create mode 100644 src/task/include/task/NavigationTask.hpp create mode 100644 src/task/include/task/PlanningTask.hpp create mode 100644 src/task/include/task/RobotTask.hpp create mode 100644 src/task/include/task/Task.hpp rename src/{navigation => task}/package.xml (58%) rename src/{navigation/src/NavigateToPose.cpp => task/src/ControlTask.cpp} (52%) create mode 100644 src/task/src/NavigationTask.cpp create mode 100644 src/task/src/PlanningTask.cpp rename src/{navigation/src/NavigationTask.cpp => task/src/RobotTask.cpp} (54%) diff --git a/src/libs/.gitignore b/src/libs/.gitignore new file mode 100644 index 00000000000..e69de29bb2d diff --git a/src/libs/task/CMakeLists.txt b/src/libs/task/CMakeLists.txt deleted file mode 100644 index d98d45dc1eb..00000000000 --- a/src/libs/task/CMakeLists.txt +++ /dev/null @@ -1,21 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(task) - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -include_directories( - include - /usr/local/include/yasmine - /usr/local/include/yasmine/include - /usr/local/include/yasmine/include_impl - /usr/local/include/yasmine/essentials/include - ) - -set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "../libs/") - -add_library(task STATIC - src/TaskExecutionStateMachine.cpp - ) diff --git a/src/libs/task/include/task/TaskExecutionStateMachine.hpp b/src/libs/task/include/task/TaskExecutionStateMachine.hpp deleted file mode 100644 index b2f774fe0c5..00000000000 --- a/src/libs/task/include/task/TaskExecutionStateMachine.hpp +++ /dev/null @@ -1,42 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef TASK__TASKEXECUTIONSTATEMACHINE_HPP_ -#define TASK__TASKEXECUTIONSTATEMACHINE_HPP_ - -#include "task/TaskExecutionStateMachineBehavior.hpp" - -class TaskExecutionStateMachine -{ -public: - explicit TaskExecutionStateMachine(TaskExecutionStateMachineBehavior * behavior); - virtual ~TaskExecutionStateMachine(); - - TaskExecutionStateMachine() = delete; - - typedef enum TaskExecutionEvent - { - EVENT_CANCEL_TASK, - EVENT_EXECUTE_TASK, - EVENT_EXECUTE_TASK_RECOVERY, - EVENT_TASK_EXECUTION_FAILED, - EVENT_TASK_CANCELED, - EVENT_TASK_EXECUTED, - EVENT_TASK_FAILED, - EVENT_TASK_RECOVERY_FAILED, - EVENT_TASK_RECOVERY_SUCCEEDED, - } TaskExecutionEvent; - - void run(); - void fireEvent(const TaskExecutionEvent eventToFire); - void halt(); - -private: - void initStateMachine(); - bool isValidStateMachine(); - - TaskExecutionStateMachineBehavior * behavior_; - void * impl_; -}; - -#endif // TASK__TASKEXECUTIONSTATEMACHINE_HPP_ diff --git a/src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp b/src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp deleted file mode 100644 index d3db4d5f7bb..00000000000 --- a/src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp +++ /dev/null @@ -1,17 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ -#define TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ - -class TaskExecutionStateMachineBehavior -{ -public: - virtual void doReadyState() = 0; - virtual void doExecutingState() = 0; - virtual void doCancelingState() = 0; - virtual void doRecoveringState() = 0; - virtual void doAbortingState() = 0; -}; - -#endif // TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ diff --git a/src/libs/task/src/TaskExecutionStateMachine.cpp b/src/libs/task/src/TaskExecutionStateMachine.cpp deleted file mode 100644 index 4c14fec9b46..00000000000 --- a/src/libs/task/src/TaskExecutionStateMachine.cpp +++ /dev/null @@ -1,169 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#include "task/TaskExecutionStateMachine.hpp" - -#include -#include -#include "yasmine.hpp" - -typedef sxe::SX_UNIQUE_PTR state_machine_uptr; - -typedef struct yasmine_data -{ - state_machine_uptr sm; -} yasmine_data; - -static void -handleUnhandledEvent(const sxy::event & event) -{ - std::cout << "Unhandled state machine event: '" << event.get_name() << "'" << std::endl; -} - -TaskExecutionStateMachine::TaskExecutionStateMachine( - TaskExecutionStateMachineBehavior * behavior) -: behavior_(behavior) -{ - impl_ = new yasmine_data; - -#if 0 - // Initialize the yasmine log manager - hermes::log_manager_template & log_manager = - hermes::log_manager::get_instance(); - log_manager.set_log_level(hermes::log_level::LL_DEBUG); - log_manager.add_logger(SX_MAKE_UNIQUE()); - log_manager.run(); - sxy::version::log_version(); -#endif - - initStateMachine(); - - if (!isValidStateMachine()) { - throw("TaskExecution state machine has defects"); - } -} - -TaskExecutionStateMachine::~TaskExecutionStateMachine() -{ - // log_manager.halt(); -} - -void -TaskExecutionStateMachine::run() -{ - // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::run()\n"); - - yasmine_data * impl = reinterpret_cast(impl_); - impl->sm->run(); -} - -void -TaskExecutionStateMachine::fireEvent(const TaskExecutionEvent eventToFire) -{ - // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::fireEvent: %d\n", eventToFire); - - yasmine_data * impl = reinterpret_cast(impl_); - impl->sm->fire_event(sxy::event_impl::create(eventToFire)); -} - -void -TaskExecutionStateMachine::halt() -{ - // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::halt\n"); - - yasmine_data * impl = reinterpret_cast(impl_); - impl->sm->halt_and_join(); -} - -void -TaskExecutionStateMachine::initStateMachine() -{ - std::string nm("TaskExecution"); - const std::string & name = nm; - - // Create the state machine - state_machine_uptr state_machine = SX_MAKE_UNIQUE(name); - - // Create a single "region" to contain the state machine - sxy::composite_state & root_state = state_machine->get_root_state(); - sxy::region & main_region = root_state.add_region("main region"); - - // Add the initial state, required by all state machines - sxy::initial_pseudostate & initial_pseudostate = main_region.add_initial_pseudostate("initial"); - - // Add the states - sxy::simple_state & simple_state_ready = main_region.add_simple_state("Ready", - Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doReadyState)); - - sxy::simple_state & simple_state_executing = main_region.add_simple_state("Executing", - Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doExecutingState)); - - sxy::simple_state & simple_state_canceling = main_region.add_simple_state("Canceling", - Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doCancelingState)); - - sxy::simple_state & simple_state_recovering = main_region.add_simple_state("Recovering", - Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doRecoveringState)); - - sxy::simple_state & simple_state_aborting = main_region.add_simple_state("Aborting", - Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doAbortingState)); - - // Add the state transitions - - // The default state transition to Ready - state_machine->add_transition(sxy::Y_COMPLETION_EVENT_ID, initial_pseudostate, - simple_state_ready); - - // Transitions from Ready - state_machine->add_transition(EVENT_EXECUTE_TASK, simple_state_ready, simple_state_executing); - - // Transitions from Executing - state_machine->add_transition(EVENT_CANCEL_TASK, simple_state_executing, - simple_state_canceling); - state_machine->add_transition(EVENT_EXECUTE_TASK_RECOVERY, simple_state_executing, - simple_state_recovering); - state_machine->add_transition(EVENT_TASK_EXECUTION_FAILED, simple_state_executing, - simple_state_aborting); - state_machine->add_transition(EVENT_TASK_EXECUTED, simple_state_executing, - simple_state_ready); - - // Transitions from Canceling - state_machine->add_transition(EVENT_TASK_CANCELED, simple_state_canceling, simple_state_ready); - - // Transitions from Recovering - state_machine->add_transition(EVENT_TASK_RECOVERY_SUCCEEDED, simple_state_recovering, - simple_state_executing); - state_machine->add_transition(EVENT_TASK_RECOVERY_FAILED, simple_state_recovering, - simple_state_aborting); - - // Transitions from Aborting - state_machine->add_transition(EVENT_TASK_FAILED, simple_state_aborting, - simple_state_ready); - - // Set the handler for any invalid state transitions -#ifndef SX_CPP03_BOOST - state_machine->set_behavior_of_unhandled_event_handler( - Y_BEHAVIOR_FUNCTION2(handleUnhandledEvent)); -#else - state_machine->set_behavior_of_unhandled_event_handler( - sxy::behavior_function(sxe::bind(&handleUnhandledEvent, sxe::_1))); -#endif - - // Save the resulting state machine to our member variable - yasmine_data * impl = reinterpret_cast(impl_); - impl->sm = sxe::move(state_machine); -} - -bool -TaskExecutionStateMachine::isValidStateMachine() -{ - yasmine_data * impl = reinterpret_cast(impl_); - - sxy::state_machine_defects defects; - const bool isValid = impl->sm->check(defects); - - if (!isValid) { - sxy::write_defects_to_log(defects); - } - - return isValid; -} diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 7512ac4c172..2685654f475 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -29,11 +29,9 @@ add_executable(mission_execution ament_target_dependencies(mission_execution rclcpp std_msgs - task ) target_link_libraries(mission_execution - task yasmine ) diff --git a/src/mission_execution/include/mission_execution/MissionExecution.hpp b/src/mission_execution/include/mission_execution/MissionExecution.hpp index 3323feaf305..eb33bf4aa20 100644 --- a/src/mission_execution/include/mission_execution/MissionExecution.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecution.hpp @@ -7,10 +7,8 @@ #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" #include "mission_execution/MissionPlan.hpp" -#include "task/TaskExecutionStateMachineBehavior.hpp" -#include "task/TaskExecutionStateMachine.hpp" -class MissionExecution : public rclcpp::Node, public TaskExecutionStateMachineBehavior +class MissionExecution : public rclcpp::Node { public: MissionExecution(); @@ -27,22 +25,10 @@ class MissionExecution : public rclcpp::Node, public TaskExecutionStateMachineBe */ void cancelMission(); - /** @name State Machine Behavior - * Implementation of the TaskExecutionStateMachineBehavior interface - */ - ///@{ - void doReadyState(); - void doExecutingState(); - void doCancelingState(); - void doRecoveringState(); - void doAbortingState(); - ///@} - private: void onCmdReceived(const std_msgs::msg::String::SharedPtr msg); private: - TaskExecutionStateMachine stateMachine_; const MissionPlan * missionPlan_; rclcpp::Subscription::SharedPtr cmdSub_; }; diff --git a/src/mission_execution/package.xml b/src/mission_execution/package.xml index 697d83b5044..f85371b5923 100644 --- a/src/mission_execution/package.xml +++ b/src/mission_execution/package.xml @@ -3,9 +3,9 @@ mission_execution 0.1.0 - Mission execution is a ROS2 node carries out an input navigation command by interfacing with the ROS2 Navigation System. - Michael Jeronimo - Michael Jeronimo + TODO + Oregon Robotics Team + Oregon Robotics Team Apache License 2.0 ament_cmake rclcpp diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp index 6065963a188..b90697670de 100644 --- a/src/mission_execution/src/MissionExecution.cpp +++ b/src/mission_execution/src/MissionExecution.cpp @@ -7,13 +7,10 @@ MissionExecution::MissionExecution() : Node("mission_execution"), - stateMachine_(this), missionPlan_(nullptr) { RCLCPP_INFO(get_logger(), "MissionExecution::MissionExecution"); - stateMachine_.run(); - cmdSub_ = create_subscription("MissionExecutionCmd", std::bind(&MissionExecution::onCmdReceived, this, std::placeholders::_1)); } @@ -21,7 +18,6 @@ MissionExecution::MissionExecution() MissionExecution::~MissionExecution() { RCLCPP_INFO(get_logger(), "MissionExecution::~MissionExecution"); - stateMachine_.halt(); } void @@ -35,8 +31,6 @@ MissionExecution::executeMission(const MissionPlan * missionPlan) // TODO(mjeronimo): Validate the mission plan for syntax and semantics missionPlan_ = missionPlan; - - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK); } void @@ -46,64 +40,6 @@ MissionExecution::cancelMission() // We've been told to cancel the currently running mission, so fire the // state transition to cause a transition to the Canceling state - - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_CANCEL_TASK); -} - -void -MissionExecution::doReadyState() -{ - RCLCPP_INFO(get_logger(), "MissionExecution::doReadyState"); - - // TODO(mjeronimo): Anything we can do while we're waiting for work to do? -} - -void -MissionExecution::doExecutingState() -{ - RCLCPP_INFO(get_logger(), "MissionExecution::doExecutingState"); - - // TODO(mjeronimo): Perform normal processing loop for the mission plan - - // Initiate the state transition - - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_EXECUTED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK_RECOVERY); -} - -void -MissionExecution::doCancelingState() -{ - RCLCPP_INFO(get_logger(), "MissionExecution::doCancelingState"); - - // TODO(mjeronimo): Cancel the currently running mission - - // Initiate the state transition - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_CANCELED); -} - -void -MissionExecution::doRecoveringState() -{ - RCLCPP_INFO(get_logger(), "MissionExecution::doRecoveringState"); - - // TODO(mjeronimo): Attempt to perform local recovery - - // Initiate the state transition - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_FAILED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_SUCCEEDED); -} - -void -MissionExecution::doAbortingState() -{ - RCLCPP_INFO(get_logger(), "MissionExecution::doAbortingState"); - - // TODO(mjeronimo): Do the work to abort the current mission - - // Initiate the state transition - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); } void diff --git a/src/navigation/include/navigation/NavigateToPose.hpp b/src/navigation/include/navigation/NavigateToPose.hpp deleted file mode 100644 index a103e9f7e9c..00000000000 --- a/src/navigation/include/navigation/NavigateToPose.hpp +++ /dev/null @@ -1,16 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef NAVIGATION__NAVIGATETOPOSE_HPP_ -#define NAVIGATION__NAVIGATETOPOSE_HPP_ - -#include "navigation/NavigationTask.hpp" - -class NavigateToPose : public NavigationTask -{ -public: - NavigateToPose(); - ~NavigateToPose(); -}; - -#endif // NAVIGATION__NAVIGATETOPOSE_HPP_ diff --git a/src/navigation/include/navigation/Navigation.hpp b/src/navigation/include/navigation/Navigation.hpp deleted file mode 100644 index 2e0ee8da2e3..00000000000 --- a/src/navigation/include/navigation/Navigation.hpp +++ /dev/null @@ -1,49 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef NAVIGATION__NAVIGATION_HPP_ -#define NAVIGATION__NAVIGATION_HPP_ - -#include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" -#include "task/TaskExecutionStateMachineBehavior.hpp" -#include "task/TaskExecutionStateMachine.hpp" - -class Navigation : public rclcpp::Node, public TaskExecutionStateMachineBehavior -{ -public: - Navigation(); - virtual ~Navigation(); - - /** - * @brief Execute a navigation task - */ - void executeNavigationTask(/*const Task * task*/); - - /** - * @brief Cancel the current, in-flight navigation task, which must have - * been previously starting using executeNavigationTask. - */ - void cancelNavigationTask(); - - /** @name State Machine Behavior - * Implementation of the TaskExecutionStateMachineBehavior interface - */ - ///@{ - void doReadyState(); - void doExecutingState(); - void doCancelingState(); - void doRecoveringState(); - void doAbortingState(); - ///@} - -private: - void onCmdReceived(const std_msgs::msg::String::SharedPtr msg); - -private: - TaskExecutionStateMachine stateMachine_; - // const NavigationTask * navigationTask_; - rclcpp::Subscription::SharedPtr cmdSub_; -}; - -#endif // NAVIGATION__NAVIGATION_HPP_ diff --git a/src/navigation/include/navigation/NavigationTask.hpp b/src/navigation/include/navigation/NavigationTask.hpp deleted file mode 100644 index 628236466cb..00000000000 --- a/src/navigation/include/navigation/NavigationTask.hpp +++ /dev/null @@ -1,19 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef NAVIGATION__NAVIGATIONTASK_HPP_ -#define NAVIGATION__NAVIGATIONTASK_HPP_ - -#include "robot/Robot.hpp" - -class NavigationTask -{ -public: - NavigationTask(); - ~NavigationTask(); - -protected: - Robot * robot_; -}; - -#endif // NAVIGATION__NAVIGATIONTASK_HPP_ diff --git a/src/navigation/src/Navigation.cpp b/src/navigation/src/Navigation.cpp deleted file mode 100644 index a8727502430..00000000000 --- a/src/navigation/src/Navigation.cpp +++ /dev/null @@ -1,123 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#include "navigation/Navigation.hpp" - -#include - -Navigation::Navigation() -: Node("navigation"), - stateMachine_(this) - // ,missionPlan_(nullptr) -{ - RCLCPP_INFO(get_logger(), "Navigation::Navigation"); - - stateMachine_.run(); - - cmdSub_ = create_subscription("NavigationCmd", - std::bind(&Navigation::onCmdReceived, this, std::placeholders::_1)); -} - -Navigation::~Navigation() -{ - RCLCPP_INFO(get_logger(), "Navigation::~Navigation"); - stateMachine_.halt(); -} - -void -Navigation::executeNavigationTask(/*const NavigationTask * missionPlan*/) -{ - RCLCPP_INFO(get_logger(), "Navigation::executeNavigationTask"); - - // We've been given a task plan to execute. Do any preparatory work - // and start things off by firing a state transition, which will land - // us in the Executing state. - - // TODO(mjeronimo): Validate the task - // missionPlan_ = missionPlan; - - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK); -} - -void -Navigation::cancelNavigationTask() -{ - RCLCPP_INFO(get_logger(), "Navigation::cancelNavigationTask"); - - // We've been told to cancel the currently running mission, so fire the - // state transition to cause a transition to the Canceling state - - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_CANCEL_TASK); -} - -void -Navigation::doReadyState() -{ - RCLCPP_INFO(get_logger(), "Navigation::doReadyState"); - - // TODO(mjeronimo): Anything we can do while we're waiting for work to do? -} - -void -Navigation::doExecutingState() -{ - RCLCPP_INFO(get_logger(), "Navigation::doExecutingState"); - - // TODO(mjeronimo): Perform normal processing loop for the mission plan - - // Initiate the state transition - - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_EXECUTED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK_RECOVERY); -} - -void -Navigation::doCancelingState() -{ - RCLCPP_INFO(get_logger(), "Navigation::doCancelingState"); - - // TODO(mjeronimo): Cancel the currently running mission - - // Initiate the state transition - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_CANCELED); -} - -void -Navigation::doRecoveringState() -{ - RCLCPP_INFO(get_logger(), "Navigation::doRecoveringState"); - - // TODO(mjeronimo): Attempt to perform local recovery - - // Initiate the state transition - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_FAILED); - // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_SUCCEEDED); -} - -void -Navigation::doAbortingState() -{ - RCLCPP_INFO(get_logger(), "Navigation::doAbortingState"); - - // TODO(mjeronimo): Do the work to abort the current task - - // Initiate the state transition - stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); -} - -void -Navigation::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) -{ - RCLCPP_INFO(get_logger(), "Navigation::onCmdReceived: \"%s\"", msg->data.c_str()) - - if (msg->data.compare("ExecuteNavigationTask") == 0) { - // NavigationTask *task; - executeNavigationTask(/*&missionPlan*/); - } else if (msg->data.compare("CancelNavigationTask") == 0) { - cancelNavigationTask(); - } else { - RCLCPP_INFO(get_logger(), "Navigation::onCmdReceived: invalid command: \"%s\"", - msg->data.c_str()) - } -} diff --git a/src/navigation/src/main.cpp b/src/navigation/src/main.cpp deleted file mode 100644 index 9d72c8302c1..00000000000 --- a/src/navigation/src/main.cpp +++ /dev/null @@ -1,15 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#include -#include "rclcpp/rclcpp.hpp" -#include "navigation/Navigation.hpp" - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - - return 0; -} diff --git a/src/robot/include/robot/RosRobot.hpp b/src/robot/include/robot/RosRobot.hpp index e2c6f9ae2b2..d05b7fb7fba 100644 --- a/src/robot/include/robot/RosRobot.hpp +++ b/src/robot/include/robot/RosRobot.hpp @@ -15,7 +15,7 @@ class RosRobot : public Robot * * @param[in] filename The filename of the URDF file describing this robot. */ - RosRobot(std::string & filename); + explicit RosRobot(std::string & filename); RosRobot() = delete; ~RosRobot(); diff --git a/src/robot/src/RosRobot.cpp b/src/robot/src/RosRobot.cpp index 3b7835962b1..c6b8e3fe535 100644 --- a/src/robot/src/RosRobot.cpp +++ b/src/robot/src/RosRobot.cpp @@ -2,6 +2,7 @@ // Copyright 2018 Intel Corporation. All Rights Reserved. #include "robot/RosRobot.hpp" +#include RosRobot::RosRobot(std::string & /*filename*/) { diff --git a/src/navigation/CMakeLists.txt b/src/task/CMakeLists.txt similarity index 74% rename from src/navigation/CMakeLists.txt rename to src/task/CMakeLists.txt index 7486a57d153..c9dcc644e7b 100644 --- a/src/navigation/CMakeLists.txt +++ b/src/task/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(navigation) +project(task) # Default to C++14 if(NOT CMAKE_CXX_STANDARD) @@ -16,25 +16,21 @@ find_package(std_msgs REQUIRED) include_directories( include - ../libs/task/include + ../robot/include ) link_directories(${CMAKE_BINARY_DIR}/../libs) -add_executable(navigation - src/main.cpp - src/Navigation.cpp +add_library(task STATIC + src/ControlTask.cpp + src/NavigationTask.cpp + src/PlanningTask.cpp + src/RobotTask.cpp ) -ament_target_dependencies(navigation +ament_target_dependencies(task rclcpp std_msgs - task - ) - -target_link_libraries(navigation - task - yasmine ) install(TARGETS ${PROJECT_NAME} diff --git a/src/task/include/task/ControlTask.hpp b/src/task/include/task/ControlTask.hpp new file mode 100644 index 00000000000..af1d744dce4 --- /dev/null +++ b/src/task/include/task/ControlTask.hpp @@ -0,0 +1,19 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__CONTROLTASK_HPP_ +#define TASK__CONTROLTASK_HPP_ + +#include "task/RobotTask.hpp" + +class ControlTask : public RobotTask +{ +public: + explicit ControlTask(Robot * robot); + ControlTask() = delete; + ~ControlTask(); + + // executePlan() +}; + +#endif // TASK__CONTROLTASK_HPP_ diff --git a/src/task/include/task/NavigationTask.hpp b/src/task/include/task/NavigationTask.hpp new file mode 100644 index 00000000000..9fca257a849 --- /dev/null +++ b/src/task/include/task/NavigationTask.hpp @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__NAVIGATIONTASK_HPP_ +#define TASK__NAVIGATIONTASK_HPP_ + +#include "task/RobotTask.hpp" +#include "task/PlanningTask.hpp" +#include "task/ControlTask.hpp" + +class NavigationTask : public RobotTask +{ +public: + explicit NavigationTask(Robot * robot); + NavigationTask() = delete; + ~NavigationTask(); + +protected: + PlanningTask planner_; + ControlTask controller_; +}; + +#endif // TASK__NAVIGATIONTASK_HPP_ diff --git a/src/task/include/task/PlanningTask.hpp b/src/task/include/task/PlanningTask.hpp new file mode 100644 index 00000000000..f6219221863 --- /dev/null +++ b/src/task/include/task/PlanningTask.hpp @@ -0,0 +1,19 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__PLANNINGTASK_HPP_ +#define TASK__PLANNINGTASK_HPP_ + +#include "task/RobotTask.hpp" + +class PlanningTask : public RobotTask +{ +public: + explicit PlanningTask(Robot * robot); + PlanningTask() = delete; + ~PlanningTask(); + + // getPlan() +}; + +#endif // TASK__PLANNINGTASK_HPP_ diff --git a/src/task/include/task/RobotTask.hpp b/src/task/include/task/RobotTask.hpp new file mode 100644 index 00000000000..3ea48bfb7d6 --- /dev/null +++ b/src/task/include/task/RobotTask.hpp @@ -0,0 +1,21 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__ROBOTTASK_HPP_ +#define TASK__ROBOTTASK_HPP_ + +#include "task/Task.hpp" +#include "robot/Robot.hpp" + +class RobotTask : public Task +{ +public: + explicit RobotTask(Robot * robot); + RobotTask() = delete; + ~RobotTask(); + +protected: + Robot * robot_; +}; + +#endif // TASK__ROBOTTASK_HPP_ diff --git a/src/task/include/task/Task.hpp b/src/task/include/task/Task.hpp new file mode 100644 index 00000000000..02a177ad65f --- /dev/null +++ b/src/task/include/task/Task.hpp @@ -0,0 +1,18 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__TASK_HPP_ +#define TASK__TASK_HPP_ + +#include "rclcpp/rclcpp.hpp" + +class Task +{ +public: + virtual ~Task() {} + +protected: + // ROS Action +}; + +#endif // TASK__TASK_HPP_ diff --git a/src/navigation/package.xml b/src/task/package.xml similarity index 58% rename from src/navigation/package.xml rename to src/task/package.xml index 4916e43ed10..4d8e3dfeb05 100644 --- a/src/navigation/package.xml +++ b/src/task/package.xml @@ -1,18 +1,18 @@ - navigation + task 0.1.0 - Navigation a ROS2 node carries out an input navigation command. - Michael Jeronimo - Michael Jeronimo + TODO + Oregon Robotics Team + Oregon Robotics Team Apache License 2.0 ament_cmake rclcpp - task + std_msgs rclcpp + std_msgs ament_cmake - diff --git a/src/navigation/src/NavigateToPose.cpp b/src/task/src/ControlTask.cpp similarity index 52% rename from src/navigation/src/NavigateToPose.cpp rename to src/task/src/ControlTask.cpp index f973e212414..e732283447d 100644 --- a/src/navigation/src/NavigateToPose.cpp +++ b/src/task/src/ControlTask.cpp @@ -1,12 +1,13 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright 2018 Intel Corporation. All Rights Reserved. -#include "navigation/NavigateToPose.hpp" +#include "task/ControlTask.hpp" -NavigateToPose::NavigateToPose() +ControlTask::ControlTask(Robot * robot) +: RobotTask(robot) { } -NavigateToPose::~NavigateToPose() +ControlTask::~ControlTask() { } diff --git a/src/task/src/NavigationTask.cpp b/src/task/src/NavigationTask.cpp new file mode 100644 index 00000000000..b86b0a72ebf --- /dev/null +++ b/src/task/src/NavigationTask.cpp @@ -0,0 +1,13 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/NavigationTask.hpp" + +NavigationTask::NavigationTask(Robot * robot) +: RobotTask(robot), planner_(robot), controller_(robot) +{ +} + +NavigationTask::~NavigationTask() +{ +} diff --git a/src/task/src/PlanningTask.cpp b/src/task/src/PlanningTask.cpp new file mode 100644 index 00000000000..e1ff32f37e9 --- /dev/null +++ b/src/task/src/PlanningTask.cpp @@ -0,0 +1,13 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/PlanningTask.hpp" + +PlanningTask::PlanningTask(Robot * robot) +: RobotTask(robot) +{ +} + +PlanningTask::~PlanningTask() +{ +} diff --git a/src/navigation/src/NavigationTask.cpp b/src/task/src/RobotTask.cpp similarity index 54% rename from src/navigation/src/NavigationTask.cpp rename to src/task/src/RobotTask.cpp index 086a695ea82..30af17498f8 100644 --- a/src/navigation/src/NavigationTask.cpp +++ b/src/task/src/RobotTask.cpp @@ -1,12 +1,13 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright 2018 Intel Corporation. All Rights Reserved. -#include "navigation/NavigationTask.hpp" +#include "task/RobotTask.hpp" -NavigationTask::NavigationTask() +RobotTask::RobotTask(Robot * robot) { + robot = robot; } -NavigationTask::~NavigationTask() +RobotTask::~RobotTask() { } From 4e3bf04ef18893c431c40d2851c02ba7e1dbc5f5 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 23 Jul 2018 12:58:54 -0700 Subject: [PATCH 25/27] Update some comments in Task about our approach --- src/task/include/task/Task.hpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/task/include/task/Task.hpp b/src/task/include/task/Task.hpp index 02a177ad65f..8311c2ca796 100644 --- a/src/task/include/task/Task.hpp +++ b/src/task/include/task/Task.hpp @@ -12,7 +12,14 @@ class Task virtual ~Task() {} protected: - // ROS Action + // Emulate ROS Action for now: + // C++ templates for (Our)SimpleActionServer, (Our)SimpleActionClient + // + // * Subscriber for ROS topic for commands w/ parameters + // * Execute Command + // * Cancel Command + // * Publisher for status updates + // * Publisher for completion }; #endif // TASK__TASK_HPP_ From b850b570762269de84fbcea82c8974bcd2f0f876 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Wed, 25 Jul 2018 10:51:52 -0700 Subject: [PATCH 26/27] Some work on the task class hierarchy --- src/task/CMakeLists.txt | 2 + src/task/include/task/AStarPlanner.hpp | 23 +++++++++ src/task/include/task/ControlTask.hpp | 4 +- src/task/include/task/NavigationTask.hpp | 10 ++-- src/task/include/task/PlanningTask.hpp | 10 ++-- src/task/include/task/RobotTask.hpp | 2 +- src/task/include/task/SpecificController.hpp | 22 ++++++++ src/task/include/task/Task.hpp | 28 ++++++---- src/task/src/AStarPlanner.cpp | 26 ++++++++++ src/task/src/ControlTask.cpp | 4 +- src/task/src/NavigationTask.cpp | 4 +- src/task/src/PlanningTask.cpp | 6 ++- src/task/src/RobotTask.cpp | 3 +- src/task/src/SpecificController.cpp | 24 +++++++++ src/task/src/Task.cpp | 54 ++++++++++++++++++++ 15 files changed, 193 insertions(+), 29 deletions(-) create mode 100644 src/task/include/task/AStarPlanner.hpp create mode 100644 src/task/include/task/SpecificController.hpp create mode 100644 src/task/src/AStarPlanner.cpp create mode 100644 src/task/src/SpecificController.cpp create mode 100644 src/task/src/Task.cpp diff --git a/src/task/CMakeLists.txt b/src/task/CMakeLists.txt index c9dcc644e7b..bc1af7b128b 100644 --- a/src/task/CMakeLists.txt +++ b/src/task/CMakeLists.txt @@ -26,6 +26,8 @@ add_library(task STATIC src/NavigationTask.cpp src/PlanningTask.cpp src/RobotTask.cpp + src/Task.cpp + src/AStarPlanner.cpp ) ament_target_dependencies(task diff --git a/src/task/include/task/AStarPlanner.hpp b/src/task/include/task/AStarPlanner.hpp new file mode 100644 index 00000000000..1566ccdf5de --- /dev/null +++ b/src/task/include/task/AStarPlanner.hpp @@ -0,0 +1,23 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__ASTARPLANNER_HPP_ +#define TASK__ASTARPLANNER_HPP_ + +#include "task/PlanningTask.hpp" + +class AStarPlanner : public PlanningTask +{ +public: + AStarPlanner(const std::string & name); + AStarPlanner() = delete; + ~AStarPlanner(); + + void createPlan(const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal); + +protected: + void workerThread() override; +}; + +#endif // TASK__ASTARPLANNER_HPP_ diff --git a/src/task/include/task/ControlTask.hpp b/src/task/include/task/ControlTask.hpp index af1d744dce4..7db4d7a9ebc 100644 --- a/src/task/include/task/ControlTask.hpp +++ b/src/task/include/task/ControlTask.hpp @@ -9,11 +9,11 @@ class ControlTask : public RobotTask { public: - explicit ControlTask(Robot * robot); + explicit ControlTask(const std::string & name, Robot * robot); ControlTask() = delete; ~ControlTask(); - // executePlan() + virtual void executePlan() = 0; }; #endif // TASK__CONTROLTASK_HPP_ diff --git a/src/task/include/task/NavigationTask.hpp b/src/task/include/task/NavigationTask.hpp index 9fca257a849..5e7cc90f35a 100644 --- a/src/task/include/task/NavigationTask.hpp +++ b/src/task/include/task/NavigationTask.hpp @@ -5,19 +5,19 @@ #define TASK__NAVIGATIONTASK_HPP_ #include "task/RobotTask.hpp" -#include "task/PlanningTask.hpp" -#include "task/ControlTask.hpp" +#include "task/AStarPlanner.hpp" +#include "task/SpecificController.hpp" class NavigationTask : public RobotTask { public: - explicit NavigationTask(Robot * robot); + explicit NavigationTask(const std::string & name, Robot * robot); NavigationTask() = delete; ~NavigationTask(); protected: - PlanningTask planner_; - ControlTask controller_; + AStarPlanner planner_; + SpecificController controller_; }; #endif // TASK__NAVIGATIONTASK_HPP_ diff --git a/src/task/include/task/PlanningTask.hpp b/src/task/include/task/PlanningTask.hpp index f6219221863..68d894e8f8f 100644 --- a/src/task/include/task/PlanningTask.hpp +++ b/src/task/include/task/PlanningTask.hpp @@ -4,16 +4,18 @@ #ifndef TASK__PLANNINGTASK_HPP_ #define TASK__PLANNINGTASK_HPP_ -#include "task/RobotTask.hpp" +#include "task/Task.hpp" +#include "geometry_msgs/msg/pose_stamped.hpp" -class PlanningTask : public RobotTask +class PlanningTask : public Task { public: - explicit PlanningTask(Robot * robot); + PlanningTask(const std::string & name); PlanningTask() = delete; ~PlanningTask(); - // getPlan() + virtual void createPlan(const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal) = 0; }; #endif // TASK__PLANNINGTASK_HPP_ diff --git a/src/task/include/task/RobotTask.hpp b/src/task/include/task/RobotTask.hpp index 3ea48bfb7d6..8a8d30f3021 100644 --- a/src/task/include/task/RobotTask.hpp +++ b/src/task/include/task/RobotTask.hpp @@ -10,7 +10,7 @@ class RobotTask : public Task { public: - explicit RobotTask(Robot * robot); + RobotTask(const std::string & name, Robot * robot); RobotTask() = delete; ~RobotTask(); diff --git a/src/task/include/task/SpecificController.hpp b/src/task/include/task/SpecificController.hpp new file mode 100644 index 00000000000..f05e9586bd9 --- /dev/null +++ b/src/task/include/task/SpecificController.hpp @@ -0,0 +1,22 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__SPECIFICCONTROLLER_HPP_ +#define TASK__SPECIFICCONTROLLER_HPP_ + +#include "task/ControlTask.hpp" + +class SpecificController : public ControlTask +{ +public: + SpecificController(const std::string & name, Robot * robot); + SpecificController() = delete; + ~SpecificController(); + + void executePlan() override; + +protected: + void workerThread() override; +}; + +#endif // TASK__SPECIFICCONTROLLER_HPP_ diff --git a/src/task/include/task/Task.hpp b/src/task/include/task/Task.hpp index 8311c2ca796..6a69465e232 100644 --- a/src/task/include/task/Task.hpp +++ b/src/task/include/task/Task.hpp @@ -4,22 +4,30 @@ #ifndef TASK__TASK_HPP_ #define TASK__TASK_HPP_ +#include +#include +#include #include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" -class Task +class Task: public rclcpp::Node { public: - virtual ~Task() {} + Task(const std::string & name); + virtual ~Task(); + + void execute(); + void cancel(); protected: - // Emulate ROS Action for now: - // C++ templates for (Our)SimpleActionServer, (Our)SimpleActionClient - // - // * Subscriber for ROS topic for commands w/ parameters - // * Execute Command - // * Cancel Command - // * Publisher for status updates - // * Publisher for completion + virtual void workerThread() = 0; + + std::thread *workerThread_; + std::atomic stopWorkerThread_; + + void onCmdReceived(const std_msgs::msg::String::SharedPtr msg); + + rclcpp::Subscription::SharedPtr cmdSub_; }; #endif // TASK__TASK_HPP_ diff --git a/src/task/src/AStarPlanner.cpp b/src/task/src/AStarPlanner.cpp new file mode 100644 index 00000000000..8cf64108767 --- /dev/null +++ b/src/task/src/AStarPlanner.cpp @@ -0,0 +1,26 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/AStarPlanner.hpp" + +AStarPlanner::AStarPlanner(const std::string & name) +: PlanningTask(name) +{ + RCLCPP_INFO(get_logger(), "AStarPlanner::AStarPlanner"); +} + +AStarPlanner::~AStarPlanner() +{ + RCLCPP_INFO(get_logger(), "AStarPlanner::~AStarPlanner"); +} + +void +AStarPlanner::createPlan(const geometry_msgs::msg::PoseStamped & start, + const geometry_msgs::msg::PoseStamped & goal) +{ +} + +void +AStarPlanner::workerThread() +{ +} diff --git a/src/task/src/ControlTask.cpp b/src/task/src/ControlTask.cpp index e732283447d..fd75eef29e3 100644 --- a/src/task/src/ControlTask.cpp +++ b/src/task/src/ControlTask.cpp @@ -3,8 +3,8 @@ #include "task/ControlTask.hpp" -ControlTask::ControlTask(Robot * robot) -: RobotTask(robot) +ControlTask::ControlTask(const std::string & name, Robot * robot) +: RobotTask(name, robot) { } diff --git a/src/task/src/NavigationTask.cpp b/src/task/src/NavigationTask.cpp index b86b0a72ebf..92b724e35de 100644 --- a/src/task/src/NavigationTask.cpp +++ b/src/task/src/NavigationTask.cpp @@ -3,8 +3,8 @@ #include "task/NavigationTask.hpp" -NavigationTask::NavigationTask(Robot * robot) -: RobotTask(robot), planner_(robot), controller_(robot) +NavigationTask::NavigationTask(const std::string & name, Robot * robot) +: RobotTask(name, robot), planner_(name + "Planner"), controller_(name + "Controller", robot) { } diff --git a/src/task/src/PlanningTask.cpp b/src/task/src/PlanningTask.cpp index e1ff32f37e9..1849b2db045 100644 --- a/src/task/src/PlanningTask.cpp +++ b/src/task/src/PlanningTask.cpp @@ -3,11 +3,13 @@ #include "task/PlanningTask.hpp" -PlanningTask::PlanningTask(Robot * robot) -: RobotTask(robot) +PlanningTask::PlanningTask(const std::string & name) +: Task(name) { + RCLCPP_INFO(get_logger(), "PlanningTask::PlanningTask"); } PlanningTask::~PlanningTask() { + RCLCPP_INFO(get_logger(), "PlanningTask::~PlanningTask"); } diff --git a/src/task/src/RobotTask.cpp b/src/task/src/RobotTask.cpp index 30af17498f8..bbab2b4ee39 100644 --- a/src/task/src/RobotTask.cpp +++ b/src/task/src/RobotTask.cpp @@ -3,7 +3,8 @@ #include "task/RobotTask.hpp" -RobotTask::RobotTask(Robot * robot) +RobotTask::RobotTask(const std::string & name, Robot * robot) +: Task(name) { robot = robot; } diff --git a/src/task/src/SpecificController.cpp b/src/task/src/SpecificController.cpp new file mode 100644 index 00000000000..ad5e42e3f6d --- /dev/null +++ b/src/task/src/SpecificController.cpp @@ -0,0 +1,24 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/SpecificController.hpp" + +SpecificController::SpecificController(const std::string & name, Robot * robot) +: ControlTask(name, robot) +{ +} + +SpecificController::~ControlTask() +{ +} + +void +SpecificController::executePlan() +{ +} + +void +SpecificController::workerThread() +{ +} + diff --git a/src/task/src/Task.cpp b/src/task/src/Task.cpp new file mode 100644 index 00000000000..f957ab24da4 --- /dev/null +++ b/src/task/src/Task.cpp @@ -0,0 +1,54 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/Task.hpp" + +Task::Task(const std::string & name) +: Node(name), workerThread_(nullptr), stopWorkerThread_(false) +{ + RCLCPP_INFO(get_logger(), "Task::Task"); + + cmdSub_ = create_subscription("TaskCmd", + std::bind(&Task::onCmdReceived, this, std::placeholders::_1)); +} + +Task::~Task() +{ + RCLCPP_INFO(get_logger(), "Task::~Task"); + if (workerThread_ != nullptr) + cancel(); +} + +void +Task::execute() +{ + RCLCPP_INFO(get_logger(), "Task::execute"); + stopWorkerThread_ = false; + workerThread_ = new std::thread(&Task::workerThread, this); +} + +void +Task::cancel() +{ + RCLCPP_INFO(get_logger(), "Task::cancel"); + stopWorkerThread_ = true; + workerThread_->join(); + + delete workerThread_; + workerThread_ = nullptr; +} + +void +Task::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) +{ + RCLCPP_INFO(get_logger(), "Task::onCmdReceived: \"%s\"", msg->data.c_str()) + + if (msg->data.compare("ExecuteTask") == 0) { + execute(); + } else if (msg->data.compare("CancelTask") == 0) { + cancel(); + } else { + RCLCPP_INFO(get_logger(), "Task::onCmdReceived: invalid command: \"%s\"", + msg->data.c_str()) + } +} From 20740e10f908be9b95bddf7107bdf0bfd6b5e0b6 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Wed, 25 Jul 2018 13:32:52 -0700 Subject: [PATCH 27/27] Add DWA shell; add some trace macros --- src/task/CMakeLists.txt | 1 + ...ecificController.hpp => DwaController.hpp} | 8 +++--- src/task/include/task/NavigationTask.hpp | 4 +-- src/task/src/AStarPlanner.cpp | 2 ++ src/task/src/ControlTask.cpp | 2 ++ src/task/src/DwaController.cpp | 27 +++++++++++++++++++ src/task/src/NavigationTask.cpp | 2 ++ src/task/src/RobotTask.cpp | 2 ++ src/task/src/SpecificController.cpp | 24 ----------------- 9 files changed, 42 insertions(+), 30 deletions(-) rename src/task/include/task/{SpecificController.hpp => DwaController.hpp} (68%) create mode 100644 src/task/src/DwaController.cpp delete mode 100644 src/task/src/SpecificController.cpp diff --git a/src/task/CMakeLists.txt b/src/task/CMakeLists.txt index bc1af7b128b..e7d4f7f9ce6 100644 --- a/src/task/CMakeLists.txt +++ b/src/task/CMakeLists.txt @@ -28,6 +28,7 @@ add_library(task STATIC src/RobotTask.cpp src/Task.cpp src/AStarPlanner.cpp + src/DwaController.cpp ) ament_target_dependencies(task diff --git a/src/task/include/task/SpecificController.hpp b/src/task/include/task/DwaController.hpp similarity index 68% rename from src/task/include/task/SpecificController.hpp rename to src/task/include/task/DwaController.hpp index f05e9586bd9..e245fcefb2d 100644 --- a/src/task/include/task/SpecificController.hpp +++ b/src/task/include/task/DwaController.hpp @@ -6,12 +6,12 @@ #include "task/ControlTask.hpp" -class SpecificController : public ControlTask +class DwaController : public ControlTask { public: - SpecificController(const std::string & name, Robot * robot); - SpecificController() = delete; - ~SpecificController(); + DwaController(const std::string & name, Robot * robot); + DwaController() = delete; + ~DwaController(); void executePlan() override; diff --git a/src/task/include/task/NavigationTask.hpp b/src/task/include/task/NavigationTask.hpp index 5e7cc90f35a..4a9bc03df25 100644 --- a/src/task/include/task/NavigationTask.hpp +++ b/src/task/include/task/NavigationTask.hpp @@ -6,7 +6,7 @@ #include "task/RobotTask.hpp" #include "task/AStarPlanner.hpp" -#include "task/SpecificController.hpp" +#include "task/DwaController.hpp" class NavigationTask : public RobotTask { @@ -17,7 +17,7 @@ class NavigationTask : public RobotTask protected: AStarPlanner planner_; - SpecificController controller_; + DwaController controller_; }; #endif // TASK__NAVIGATIONTASK_HPP_ diff --git a/src/task/src/AStarPlanner.cpp b/src/task/src/AStarPlanner.cpp index 8cf64108767..e9694b405db 100644 --- a/src/task/src/AStarPlanner.cpp +++ b/src/task/src/AStarPlanner.cpp @@ -18,9 +18,11 @@ void AStarPlanner::createPlan(const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) { + RCLCPP_INFO(get_logger(), "AStarPlanner::createPlan"); } void AStarPlanner::workerThread() { + RCLCPP_INFO(get_logger(), "AStarPlanner::workerThread"); } diff --git a/src/task/src/ControlTask.cpp b/src/task/src/ControlTask.cpp index fd75eef29e3..49dc3adce3b 100644 --- a/src/task/src/ControlTask.cpp +++ b/src/task/src/ControlTask.cpp @@ -6,8 +6,10 @@ ControlTask::ControlTask(const std::string & name, Robot * robot) : RobotTask(name, robot) { + RCLCPP_INFO(get_logger(), "ControlTask::ControlTask"); } ControlTask::~ControlTask() { + RCLCPP_INFO(get_logger(), "ControlTask::~ControlTask"); } diff --git a/src/task/src/DwaController.cpp b/src/task/src/DwaController.cpp new file mode 100644 index 00000000000..4c7e54db03a --- /dev/null +++ b/src/task/src/DwaController.cpp @@ -0,0 +1,27 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "task/DwaController.hpp" + +DwaController::DwaController(const std::string & name, Robot * robot) +: ControlTask(name, robot) +{ + RCLCPP_INFO(get_logger(), "DwaController::DwaController"); +} + +DwaController::~DwaController() +{ + RCLCPP_INFO(get_logger(), "DwaController::~DwaController"); +} + +void +DwaController::executePlan() +{ + RCLCPP_INFO(get_logger(), "DwaController::executePlan"); +} + +void +DwaController::workerThread() +{ + RCLCPP_INFO(get_logger(), "DwaController::workerThread"); +} diff --git a/src/task/src/NavigationTask.cpp b/src/task/src/NavigationTask.cpp index 92b724e35de..0419fe21059 100644 --- a/src/task/src/NavigationTask.cpp +++ b/src/task/src/NavigationTask.cpp @@ -6,8 +6,10 @@ NavigationTask::NavigationTask(const std::string & name, Robot * robot) : RobotTask(name, robot), planner_(name + "Planner"), controller_(name + "Controller", robot) { + RCLCPP_INFO(get_logger(), "NavigationTask::NavigationTask"); } NavigationTask::~NavigationTask() { + RCLCPP_INFO(get_logger(), "NavigationTask::~NavigationTask"); } diff --git a/src/task/src/RobotTask.cpp b/src/task/src/RobotTask.cpp index bbab2b4ee39..6e32da1e922 100644 --- a/src/task/src/RobotTask.cpp +++ b/src/task/src/RobotTask.cpp @@ -6,9 +6,11 @@ RobotTask::RobotTask(const std::string & name, Robot * robot) : Task(name) { + RCLCPP_INFO(get_logger(), "RobotTask::RobotTask"); robot = robot; } RobotTask::~RobotTask() { + RCLCPP_INFO(get_logger(), "RobotTask::~RobotTask"); } diff --git a/src/task/src/SpecificController.cpp b/src/task/src/SpecificController.cpp deleted file mode 100644 index ad5e42e3f6d..00000000000 --- a/src/task/src/SpecificController.cpp +++ /dev/null @@ -1,24 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#include "task/SpecificController.hpp" - -SpecificController::SpecificController(const std::string & name, Robot * robot) -: ControlTask(name, robot) -{ -} - -SpecificController::~ControlTask() -{ -} - -void -SpecificController::executePlan() -{ -} - -void -SpecificController::workerThread() -{ -} -

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zA&IVLHQ85Dy&3KPNndx>rmG~?W4uM&>?@@V4GawQ^^@0M134Y1X&E*Nzb(2*U~#2% zfG%ec_)&AiL^#)$cKfyqCskj*jd1jsTlb-rpA2W80=_tcsyLfGn+?a+8qGwAIf6zD YCH~WaBQ9(9Gn?Rb*u}${;^?3JKWqp^MF0Q* diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index d01c927b822..cf2155d6601 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -1,8 +1,8 @@ # ROS 2 Navigation System Requirements -The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a given map. Provided with a navigation command to execute, the Navigation System generates a plan to achieve the desired result and outputs control commands to autonomously direct the robot, respecting any safety constraints and avoiding obstacles encountered along the way. +The ROS 2 Navigation System ("Navigation System") is the control system that enables a robot to autonomously reach a goal state, such as a specific position and orientation relative to a given map. Provided with a navigation command to execute, the Navigation System generates a plan to achieve the desired result and outputs control commands to autonomously direct the robot, respecting any safety constraints and avoiding obstacles encountered along the way. -This document lists the requirements for the ROS 2 Navigation System. The ROS 2 Navigation System is intended to be a generalization of the ROS 1 navigation stack and will address some of its known limitations. +This document lists the requirements for the ROS 2 Navigation System. The ROS 2 Navigation System is intended to be a generalization of the ROS 1 navigation stack and will address some of its known limitations. # 1. Introduction @@ -30,48 +30,58 @@ In the requirements specified below, certain keywords have a specific meaning as 4. **SHOULD NOT**: This phrase, or the phrase "NOT RECOMMENDED" mean that there may exist valid reasons in particular circumstances when the particular behavior is acceptable or even useful, but the full implications should be understood and the case carefully weighed before implementing any behavior described with this label. -5. **MAY**: This word, or the adjective "OPTIONAL", mean that an item is truly optional. One vendor may choose to include the item because a particular marketplace requires it or because the vendor feels that it enhances the product while another vendor may omit the same item. An implementation which does not include a particular option MUST be prepared to interoperate with another implementation which does include the option, though perhaps with reduced functionality. In the same vein an implementation which does include a particular option MUST be prepared to interoperate with another implementation which does not include the option (except, of course, for the feature the option provides.) +5. **MAY**: This word, or the adjective "OPTIONAL", mean that an item is truly optional. An implementation which does not include a particular option MUST be prepared to interoperate with another implementation which does include the option, though perhaps with reduced functionality. In the same vein an implementation which does include a particular option MUST be prepared to interoperate with another implementation which does not include the option (except, of course, for the feature the option provides). These definitions are derived from the IETF Best Current Practices Document #14. -## 1.3 Use Cases +## 1.3 Terminology -The Navigation System is part of a larger system that includes a person or automated system ("the user") directing the operation of one or more robots. To provide context for the Navigation System, this section lists the expected interactions between the user and the robot system. +Term | Definition +---- | ---------- +Path | A *Path* is an ordered sequence of points in space. +Route | A *Route* is a synonym for Path. +Trajectory | A *Trajectory* is a path for which which timing is specified, e.g., velocities and accelerations for each point. +Path Planning | *Path Planning* finds an optimal path from one node in a graph to another. Algorithms such as A*, D*, and RRT are all path planning algorithms if they don’t consider motion. +Motion Planning | *Motion Planning* specifies the motion of the robot over time. Motion can go along the same path but with different trajectories. -## 1.3.1 Mapping Use Cases +## 1.4 Use Cases -The user will typically create a map of the area in which the robot is to navigate. This map identifies significant features of the environment, such as safety zones, known obstacles, walls, virtual lanes, etc. While the creation of the map itself is outside the scope of the Navigation System, the system is dependent on the map format(s). The map will need to be rich enough to support the Navigation System requirements listed in this document. +The Navigation System is part of a larger system that includes a person or automated system ("the user") directing the operation of one or more robots. To provide context for the Navigation System, this section lists the expected interactions between the user and the robot system. + +## 1.4.1 Mapping Use Cases + +The user will typically create a map of the area in which the robot is to navigate, either manually or using the SLAM algorithm. This map identifies significant features of the environment, including fixed features, such as walls and fixed obstacles, and virtual features, such as navigation lanes and safety zones. While the creation of the map itself is outside the scope of the Navigation System, the system is dependent on the map format(s). The map will need to be rich enough to support the Navigation System requirements listed in this document. The following use case diagram shows an example of the kinds of operations provided by a mapping interface. ![Mapping Use Cases](./images/Mapping-Use-Cases.png) -## 1.3.2 Mission Planning Use Cases +## 1.4.2 Mission Planning Use Cases Another area in which the user interacts with the system is in the creation of a mission plan for the robot. The user composes a sequence of primitive navigation commands, such as **Navigate to Pose**, **Navigate to Area**, **Maintain Pose**, etc., into an overall plan. While mission planning is also outside the scope of the Navigation System, the mission plan format should be sufficient to meet the Navigation System requirements listed in this document. ![Mission Planning Use Cases](./images/Mission-Planning-Use-Cases.png) -## 1.3.3 Mission Execution Use Cases +## 1.4.3 Mission Execution Use Cases The user will be able to initiate the execution of specific mission plans ("missions") and should also be able to view the status of the mission in progress, as well as cancel the mission that is currently in progress. In addition, the user may be required to provide the robot with its initial pose if the robot is not able to determine it automatically. ![Mission Execution Use Cases](./images/Mission-Execution-Use-Cases.png) -## 1.4 Architectural Components +## 1.5 Architectural Components -The Navigation System is part of a larger software system. This document does not specify the architecture for the complete system, but simply gives a conceptual overview for the purpose of requirements definition. +The Navigation System is part of a larger software system. This document does not specify the architecture for the complete system, but simply gives a conceptual overview for the purpose of requirements definition. -The Navigation System has a *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and *support modules* which are used by modules in the command chain. +The Navigation System has a *command chain*, where each level refines its command input into successively more specific operations for the lext level down, and *support modules* which are used by modules in the command chain. -## 1.4.1 Command Chain +## 1.5.1 Command Chain The command chain is the sequence of modules that comprise the chain of command from the user, at the top, to the robot, at the bottom. * **Mission Planning** - Mission Planning provides an interface to the user to allow the user to create mission plans and assign them to robots for execution. A *Mission Plan* is a sequence of *Navigation Commands* along with associated information about how the commands should be carried out. * **Mission Execution** - Mission Execution receives the Mission Plan and is responsible to execute the plan and report progress on its execution. * **Navigation System** - The Navigation System receives a segment of an overall plan to execute (a *Navigation Command*) and generates the control commands to the robot to carry it out. -* **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means for the Navigation System to control the robot, learn about its capabilities, and receive feedback from the robot. +* **Robot Interface** - The Robot Interface is an abstraction of the robot platform, providing the means for the Navigation System to control the robot, learn about its capabilities, and receive feedback from the robot. The following diagram shows the modules in the command chain and the successive refinement of the control commands: @@ -79,8 +89,8 @@ The following diagram shows the modules in the command chain and the successive The Navigation System itself can be decomposed into two general responsibilities, *Planning*, and *Execution*. -* **Planning** - The Planning Module is responsible to execute Navigation Commands. To do so, this module can evaluate input maps and continually assess the robot's environment to plan motion and provide trajectories for the robot to follow to eventually achieve completion of the Navigation Command. -* **Execution** - The Execution Module is responsible to execute the trajectories provided by Planning, generating the control signals required to execute the Trajectory. +* **Planning** - The Planning Module is responsible to execute Navigation Commands. To do so, this module can evaluate input maps and continually assess the robot's environment to plan motion and provide the path for the robot to follow to achieve completion of the Navigation Command. +* **Execution** - The Execution Module is responsible to execute the path provided by Planning, generating the control signals required to follow the path. ![Navigation System](./images/Navigation-System.png) @@ -88,36 +98,36 @@ Decomposing the Navigation System, the overall command chain is as follows: ![Command Pipeline](./images/Command-Pipeline.png) -## 1.4.2 Support Modules +## 1.5.2 Support Modules -In addition to the command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. +In addition to the command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. Together, the support modules provide the robot with a full picture of the robot's environment. * **Mapping** - The Mapping Subsystem generates maps that can be used by the Navigation System to plan the robot's motion. Maps are typically created in advance and are available to the Navigation System. A map can be updated to reflect changes in the environment. The frequency of these updates will vary among implementations. * **Perception** - The Perception Subsystem utilizes sensors to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System, such as when avoiding obstacles in the robot's path. * **Prediction** - The Prediction Subsystem anticipates future motion trajectories of any perceived objects. -* **Localization** - The Localization Subsystem provides the current location of the robot. +* **Localization** - The Localization Subsystem provides the current location of the robot. In a complete robot system these modules are available to the core navigation modules (the command chain), as shown in the following diagram: ![Command Pipeline with Support](./images/With-Support-Modules.png) -To facilitate error recovery, each module in the command chain, if it is unable to carry out its task, its able to propagate error information to its predecessor in the chain. +To facilitate error recovery, each module in the command chain, if it is unable to carry out its task, should be able to propagate error information to its predecessor in the chain. -## 1.5 Design Goals +## 1.6 Design Goals The Navigation System designers should strive to meet the following high-level design goals: * **Extensibility** - The Navigation System should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System, such as adding the ability to handle new navigation commands. * **Modularity** - The Navigation System should allow other developers to *easily replace components* with alternative implementations. * **Generality** - The Navigation System should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. -* **Performance** - *TODO: What are the performance goals?* +* **Performance** - *TODO: What are the performance goals?* * **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* * *Other important design goals?* In particular, there are several specific goals for the ROS 2 Navigation System with respect to improving the existing ROS navigation stack: -* The user should be able to plan complex missions which include a series of navigation commands, and the Navigation System should be able to accept those commands and execute them. -* It should be possible to implement navigation components for specific navigation commands. In executing a mission plan, the Navigation System should be able to dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. +* The user should be able to plan complex missions which include a series of navigation commands, and the Navigation System should be able to accept those commands and execute them. +* It should be possible to implement navigation components for specific navigation commands. In executing a mission plan, the Navigation System should be able to dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. * The user should be able to specify different types of Robot drive types, such as Ackerman (automobile) steering, and Robot shapes (the current navigation stack is very limited in these areas). * The Navigation System should be able to handle more map types and orientations, including outdoor and 2D+ terrain. @@ -167,9 +177,9 @@ Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- MP001 | Mission Planning.Navigation Commands | 1 | The Mission Plan MUST be able to express the plan as a coordinated sequence of Navigation Commands. | Could include time and policy aspects (*when* and *how*, not just *what*) MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator). -MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. +MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. MP004 | Mission Planning.Navigation Commands.Navigate to Area | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. -MP005 | Mission Planning.Navigation Commands.Enqueue | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. +MP005 | Mission Planning.Navigation Commands.Enqueue | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. MP006 | Mission Planning.Navigation Commands.Follow | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached." MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based. MP008 | Mission Planning.Navigation Commands.Park | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to cause it, for example, to shut down or enter a low-power state. @@ -195,59 +205,60 @@ ME007 | Mission Execution.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a ME008 | Mission Execution.Feedback.Outputs.Progress Notification | 1 | The Mission Execution module SHALL provide progress notifications on the execution of the mission. | Intermediate steps of interest. ME009 | Mission Execution.Feedback.Outputs.Mission Completed | 1 | Upon successfull completion of the mission, the Mission Execution module SHALL output a corresponding notification. ME010 | Mission Execution.Feedback.Outputs.Mission Canceled | 1 | Upon receiving a cancellation command and cancelling the mission, the Mission Execution module SHALL output a corresponding notification. -ME011 | Mission Execution.Feedback.Outputs.Mission Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST output a failure notification. | This would be received by the user-level interface and could necessitate user intervention, such as having a remote operating center where the remote operator "rescues" the robot. +ME011 | Mission Execution.Feedback.Outputs.Mission Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST output a failure notification. | This would be received by the user-level interface and could necessitate user intervention, such as having a remote operating center where the remote operator "rescues" the robot. ME012 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. ### 2.3.3 Navigation System.Planning -The Planning Module receives the Navigation Command from the Mission Execution module and is responsible to implement that command. To do so, the Planning Module can use information from the Mapping Subsystem to plan a route and use input from the Perception Subsystem to evaluate the dynamic environment and avoid collisions with objects crossing its path. +The Navigation System's Planning Module receives the Navigation Command from the Mission Execution module and is responsible to implement that command. To do so, the Planning Module can use information from the Mapping Subsystem to plan a route and use input from the Perception Subsystem to evaluate the dynamic environment and avoid collisions with objects crossing its path. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PLN001 | Planning | 1 | The Navigation System SHOULD have a Planning Module that generates trajectories to follow to implement a specified Navigation Command. | Separate the planning phase from execution. +PLN001 | Planning | 1 | The Navigation System SHOULD have a Planning Module that generates the Path for the robot to follow to implement a specified Navigation Command. PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL receive the Navigation Command to execute. -PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example). -PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment +PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute. | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example). +PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment. PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Sensory Subsystem. PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Sensory Subsystem. -PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose | The pose could be be provided manually or automatically determined (outside of this module) -PLN008 | Planning.Outputs.Trajectory | 1 | The Planning Module MUST output trajectories for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. -PLN009 | Planning.Collision Avoidance.Avoid Stationary Objects | 1 | The Robot MUST avoid colliding into stationary objects in its environment | Fixed parts of the environment, such as walls or shelving. *TODO: How close can it come? Does it depend on the robot's speed?* -PLN010 | Planning.Collision Avoidance.Avoid Moving Objects | 1 | The Robot MUST avoid colliding into moving objects that intercept its path | Such as people and other robots *TODO: How close can it come? Does it depend on the robot speed? Any specific parameters for the collision avoidance? Perhaps different global values for object-specific properties in the environment?* -PLN011 | Planning.Collision Detection | 1 | The Planning Module SHOULD detect if a collision has occurred. -PLN012 | Planning.Collision Detection.Latency | 1 | The Planning Module SHOULD detect collisions within 50ms. | *What is the right latency value?* -PLN013 | Planning.Collision Recovery | 1 | The Planning Module SHOULD recover from collisions. | Recovery behavior could be configurable based on the robot/environment/application. -PLN014 | Planning.Feedback.Inputs | 1 | The Planner MUST receive error input from the downstream Control Module so that it can attempt to recover from control failures. -PLN015 | Planning.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure, the Mission Execution module SHOULD attempt to automatically recover from the error | For example, if the robot gets stuck, the Planning Module could have the robot perform a recovery maneuver of some kind. -PLN016 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the provided Navigation Command, the Planning Module MUST report this event on its feedback output. -PLN017 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. -PLN018 | Planning.Feedback.Outputs.Collision Detected | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -PLN019 | Planning.Feedback.Outputs.Recovered from Collision | 1 | *TODO: What happens in the error/exception reporting chain to report a collision?* -PLN020 | Planning.Dynammic Selection of Planners | 1 | The selection of the Planning Module to use for a given Navigation Command should be dynamic. | There SHOULD be multiple planners available and chosen depending on the command to be executed. -PLN021 | Planning.High-End Planner | 1 | The Navigation System SHOULD implement a state-of-the-art planner | Can serve as an example to others developing planners. -PLN022 | Planning.Low-End Planner | 1 | The Navigation System SHOULD implement a planner for low-compute targets | Can serve as an example to others developing planners. -PLN023 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a planner. -PLN024 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planner | An easily understood module that developers and students could use as a starting point. - -### 2.3.4 Navigation System.Control - -*TODO: The Control Module ... Bottom half of the Local Planner (Planning)* +PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose. | The pose could be be provided manually or automatically determined (outside of this module). +PLN008 | Planning.Outputs.Path | 1 | The Planning Module MUST output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. +PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MUST receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures. +PLN010 | Planning.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure, the Planning Module SHOULD attempt to automatically recover from the error. | Handling a robot that gets stuck or handling a collision, for example. +PLN011 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the provided Navigation Command, the Planning Module MUST report this event on its feedback output. +PLN012 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. +PLN013 | Planning.Feedback.Outputs.Error Propagation | 1 | The Planning Module SHOULD propagate errors that it can't handle. +PLN014 | Planning.Logging | 1 | The Planning Module SHOULD log significant events. | Commands completed, failures, recoveries, etc. +PLN015 | Planning.Selection of Planners | 1 | The Navigation System should enable the association and use of a given Planning Module with a given Navigation Command. +PLN016 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a Planning Module. +PLN017 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planning Module. | An easily understood module that developers and students could use as a starting point. + +### 2.3.4 Navigation System.Execution + +The Navigation System's Execution Module is responsible to execute the Path specified by the Planning Module. It has available to it all of the information from the support modules and must respect any policy guidance. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -CTL001 | Control | 1 | The Control Module MUST... +EXE001 | Execution | 1 | The Navigation System SHOULD have an Execution Module that generates commands to the robot to achieve a specific Path. +EXE002 | Execution.Inputs.Path | 1 | The Execution Module SHALL receive a Path that the robot is to follow. +EXE003 | Execution.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Path to follow. | Could filter down from higher-level policy specification. +EXE004 | Execution.Collision Avoidance.Avoid Stationary Objects | 1 | The Execution Module MUST direct the robot such that it avoids colliding into stationary objects in its environment. +EXE005 | Execution.Collision Avoidance.Avoid Moving Objects | 1 | The Execution Module MUST direct the robot such that it avoids colliding into moving objects that intercept its path. +EXE006 | Execution.Collision Detection | 1 | The Execution Module SHOULD detect if a collision has occurred. +EXE007 | Execution.Collision Detection.Latency | 1 | The Execution Module SHOULD detect collisions within 50ms. | *What is the right value?* +EXE008 | Execution.Feedback.Inputs.Robot Malfunction | 1 | The Execution Module SHOULD receive notifications of any robot malfunctions from the downstream robot interface. | A sensor failure, for example. +EXE009 | Execution.Feedback.Outputs.Collision Detected | 1 | The Execution Module SHOULD report the detection of a collision. | So that the Planning Module can attempt recovery or otherwise respond. +EXE010 | Execution.Feedback.Outputs.Error Propagation | 1 | The Execution Module SHOULD propagate errors that it can't handle. +EXE011 | Execution.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop an Execution Module. +EXE012 | Execution.Simple Example | 1 | The Navigation System SHOULD provided a simple example of an Execution Module| An easily understood module that developers and students could use as a starting point. ### 2.3.5 Robot Interface -*TODO: What to say about the robot interface?* -* *Should there be a robot abstraction?* -* *Perhaps this would be a convenient place to put some safety-related functionality* - -There should be a uniform interface to the various supported robots. This may require a layer on top of the vendor-specific interface(s). +There should be a uniform interface to the various supported robots. The abstraction of different robots may be handled by current mechanisms, such as UDRF, Twist commands, etc. We should consider if anything else is needed here. +require a layer on top of the vendor-specific interface(s). Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -RI001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. +RI001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. RI002 | Robot Interface.Dynamic Switching | 1 | Can the robot dynamically change attributes? RI003 | Robot Interface.Safety.Limited Parameters | 1 | A list of parameters used to limit certain circumstances and provide the hooks for users to set those values if they want RI004 | Robot Interface.Safety.Speed Limiting | 1 | TODO @@ -261,29 +272,30 @@ There are a few support modules and subsystems that are not part of the Navigati ### 2.4.1 Mapping -The map data format should be capable of describing common indoor and outdoor environments encoutered by the robots. +The map data format should be capable of describing typical indoor and outdoor environments encoutered by the robots. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System | So that the Mapping System has a basic understanding of its environment. Can be used during planning. -MAP002 | Mapping.Dynamic Updates | 1 | The Mapping System SHALL provide real-time updates of map information, as the environment described by the map changes. -MAP003 | Mapping.Data Model.Obstacles | 1 | Maps provided by Mapping Subsystem MUST indicate the location of known obstacles. -MAP004 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map SHALL have a confidence metric associated with it. -MAP005 | Mapping.Data Model.Unknown Space | 1 | Maps provided by Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. -MAP006 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. -MAP007 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations. -MAP008 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* -MAP009 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. -MAP010 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. -MAP011 | Mapping.Data Model.Safety Zone.Policy.Keep Out | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. -MAP012 | Mapping.Data Model.Lanes | 1 | Able to specify virtual lanes. Prefer the specified lanes (such as in a warehouse). -MAP013 | Mapping.Data Model.Building Levels | 1 | Able to specify single and multi-level buildings. -MAP014 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | Able to specify level connecting features, such as elevators, stairways, ramps. -MAP015 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Different scales and elevations? -MAP016 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment | *TODO: Layers concept?* -MAP017 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information. -MAP018 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information. | *TODO: How is this defined?* -MAP019 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information. | *TODO: Use voxel-based?* +MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System. +MAP002 | Mapping.Data Model.Obstacles | 1 | Maps provided by Mapping Subsystem MUST indicate the location of known obstacles. +MAP003 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map SHALL have a confidence metric associated with it. +MAP004 | Mapping.Data Model.Unknown Space | 1 | Maps provided by Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. +MAP005 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. +MAP006 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations. +MAP007 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* +MAP008 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. +MAP009 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. +MAP010 | Mapping.Data Model.Safety Zone.Policy.Keep Out | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. +MAP011 | Mapping.Data Model.Lanes | 1 | The map data format SHALL be able to specify virtual lanes. | May prefer specified lanes in a warehouse, for example. +MAP012 | Mapping.Data Model.Building Levels | 1 | The map data format SHALL be able to specify single and multi-level buildings. +MAP013 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | The map data format SHALL be able to specify level-connecting features, such as elevators, stairways, and ramps. +MAP014 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Different scales and elevations? +MAP015 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment +MAP016 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information. +MAP017 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information. | *TODO: How is this defined?* +MAP018 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information. +MAP019 | Mapping.Dynamic Updates | 1 | The Mapping System SHOULD provide real-time updates of map information. | Allow for updates to the map to be pushed to clients. +MAP020 | Mapping.Optimization | 1 | The Mapping System SHOULD provide the Navigation System with local map regions, sufficient for navigation. | Could provide relevant map tiles, for example, saving memory in the planners. ### 2.4.2 Perception @@ -291,7 +303,7 @@ The Perception Subsystem provides information about objects detected in the robo Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PER001 | Perception | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot | Info sufficient to carry out the Navigation System requirements. +PER001 | Perception | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot. | Info sufficient to carry out the Navigation System requirements. PER002 | Perception.Latency | 1 | TODO ### 2.4.3 Prediction @@ -300,47 +312,39 @@ The Prediction Subsystem TODO Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PRD001 | Prediction.Object Prediction | 1 | The Prediction Subsystem SHOULD predict the trajectories of detected objects. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects -PRD002 | Prediction.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* +PRE001 | Prediction.Object Prediction | 1 | The Prediction Subsystem SHOULD predict the trajectories of detected objects. | One of the biggest shortcomings of the current system is the inability to model/predict where obstacles will be in the future. This leads to collisions with other moving objects +PRE002 | Prediction.Object Prediction.Time Horizon | 1 | *TODO: How far into the future should the object prediction work?* ### 2.4.4 Localization -The Navigation System requires the Robot's current pose, provided by an external Localization module. This section lists the requirements for the information from the Localization module. +The Navigation System requires the Robot's current pose, provided by an external Localization module. This section lists the requirements for the information provided by the the Localization Module. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way -LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the expected accuracy of its generated poses. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. - +LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System. | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way. +LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the estimated accuracy of the pose. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. Could use PoseWithCovariance message. **TODO** +* Integrate Matt's section +* Clarify how Recovery Commands work * (mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. -* Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? Yes, we do this for Automotive - -* Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. - -* Turtlebot image: (Carl) - * MP001: (mikefurgeson) I understand the desire to be able to "plan several legs of a trip at once, so if one is impassable you don't start the trip at all", but I feel like that is fairly incongruent with how actions typically are implemented. I know actionlib isn't implemented in ROS2 yet, but the issue I see arising is: how do you cancel part way through? * MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? * MP012: (Carl) How would this work? What if we can't meet the time requirement? Do we need to calculate out the ETA before starting so we can throw an error as soon as the command is given? What happens if the time constraint is much greater than required? Do we slow down or wait somewhere? (Me) Good questions. For me, the first question is whether it is important to introduce time-related requirements into the mission plan or not. If so, we'll have to address the issues that you mention. Would be good to get input from users. -* Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." -Suggestion: Changing the phrase "known obstacles" to "known static obstacles". - -**DONE** +**DONE** * MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) * (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). -* Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" +* Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" * Mission Execution Use Cases: (Mohammad) We might want to change the phrase "initial location" to "initial pose" which includes both position and orientation. * GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. -* MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? +* MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? * MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. * MP009: (Carl) Why is this a special primitive? Can't "go to area" suffice? (Me) I'm not sure. We'd have to capture that the floor isn't always present, at least. It can't be freely navigated into. * MP010: (Carl) Can't we just use go to location/area to get out of the elevator. (Me) I think we need to consider how to handle elevators and other kinds of lifts, where the mechanism has various states. If there's an external controller that's handling the elevator doors, etc., the Execution mechanism for the robot needs to at least feedback that it's ready to enter (or exit) an elevator and wait for the go-head. I think we should mock up some example mission plans and work through these issues. @@ -348,7 +352,10 @@ Suggestion: Changing the phrase "known obstacles" to "known static obstacles". * MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. * MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. * (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. - -**OPENS** -* *TODO: How to handle reverse direction? Does each primitive include this information?* -* PLN003 | Planning.Inputs.Route.Negative Velocity | 1 | To support reverse motion, the Planning Module MUST support negative velocity values +* Remove PLN021 and PLN022. Should we change to express in terms of time? Performance requirements. +* 2.3.4 "Control" -> "Execution" +* Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. +* (Mohammad) Suggestion: Changing the phrase "known obstacles" to "known static obstacles". +* Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." +* Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? +* Add Terminology Section (?) \ No newline at end of file From 75048293660ebec1c25c5b3ec52404a9c77bf002 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Tue, 10 Jul 2018 15:04:35 -0700 Subject: [PATCH 09/27] Address more review feedback --- doc/requirements/requirements.md | 76 +++++++------------------------- 1 file changed, 17 insertions(+), 59 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index cf2155d6601..0490fbbd2c1 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -36,6 +36,8 @@ These definitions are derived from the IETF Best Current Practices Document #14. ## 1.3 Terminology +This section defines some common terminology as used in this document. + Term | Definition ---- | ---------- Path | A *Path* is an ordered sequence of points in space. @@ -90,7 +92,7 @@ The following diagram shows the modules in the command chain and the successive The Navigation System itself can be decomposed into two general responsibilities, *Planning*, and *Execution*. * **Planning** - The Planning Module is responsible to execute Navigation Commands. To do so, this module can evaluate input maps and continually assess the robot's environment to plan motion and provide the path for the robot to follow to achieve completion of the Navigation Command. -* **Execution** - The Execution Module is responsible to execute the path provided by Planning, generating the control signals required to follow the path. +* **Execution** - The Execution Module is responsible to execute the path provided by Planning, generating the control commands required to follow the path. ![Navigation System](./images/Navigation-System.png) @@ -124,13 +126,6 @@ The Navigation System designers should strive to meet the following high-level d * **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* * *Other important design goals?* -In particular, there are several specific goals for the ROS 2 Navigation System with respect to improving the existing ROS navigation stack: - -* The user should be able to plan complex missions which include a series of navigation commands, and the Navigation System should be able to accept those commands and execute them. -* It should be possible to implement navigation components for specific navigation commands. In executing a mission plan, the Navigation System should be able to dynamically use the associated components for each navigation command. For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have a special components that control a series of maneuvers such as docking to a charging station or a conveyor belt. -* The user should be able to specify different types of Robot drive types, such as Ackerman (automobile) steering, and Robot shapes (the current navigation stack is very limited in these areas). -* The Navigation System should be able to handle more map types and orientations, including outdoor and 2D+ terrain. - # 2.0 Requirements This section lists the requirements for the Navigation System. @@ -171,7 +166,7 @@ This section lists the requirements for the core command chain modules in the Na ### 2.3.1 Mission Planning -A complete system should have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of navigation commands, along with any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. +A complete system should have some kind of Mission Planning subsystem to convey the user's intentions to the robot. The User interacts with this Mission Planning subsystem to generate a Mission Plan for the robot. The Mission Plan is defined as a sequence of Navigation Commands, along with any associated information about how and when the plan should be carried out. The design and implementation of a Mission Planning subsystem is outside the scope of the Navigation System. However, in order to understand the larger system context and how Mission Planning interacts with the Navigation System, this section will consider the nature of a mission plan and the kinds of operations it may contain. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- @@ -207,6 +202,7 @@ ME009 | Mission Execution.Feedback.Outputs.Mission Completed | 1 | Upon successf ME010 | Mission Execution.Feedback.Outputs.Mission Canceled | 1 | Upon receiving a cancellation command and cancelling the mission, the Mission Execution module SHALL output a corresponding notification. ME011 | Mission Execution.Feedback.Outputs.Mission Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST output a failure notification. | This would be received by the user-level interface and could necessitate user intervention, such as having a remote operating center where the remote operator "rescues" the robot. ME012 | Mission Execution.Safe State Upon Failure | 1 | If the Mission Execution module is unable to execute the mission, it MUST direct the robot to a safe state. | The failure could be for a variety of reasons - sensor failures, algorithmic failure, a collision, etc. +ME013 | Mission Execution.Selection of Planners | 1 | The Navigation System SHOULD allow the association and use of specific Planning and Execution Modules for a given Navigation Command. | For example, a user may want to have components for classic point-A-to-point-B travel, but upon reaching point B, have specialized components that control a series of maneuvers such as docking to a charging station or a conveyor belt. ### 2.3.3 Navigation System.Planning @@ -218,8 +214,8 @@ PLN001 | Planning | 1 | The Navigation System SHOULD have a Planning Module that PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL receive the Navigation Command to execute. PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute. | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example). PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment. -PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Sensory Subsystem. -PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Sensory Subsystem. +PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Perception Subsystem. +PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Perception Subsystem. PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose. | The pose could be be provided manually or automatically determined (outside of this module). PLN008 | Planning.Outputs.Path | 1 | The Planning Module MUST output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MUST receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures. @@ -228,9 +224,8 @@ PLN011 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the p PLN012 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. PLN013 | Planning.Feedback.Outputs.Error Propagation | 1 | The Planning Module SHOULD propagate errors that it can't handle. PLN014 | Planning.Logging | 1 | The Planning Module SHOULD log significant events. | Commands completed, failures, recoveries, etc. -PLN015 | Planning.Selection of Planners | 1 | The Navigation System should enable the association and use of a given Planning Module with a given Navigation Command. -PLN016 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a Planning Module. -PLN017 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planning Module. | An easily understood module that developers and students could use as a starting point. +PLN015 | Planning.Documentation | 1 | The Navigation System SHOULD provided detailed documentation on how to develop a Planning Module. +PLN016 | Planning.Simple Example | 1 | The Navigation System SHOULD provided a simple example of a Planning Module. | An easily understood module that developers and students could use as a starting point. ### 2.3.4 Navigation System.Execution @@ -253,8 +248,7 @@ EXE012 | Execution.Simple Example | 1 | The Navigation System SHOULD provided a ### 2.3.5 Robot Interface -There should be a uniform interface to the various supported robots. The abstraction of different robots may be handled by current mechanisms, such as UDRF, Twist commands, etc. We should consider if anything else is needed here. -require a layer on top of the vendor-specific interface(s). +There should be a uniform interface to the various supported robots. The abstraction of different robots may be handled by current mechanisms, such as UDRF, Twist commands, etc. We should consider if anything else is needed here. The user should be able to specify different types of robot drive types, such as Ackerman (automobile) steering, and robot shapes. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- @@ -279,23 +273,23 @@ Id | Handle | Priority | Description | Notes MAP001 | Mapping | 1 | The Mapping System SHALL provide map information to the Navigation System. MAP002 | Mapping.Data Model.Obstacles | 1 | Maps provided by Mapping Subsystem MUST indicate the location of known obstacles. MAP003 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map SHALL have a confidence metric associated with it. -MAP004 | Mapping.Data Model.Unknown Space | 1 | Maps provided by Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. +MAP004 | Mapping.Data Model.Unknown Space | 1 | Maps provided by the Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. MAP005 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. MAP006 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations. MAP007 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* MAP008 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. MAP009 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. -MAP010 | Mapping.Data Model.Safety Zone.Policy.Keep Out | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. +MAP010 | Mapping.Data Model.Safety Zone.Policy.Keep Out Zone | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. MAP011 | Mapping.Data Model.Lanes | 1 | The map data format SHALL be able to specify virtual lanes. | May prefer specified lanes in a warehouse, for example. MAP012 | Mapping.Data Model.Building Levels | 1 | The map data format SHALL be able to specify single and multi-level buildings. MAP013 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | The map data format SHALL be able to specify level-connecting features, such as elevators, stairways, and ramps. -MAP014 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Different scales and elevations? -MAP015 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment +MAP014 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Such as for different scales and elevations. +MAP015 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment. MAP016 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information. MAP017 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information. | *TODO: How is this defined?* MAP018 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information. MAP019 | Mapping.Dynamic Updates | 1 | The Mapping System SHOULD provide real-time updates of map information. | Allow for updates to the map to be pushed to clients. -MAP020 | Mapping.Optimization | 1 | The Mapping System SHOULD provide the Navigation System with local map regions, sufficient for navigation. | Could provide relevant map tiles, for example, saving memory in the planners. +MAP020 | Mapping.Memory Optimization.Tiling | 1 | The Mapping System MAY provide the Navigation System with local map regions, sufficient for navigation. | Could provide relevant map tiles, for example, saving memory in the planners. ### 2.4.2 Perception @@ -303,7 +297,7 @@ The Perception Subsystem provides information about objects detected in the robo Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -PER001 | Perception | 1 | The Sensory Subsystem SHALL provide information about the dynamic environment of the robot. | Info sufficient to carry out the Navigation System requirements. +PER001 | Perception | 1 | The Perception Subsystem SHALL provide information about the dynamic environment of the robot. | Info sufficient to carry out the Navigation System requirements. PER002 | Perception.Latency | 1 | TODO ### 2.4.3 Prediction @@ -322,40 +316,4 @@ The Navigation System requires the Robot's current pose, provided by an external Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System. | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way. -LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the estimated accuracy of the pose. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. Could use PoseWithCovariance message. - - -**TODO** -* Integrate Matt's section -* Clarify how Recovery Commands work - -* (mike furgeson) In supporting this, I think you'll find that you also want to make it easy to "reset or disable" a planner. Most of these planners may have large memory usage, and for efficiency may not want to recreate them for each plan -- if you have multiple running at once, each taking up memory, you might actually run out of memory quickly. Having an easy API to say "hey, not using this planner for a while, have it release resources" would be very useful. - -* MP001: (mikefurgeson) I understand the desire to be able to "plan several legs of a trip at once, so if one is impassable you don't start the trip at all", but I feel like that is fairly incongruent with how actions typically are implemented. I know actionlib isn't implemented in ROS2 yet, but the issue I see arising is: how do you cancel part way through? - -* MP004,MP005: (Carl) This requires a much more complicated understanding of the world than I think we want to incorporate into the navstack. It implies we can identify what things in the environment are robots and distinguish a particular one even as it moves around in traffic, possibly goes out of view etc. (mikefurgeson) I concur -- this should provide a tool for generic navigation, and higher level "applications" would then call into the navigation stack. (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? - -* MP012: (Carl) How would this work? What if we can't meet the time requirement? Do we need to calculate out the ETA before starting so we can throw an error as soon as the command is given? What happens if the time constraint is much greater than required? Do we slow down or wait somewhere? (Me) Good questions. For me, the first question is whether it is important to introduce time-related requirements into the mission plan or not. If so, we'll have to address the issues that you mention. Would be good to get input from users. - - -**DONE** -* MP002: (Carl) What if the planner can't find a path? Then we can't meet this requirement. Should be rephrased to allow for failure (and the resulting reporting of failure) -* (mikefurgeson) Should we try to move away from calling this "static map" -- a common use case would be running navigation at the same time as mapping -- to explore the environment. In this case, the map isn't "static" but rather slowly changing. In particular, the important part is that the map must have some "constant reference frame" even as it changes over time (for instance, you can arbitrarily move 0,0 and expect things to still work, but if you add onto the map at runtime, the system should be able to handle it). -* Mission Planning Use Cases: (Mohammad) Changing the phrase "Navigate to Position" to either "Navigate to Position and Orientation" or "Navigate to Pose" -* Mission Execution Use Cases: (Mohammad) We might want to change the phrase "initial location" to "initial pose" which includes both position and orientation. -* GP003: (Mohammad) The Global Planner "MUST" have the robot's current pose. -* MP005: (Mohammad) Are we planning to implement object detection and tracking to accomplish this task? Or does the Nav stack gets a series of waypoints from other supporting modules? -* MP007: (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. -* MP009: (Carl) Why is this a special primitive? Can't "go to area" suffice? (Me) I'm not sure. We'd have to capture that the floor isn't always present, at least. It can't be freely navigated into. -* MP010: (Carl) Can't we just use go to location/area to get out of the elevator. (Me) I think we need to consider how to handle elevators and other kinds of lifts, where the mechanism has various states. If there's an external controller that's handling the elevator doors, etc., the Execution mechanism for the robot needs to at least feedback that it's ready to enter (or exit) an elevator and wait for the go-head. I think we should mock up some example mission plans and work through these issues. -* MP008: (Carl) Going to a low power state seems out of scope for the navstack. -* MP007: (Carl) Could this just be reduced to not having a specified objective? What would the robot do if it isn't given a wait primitive? (Mohammad) "Wait" should be changed to "HoldPose". For example: the robot is on an inclined plane and the user wants the robot to stay at its current pose. @crdelsey If the HoldPose primitive is not given the robot would role in this example. HoldPose may also be considered to be out of scope for Nav stack. The robot's base controller should take care of holding the pose. -* MP006: (Carl) Orbit what? I can see potentially orbitting a fixed position in the world. Orbitting an object seems outside our scope. -* (mikeferguson) Ideally, this module should also be extremely well commented and documented, such that it can be used as a teaching tool -- I presume it will be a fairly straight forward A* implementation, which means it can be easily understood by students and adapted during various coursework. -* Remove PLN021 and PLN022. Should we change to express in terms of time? Performance requirements. -* 2.3.4 "Control" -> "Execution" -* Localization: (mikefurgeson) This won't be exact -- so it should also provide an estimate of the accuracy (current navigation stack can't take that into account, but future local planners certainly could). The current message is PoseWithCovariance to accomplish this in ROS1. -* (Mohammad) Suggestion: Changing the phrase "known obstacles" to "known static obstacles". -* Mapping Use Cases: (Mohammad) Suggestion: "The user will typically either manually create a map or uses SLAM algorithm to create a map of the area in which the robot is to navigate." -* Mapping: (mikefurgeson) Any thoughts around tiling? Especially for out-of-memory situations? -* Add Terminology Section (?) \ No newline at end of file +LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the estimated accuracy of the pose. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. Could use PoseWithCovariance message. \ No newline at end of file From a603201a0a81f3aadb52ebab19fd794457b37733 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Tue, 10 Jul 2018 15:48:09 -0700 Subject: [PATCH 10/27] Address Matt's feedback --- doc/requirements/requirements.md | 33 ++++++++++++++++---------------- 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index 0490fbbd2c1..c4c2b233de2 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -32,7 +32,7 @@ In the requirements specified below, certain keywords have a specific meaning as 5. **MAY**: This word, or the adjective "OPTIONAL", mean that an item is truly optional. An implementation which does not include a particular option MUST be prepared to interoperate with another implementation which does include the option, though perhaps with reduced functionality. In the same vein an implementation which does include a particular option MUST be prepared to interoperate with another implementation which does not include the option (except, of course, for the feature the option provides). -These definitions are derived from the IETF Best Current Practices Document #14. +These definitions are derived from the [IETF Best Current Practices Document 14](https://tools.ietf.org/html/bcp14). ## 1.3 Terminology @@ -42,8 +42,8 @@ Term | Definition ---- | ---------- Path | A *Path* is an ordered sequence of points in space. Route | A *Route* is a synonym for Path. -Trajectory | A *Trajectory* is a path for which which timing is specified, e.g., velocities and accelerations for each point. -Path Planning | *Path Planning* finds an optimal path from one node in a graph to another. Algorithms such as A*, D*, and RRT are all path planning algorithms if they don’t consider motion. +Trajectory | A *Trajectory* is a path parameterized by time. +Path Planning | *Path Planning* finds an optimal path from one node in a graph to another. Algorithms such as A*, D*, and RRT are all path planning algorithms if they don't consider motion. Motion Planning | *Motion Planning* specifies the motion of the robot over time. Motion can go along the same path but with different trajectories. ## 1.4 Use Cases @@ -102,7 +102,7 @@ Decomposing the Navigation System, the overall command chain is as follows: ## 1.5.2 Support Modules -In addition to the command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the inteface to these components is in scope and the associated requirements should be defined. Together, the support modules provide the robot with a full picture of the robot's environment. +In addition to the command chain, there are several supporting modules and subsystems required for a complete system. The implementation of these modules is outside the scope of the Navigation System. However, the interface to these components is in scope and the associated requirements should be defined. Together, the support modules provide the robot with a full picture of the robot's environment. * **Mapping** - The Mapping Subsystem generates maps that can be used by the Navigation System to plan the robot's motion. Maps are typically created in advance and are available to the Navigation System. A map can be updated to reflect changes in the environment. The frequency of these updates will vary among implementations. * **Perception** - The Perception Subsystem utilizes sensors to develop an understanding of the dynamic environment around the robot. This information is available to the Navigation System, such as when avoiding obstacles in the robot's path. @@ -117,10 +117,10 @@ To facilitate error recovery, each module in the command chain, if it is unable ## 1.6 Design Goals -The Navigation System designers should strive to meet the following high-level design goals: +The Navigation System should meet the following high-level design goals: * **Extensibility** - The Navigation System should be a *pluggable framework* to allow for other developers to easily extend the capabilities of the Navigation System, such as adding the ability to handle new navigation commands. -* **Modularity** - The Navigation System should allow other developers to *easily replace components* with alternative implementations. +* **Modularity** - The Navigation System should allow developers to *easily replace components* with alternative implementations. * **Generality** - The Navigation System should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. * **Performance** - *TODO: What are the performance goals?* * **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* @@ -143,20 +143,20 @@ IC004 | Implementation Language.C++.Supported Compilers.g++ | 1 | The Navigation IC005 | Implementation Language.C++.Supported Compilers.Clang | 1 | The Navigation System code SHALL compile with Clang, version *x* IC006 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | The Navigation System code SHOULD compile with the Intel C++ Compiler, version *x* | Could be useful for optimization purposes IC007 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 -IC008 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System MUST use the Qt library, via C++ or Python (PyQt) | *Which version?* +IC008 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System SHOULD use the Qt library, via C++ or Python (PyQt) | *Which version?* IC009 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML IC010 | ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* ## 2.2 Target Platforms -The Navigation System will run on the latest versions of the operating systems supported by the core ROS 2 code. + Navigation System will run on the latest versions of the operating systems supported by the core ROS 2 code. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- TP001 | Target Platforms.Operating Systems.Ubuntu | 1 | The Navigation System MUST support Ubuntu Desktop 16.04 and Ubuntu Desktop 18.04 TP002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUST support MacOS 10.13 (High Sierra) and MacOS 10.14 (Mohave) TP003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional -TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the latest version of Intel's Clear Linux distribution | What is the latest version number? +TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model. TP005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size TP006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* @@ -173,16 +173,17 @@ Id | Handle | Priority | Description | Notes MP001 | Mission Planning.Navigation Commands | 1 | The Mission Plan MUST be able to express the plan as a coordinated sequence of Navigation Commands. | Could include time and policy aspects (*when* and *how*, not just *what*) MP002 | Mission Planning.Navigation Commands.Composition | 1 | The Mission Plan SHOULD allow for the composition and naming of new Navigation Commands from a sequence of previously-defined Navigation Commands. | Build up levels of abstraction. For example, Enter-Elevator could be expressed as Navigate-to-Pose (right outside of elevator), Wait (for door to open), Navigate-to-Pose (inside the elevator). MP003 | Mission Planning.Navigation Commands.Navigate to Pose | 1 | The Mission Plan MUST be able to convey the information required for a robot to navigate from its current location to a specific destination pose. -MP004 | Mission Planning.Navigation Commands.Navigate to Area | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. +MP004 | Mission Planning.Navigation Commands.Navigate to Area | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a specific area. | An "area" could be a rectangular region or a more complex shape. It may be defined as tolerance to a goal (ie. within +/- 1 meter distance). MP005 | Mission Planning.Navigation Commands.Enqueue | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to navigate from its current location to a position behind another specified robot. MP006 | Mission Planning.Navigation Commands.Follow | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to be able to follow another specified robot. | This one doesn't have a completion state (reaching the goal), unless it specifies additional information such as "follow until destination reached." MP007 | Mission Planning.Navigation Commands.Maintain Pose | 1 | The Mission Plan SHOULD be able to convey the information required for a robot to maintain its current pose. | Could be indefinite or time-based. MP008 | Mission Planning.Navigation Commands.Park | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to park itself. | The implementation of the parking command could interact with the robot to cause it, for example, to shut down or enter a low-power state. -MP009 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints. -MP010 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin. -MP011 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end. -MP012 | Mission Planning.Policy.Safety.Maximum Speed | 1 | The Mission Plan SHOULD be able to convey a maximum speed for the robot. | The robot would respect this value in carrying out the plan. This could be site-specific policy. -MP013 | Mission Planning.Policy.Safety.Minimum Safety Buffer | 1 | The Mission Plan SHOULD be able to convey a minimum safety buffer distance. | The robot would respect this value and maintain the distance from other objects at all times. Should vary with relative velocities. +MP009 | Mission Planning.Navigation Commands.Dock to Charger | 2 | The Mission Plan SHOULD be able to convey the information required for a robot to dock to a specific charging station. +MP010 | Mission Planning.Policy | 1 | The Mission Plan SHOULD be able to express information about how and when the navigation commands are to be carried out. | Time and safety constraints. +MP011 | Mission Planning.Policy.Time.Initiation | 1 | The Mission Plan SHOULD be able to convey when a mission should begin. +MP012 | Mission Planning.Policy.Time.Completion | 1 | The Mission Plan SHOULD be able to convey by when a mission should end. +MP013 | Mission Planning.Policy.Safety.Maximum Speed | 1 | The Mission Plan SHOULD be able to convey a maximum speed for the robot. | The robot would respect this value in carrying out the plan. This could be site-specific policy. +MP014 | Mission Planning.Policy.Safety.Minimum Safety Buffer | 1 | The Mission Plan SHOULD be able to convey a minimum safety buffer distance. | The robot would respect this value and maintain the distance from other objects at all times. Should vary with relative velocities. ### 2.3.2 Mission Execution @@ -275,7 +276,7 @@ MAP002 | Mapping.Data Model.Obstacles | 1 | Maps provided by Mapping Subsystem M MAP003 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map SHALL have a confidence metric associated with it. MAP004 | Mapping.Data Model.Unknown Space | 1 | Maps provided by the Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. MAP005 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. -MAP006 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations. +MAP006 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations according to specified constraints. MAP007 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* MAP008 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. MAP009 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. From e0d28db017151fcc353d934771d07f9bcb04ad9b Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 12 Jul 2018 09:49:28 -0700 Subject: [PATCH 11/27] Address Matt's feedback --- LICENSE | 201 ------------------------------- doc/README.md | 2 +- doc/requirements/requirements.md | 56 +++++---- 3 files changed, 35 insertions(+), 224 deletions(-) delete mode 100644 LICENSE diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 261eeb9e9f8..00000000000 --- a/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - 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. diff --git a/doc/README.md b/doc/README.md index 096818d82dc..468481e37a4 100644 --- a/doc/README.md +++ b/doc/README.md @@ -5,4 +5,4 @@ This is where the ROS2 Navigation System documentation is being collected and ve See the [requirements document](requirements/requirements.md) for the current list of requirements. # Contributing -To propose additions or changes to the requirements, modify the requirements document and submit a pull request for review. +To propose additions or changes to the requirements, please file an issue against the requirements document to initiate a discussion of the topic. Then, once the discussion has completed and the group has agreed to move forward on the item, you can submit a pull request and link to the issue. diff --git a/doc/requirements/requirements.md b/doc/requirements/requirements.md index c4c2b233de2..2cdf3f3f1c2 100644 --- a/doc/requirements/requirements.md +++ b/doc/requirements/requirements.md @@ -43,8 +43,8 @@ Term | Definition Path | A *Path* is an ordered sequence of points in space. Route | A *Route* is a synonym for Path. Trajectory | A *Trajectory* is a path parameterized by time. -Path Planning | *Path Planning* finds an optimal path from one node in a graph to another. Algorithms such as A*, D*, and RRT are all path planning algorithms if they don't consider motion. -Motion Planning | *Motion Planning* specifies the motion of the robot over time. Motion can go along the same path but with different trajectories. +Path Planning | *Path Planning* refers to the process of finding an optimal path between multiple locations. Path planning is typically characterized as a graph traversal problem and algorithms such as A*, D*, and RRT are common choices for implementation. +Motion Planning | *Motion Planning* refers to the process of specifying the motion of the robot over time to follow a specific path. ## 1.4 Use Cases @@ -123,8 +123,8 @@ The Navigation System should meet the following high-level design goals: * **Modularity** - The Navigation System should allow developers to *easily replace components* with alternative implementations. * **Generality** - The Navigation System should not introduce inherent limitations in the architectural blocks. For example, it should support multiple kinds of robots, not making assumptions about robot capabilities and limitations and should support various map types and orientations. * **Performance** - *TODO: What are the performance goals?* -* **Scalability** - *TODO: How low should the implementation scale?* *Specify a minimum platform?* -* *Other important design goals?* +* **Scalability** - *TODO: What are the scalability goals?* +* *TODO: Other important design goals to call out?* # 2.0 Requirements @@ -136,7 +136,7 @@ There are various constraints on the development of the ROS 2 Navigation stack. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- -IC001 | Developer's Guide | 1 | The Navigation System SHOULD be developed in accordance with the ROS 2 Devloper's Guide | [ROS 2 Developer's Guide](https://github.com/ros2/ros2/wiki/Developer-Guide) +IC001 | Developer's Guide | 1 | The Navigation System SHOULD be developed in accordance with the ROS 2 Developer's Guide | [ROS 2 Developer's Guide](https://github.com/ros2/ros2/wiki/Developer-Guide) IC002 | Implementation Language.C++.Version | 1 | Developers SHALL assume the availability of C++14 language features | Per the ROS 2 Developer's Guide IC003 | Implementation Language.C++.API Preference | 1 | Developers SHOULD prefer standard C++, then Boost, then custom code, in that order. | Boost may be used if equivalent functionality is not already available in the C++ standard library IC004 | Implementation Language.C++.Supported Compilers.g++ | 1 | The Navigation System code SHALL compile with gcc 5.4 or newer @@ -145,7 +145,7 @@ IC006 | Implementation Language.C++.Supported Compilers.Intel C++ Compiler | 1 | IC007 | Implementation Language.Python.Version | 1 | Any Python code developed for the Navigation System MUST use Python 3 IC008 | Implementation Language.GUI | 1 | Any GUIs developed as part of the Navigation System SHOULD use the Qt library, via C++ or Python (PyQt) | *Which version?* IC009 | Implementation Language.GUI.QML | 1 | Any GUIs developed as part of the Navigation System MAY use QML -IC010 | ROS2.Version | 1 | The Navigation System WILL be developed against the latest stable version of the ROS 2 stack | *What is the current latest version?* +IC010 | ROS2.Version | 1 | The first revision of the Navigation System WILL target the Crystal Clemmys release of ROS2. | We should develop against the latest ROS2 code whenever possible. ## 2.2 Target Platforms @@ -158,7 +158,7 @@ TP002 | Target Platforms.Operating Systems.MacOS | 1 | The Navigation System MUS TP003 | Target Platforms.Operating Systems.Windows | 1 | The Navigation System MUST support Windows 10 Professional TP004 | Target Platforms.Operating Systems.Clear Linux | 1 | The Navigation System SHOULD support the Intel's Clear Linux distribution | Clear Linux uses a continuous deployment model. TP005 | Target Platforms.CPU.Word Size | 1 | The Navigation System SHALL support 64-bit processors | Don't assume a specific pointer size -TP006 | Target Platforms.Minimum Platform | 1 | *Should we specify a minimum target platform?* *Or, should this be expressed as minimum platform requirements?* +TP006 | Target Platforms.Minimum Platform | 1 | *TODO: Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements?* ## 2.3 Command Chain Modules @@ -216,10 +216,10 @@ PLN002 | Planning.Inputs.Navigation Command | 1 | The Planning Module SHALL rece PLN003 | Planning.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Navigation Command to execute. | This could be global policy and/or per-command policy. Policy could contain, for example, a list of conventions for the robot to follow (navigate on the right side of a path, for example). PLN004 | Planning.Inputs.Mapping.Maps | 1 | The Planning Module MUST have access to one or more maps available that describe the robot's environment. PLN005 | Planning.Inputs.Perception.Sensory Input | 1 | The Planning Module MUST have access to data from the Perception Subsystem. -PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MUST have access to predicted trajectories of objects detected by the Perception Subsystem. +PLN006 | Planning.Inputs.Prediction.Predicted Trajectories | 1 | The Planning Module MAY have access to predicted trajectories of objects detected by the Perception Subsystem. | In simple planners, there is no prediction of moving objects, but in more complex planners, this may be considered. PLN007 | Planning.Inputs.Localization.Current Pose | 1 | The Planning Module MUST have access to the robot's current pose. | The pose could be be provided manually or automatically determined (outside of this module). -PLN008 | Planning.Outputs.Path | 1 | The Planning Module MUST output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. -PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MUST receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures. +PLN008 | Planning.Outputs.Path | 1 | The Planning Module SHOULD output the Path for the robot to follow to execute the input Navigation Command and MUST respect any associated policy. +PLN009 | Planning.Feedback.Inputs | 1 | The Planning Module MAY receive error input from the downstream Execution Module. | So that it can attempt to recover from execution failures. PLN010 | Planning.Feedback.Inputs.Error Recovery | 1 | Upon receipt of a downstream failure, the Planning Module SHOULD attempt to automatically recover from the error. | Handling a robot that gets stuck or handling a collision, for example. PLN011 | Planning.Feedback.Outputs.Command Completed | 1 | Upon completing the provided Navigation Command, the Planning Module MUST report this event on its feedback output. PLN012 | Planning.Feedback.Outputs.Unable to Execute Command | 1 | If the Planning Module is unable to execute the Navigation Command, it SHALL report the error on its feedback output. | It should handle errors if possible, but report back if it can't. @@ -236,11 +236,11 @@ Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- EXE001 | Execution | 1 | The Navigation System SHOULD have an Execution Module that generates commands to the robot to achieve a specific Path. EXE002 | Execution.Inputs.Path | 1 | The Execution Module SHALL receive a Path that the robot is to follow. -EXE003 | Execution.Inputs.Policy | 1 | The Planning Module SHALL receive policy information associated with the Path to follow. | Could filter down from higher-level policy specification. +EXE003 | Execution.Inputs.Policy | 1 | The Execution Module SHALL receive policy information associated with the Path to follow. | Could filter down from higher-level policy specification. EXE004 | Execution.Collision Avoidance.Avoid Stationary Objects | 1 | The Execution Module MUST direct the robot such that it avoids colliding into stationary objects in its environment. EXE005 | Execution.Collision Avoidance.Avoid Moving Objects | 1 | The Execution Module MUST direct the robot such that it avoids colliding into moving objects that intercept its path. EXE006 | Execution.Collision Detection | 1 | The Execution Module SHOULD detect if a collision has occurred. -EXE007 | Execution.Collision Detection.Latency | 1 | The Execution Module SHOULD detect collisions within 50ms. | *What is the right value?* +EXE007 | Execution.Collision Detection.Latency | 1 | The Execution Module SHOULD detect collisions within 50ms. | *TODO: What is the right value?* EXE008 | Execution.Feedback.Inputs.Robot Malfunction | 1 | The Execution Module SHOULD receive notifications of any robot malfunctions from the downstream robot interface. | A sensor failure, for example. EXE009 | Execution.Feedback.Outputs.Collision Detected | 1 | The Execution Module SHOULD report the detection of a collision. | So that the Planning Module can attempt recovery or otherwise respond. EXE010 | Execution.Feedback.Outputs.Error Propagation | 1 | The Execution Module SHOULD propagate errors that it can't handle. @@ -256,10 +256,10 @@ Id | Handle | Priority | Description | Notes RI001 | Robot Interface.Attributes | 1 | Holonomicity, max/min speeds and accelerations, etc. RI002 | Robot Interface.Dynamic Switching | 1 | Can the robot dynamically change attributes? RI003 | Robot Interface.Safety.Limited Parameters | 1 | A list of parameters used to limit certain circumstances and provide the hooks for users to set those values if they want -RI004 | Robot Interface.Safety.Speed Limiting | 1 | TODO -RI005 | Robot Interface.Safety.Force Limiting | 1 | TODO -RI006 | Robot Interface.EMO Button | 1 | TODO -RI007 | Robot Interface.Feedback.Outputs | 1 | TODO +RI004 | Robot Interface.Safety.Speed Limiting | 1 | *TODO* +RI005 | Robot Interface.Safety.Force Limiting | 1 | *TODO* +RI006 | Robot Interface.EMO Button | 1 | *TODO* +RI007 | Robot Interface.Feedback.Outputs | 1 | *TODO* ## 2.4 Support Modules @@ -277,7 +277,7 @@ MAP003 | Mapping.Data Model.Confidence Metric | 1 | Each known obstacle in a map MAP004 | Mapping.Data Model.Unknown Space | 1 | Maps provided by the Mapping Subsystem MUST indicate unmapped/unknown space. | Such as areas beyond the edge of the map, or areas within the map for which we didn't have any observations during map building. MAP005 | Mapping.Data Model.Surface Planarity | 1 | The map data format SHALL be capable of describing the planarity of traversable surfaces. | Can describe uneven ground. MAP006 | Mapping.Data Model.Safety Zone | 1 | The map data format SHALL be capable of defining regions where the robot may have to adjust its operations according to specified constraints. -MAP007 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *Does it need to be a unique name?* +MAP007 | Mapping.Data Model.Safety Zone.Name | 1 | The map data format SHOULD allow for naming each safety zone. | *TODO: Does it need to be a unique name?* MAP008 | Mapping.Data Model.Safety Zone.Type | 1 | The map data format SHOULD allow for defining types of safety zones. | To allow for re-use of a safety zone type without redefining policy. Could be an "intersection" type, for example. May want to slot down at all intersections, for example. MAP009 | Mapping.Data Model.Safety Zone.Policy | 1 | The map data format SHALL be capable of expressing policy associated with each safety zone and safety zone type. | Maximum speed, (increased) distance to people, etc. MAP010 | Mapping.Data Model.Safety Zone.Policy.Keep Out Zone | 1 | The map data format SHALL be capable of expressing that a robot must not navigate through this zone. @@ -287,8 +287,8 @@ MAP013 | Mapping.Data Model.Building Levels.Level Connecting Features | 1 | The MAP014 | Mapping.Multiple Maps Per Environment | 1 | The Mapping System MAY provide multiple maps of the same environment. | Such as for different scales and elevations. MAP015 | Mapping.Data Model.Extensibility | 1 | The Mapping System SHOULD be extensible, to allow for the description of additional entities in the environment. MAP016 | Mapping.Dimensionality.2D | 1 | The Mapping System MUST provide 2D map information. -MAP017 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MUST provide 2D+ map information. | *TODO: How is this defined?* -MAP018 | Mapping.Dimensionality.3D | 1 | The Mapping System SHOULD provide 3D map information. +MAP017 | Mapping.Dimensionality.2D+ | 1 | The Mapping System MAY provide 2D+ map information. +MAP018 | Mapping.Dimensionality.3D | 1 | The Mapping System MAY provide 3D map information. MAP019 | Mapping.Dynamic Updates | 1 | The Mapping System SHOULD provide real-time updates of map information. | Allow for updates to the map to be pushed to clients. MAP020 | Mapping.Memory Optimization.Tiling | 1 | The Mapping System MAY provide the Navigation System with local map regions, sufficient for navigation. | Could provide relevant map tiles, for example, saving memory in the planners. @@ -299,11 +299,11 @@ The Perception Subsystem provides information about objects detected in the robo Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- PER001 | Perception | 1 | The Perception Subsystem SHALL provide information about the dynamic environment of the robot. | Info sufficient to carry out the Navigation System requirements. -PER002 | Perception.Latency | 1 | TODO +PER002 | Perception.Latency | 1 | *TODO* ### 2.4.3 Prediction -The Prediction Subsystem TODO +The Prediction Subsystem uses input from the Perception Subsystem and predicts the trajectories of the detected objects over time. Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- @@ -317,4 +317,16 @@ The Navigation System requires the Robot's current pose, provided by an external Id | Handle | Priority | Description | Notes -- | ------ | -------- | ----------- | ----- LOC001 | Localization.Robot Pose | 1 | The Localization module MUST provide the robot's current pose to the Navigation System. | This could be manual or as a result of automatic localization; the Navigation System wouldn't know either way. -LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the estimated accuracy of the pose. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. Could use PoseWithCovariance message. \ No newline at end of file +LOC002 | Localization.Robot Pose.Accuracy | 1 | The Localization Module MUST provide the estimated accuracy of the pose. | So that Planning modules can determine if a particular Localization module has sufficient accuracy. Could use PoseWithCovariance message. + +## 2.5 Open Issues + +* What are the performance goals for the ROS2 Navigation System? +* What are the scalability for the ROS2 Navigaton System? +* Any other important design goals to call out? +* Should we specify a minimum target platform? Or, should this be expressed as minimum platform requirements? +* What is the right latency value for detecting a collision? +* Should we add any safety-related functionality at the robot interface level? +* Do safety zones need unique names? +* What is the target latency for the perception subsystem? +* How far into the future should the object prediction work? From 9f54af09f28f9a3475eb6f32a8467168684bdd42 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 16 Jul 2018 14:06:28 -0700 Subject: [PATCH 12/27] Check in an initial sketch of the mission execution code --- src/.gitignore | 0 src/mission_execution/CMakeLists.txt | 36 ++++++++++++ .../mission_execution/MissionExecution.hpp | 58 +++++++++++++++++++ .../MissionExecutionStateMachine.hpp | 39 +++++++++++++ .../MissionExecutionStateMachineBehavior.hpp | 17 ++++++ .../include/mission_execution/MissionPlan.hpp | 14 +++++ .../mission_execution/NavigationCommand.hpp | 14 +++++ src/mission_execution/package.xml | 17 ++++++ .../src/MissionExecution.cpp | 44 ++++++++++++++ .../src/MissionExecutionStateMachine.cpp | 26 +++++++++ .../src/NavigationCommand.cpp | 12 ++++ src/mission_execution/src/main.cpp | 15 +++++ 12 files changed, 292 insertions(+) delete mode 100644 src/.gitignore create mode 100644 src/mission_execution/CMakeLists.txt create mode 100644 src/mission_execution/include/mission_execution/MissionExecution.hpp create mode 100644 src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp create mode 100644 src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp create mode 100644 src/mission_execution/include/mission_execution/MissionPlan.hpp create mode 100644 src/mission_execution/include/mission_execution/NavigationCommand.hpp create mode 100644 src/mission_execution/package.xml create mode 100644 src/mission_execution/src/MissionExecution.cpp create mode 100644 src/mission_execution/src/MissionExecutionStateMachine.cpp create mode 100644 src/mission_execution/src/NavigationCommand.cpp create mode 100644 src/mission_execution/src/main.cpp diff --git a/src/.gitignore b/src/.gitignore deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt new file mode 100644 index 00000000000..6f1e3dc82d4 --- /dev/null +++ b/src/mission_execution/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.5) +project(mission_execution) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) + +include_directories( + include + ) + +add_executable(mission_execution + src/main.cpp + src/MissionExecution.cpp + src/MissionExecutionStateMachine.cpp + src/NavigationCommand.cpp + ) + +ament_target_dependencies(mission_execution + rclcpp + ) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin) + +ament_package() diff --git a/src/mission_execution/include/mission_execution/MissionExecution.hpp b/src/mission_execution/include/mission_execution/MissionExecution.hpp new file mode 100644 index 00000000000..828451c9068 --- /dev/null +++ b/src/mission_execution/include/mission_execution/MissionExecution.hpp @@ -0,0 +1,58 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef MISSION_EXECUTION__MISSIONEXECUTION_HPP_ +#define MISSION_EXECUTION__MISSIONEXECUTION_HPP_ + +#include "rclcpp/rclcpp.hpp" +#include "mission_execution/MissionPlan.hpp" +#include "mission_execution/MissionExecutionStateMachineBehavior.hpp" +#include "mission_execution/MissionExecutionStateMachine.hpp" + +class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachineBehavior +{ +public: + MissionExecution(); + virtual ~MissionExecution(); + + /** + * @brief Start Mission Execution. Once the instance is initialized, the state + * machine automatically transitions to the Ready state and is ready to + * execute missions, which can be initiated using executionMission. + */ + void start(); + + /** + * @brief Stop Mission Execution. Any in-flight missions must be canceled first, + * using cancelMission. + */ + void stop(); + + /** + * @brief Execute a Mission Plan + */ + void executeMission(const MissionPlan * missionPlan); + + /** + * @brief Cancel the current, in-flight Mission, which must have been previously + * starting using executeMission. + */ + void cancelMission(); + + /** @name State Machine Behavior + * Implementation of the MissionExecutionStateMachineBehavior interface + */ + ///@{ + void doReadyState(); + void doExecutingState(); + void doCancelingState(); + void doRecoveringState(); + void doAbortingState(); + ///@} + +private: + MissionExecutionStateMachine m_MissionExecutionStateMachine; + const MissionPlan * m_missionPlan; +}; + +#endif // MISSION_EXECUTION__MISSIONEXECUTION_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp new file mode 100644 index 00000000000..a6ff41f92dd --- /dev/null +++ b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp @@ -0,0 +1,39 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ +#define MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ + +#include "mission_execution/MissionExecutionStateMachineBehavior.hpp" + +class MissionExecutionStateMachine +{ +public: + explicit MissionExecutionStateMachine(MissionExecutionStateMachineBehavior * behavior); + virtual ~MissionExecutionStateMachine(); + + // No default constructor + MissionExecutionStateMachine() = delete; + + typedef enum MissionExecutionEvent + { + EVENT_CANCEL_MISSION, + EVENT_EXECUTE_MISSION, + EVENT_EXECUTE_RECOVERY, + EVENT_EXECUTION_FAILED, + EVENT_MISSION_CANCELED, + EVENT_MISSION_EXECUTED, + EVENT_MISSION_FAILED, + EVENT_RECOVERY_FAILED, + EVENT_RECOVERY_SUCCESSFUL + } MissionExecutionEvent; + + void run(); + void fireEvent(const MissionExecutionEvent eventToFire); + void halt(); + +private: + MissionExecutionStateMachineBehavior * m_behavior; +}; + +#endif // MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp b/src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp new file mode 100644 index 00000000000..897afbe97c3 --- /dev/null +++ b/src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp @@ -0,0 +1,17 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ +#define MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ + +class MissionExecutionStateMachineBehavior +{ +public: + virtual void doReadyState() = 0; + virtual void doExecutingState() = 0; + virtual void doCancelingState() = 0; + virtual void doRecoveringState() = 0; + virtual void doAbortingState() = 0; +}; + +#endif // MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionPlan.hpp b/src/mission_execution/include/mission_execution/MissionPlan.hpp new file mode 100644 index 00000000000..f21d25bd1c1 --- /dev/null +++ b/src/mission_execution/include/mission_execution/MissionPlan.hpp @@ -0,0 +1,14 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef MISSION_EXECUTION__MISSIONPLAN_HPP_ +#define MISSION_EXECUTION__MISSIONPLAN_HPP_ + +class MissionPlan +{ +public: + MissionPlan(); + virtual ~MissionPlan(); +}; + +#endif // MISSION_EXECUTION__MISSIONPLAN_HPP_ diff --git a/src/mission_execution/include/mission_execution/NavigationCommand.hpp b/src/mission_execution/include/mission_execution/NavigationCommand.hpp new file mode 100644 index 00000000000..32830f75f2c --- /dev/null +++ b/src/mission_execution/include/mission_execution/NavigationCommand.hpp @@ -0,0 +1,14 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ +#define MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ + +class NavigationCommand +{ +public: + NavigationCommand(); + virtual ~NavigationCommand(); +}; + +#endif // MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ diff --git a/src/mission_execution/package.xml b/src/mission_execution/package.xml new file mode 100644 index 00000000000..043b811d109 --- /dev/null +++ b/src/mission_execution/package.xml @@ -0,0 +1,17 @@ + + + + mission_execution + 0.1.0 + Mission execution is a ROS2 node carries out an input navigation command by interfacing with the ROS2 Navigation System. + Michael Jeronimo + Michael Jeronimo + Apache License 2.0 + ament_cmake + rclcpp + rclcpp + + ament_cmake + + + diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp new file mode 100644 index 00000000000..698a944c3a9 --- /dev/null +++ b/src/mission_execution/src/MissionExecution.cpp @@ -0,0 +1,44 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "mission_execution/MissionExecution.hpp" + +MissionExecution::MissionExecution() +: Node("mission_execution"), + m_MissionExecutionStateMachine(this), + m_missionPlan(nullptr) +{ +} + +MissionExecution::~MissionExecution() +{ +} + +void MissionExecution::executeMission(const MissionPlan * missionPlan) +{ + m_missionPlan = missionPlan; +} + +void MissionExecution::cancelMission() +{ +} + +void MissionExecution::doReadyState() +{ +} + +void MissionExecution::doExecutingState() +{ +} + +void MissionExecution::doCancelingState() +{ +} + +void MissionExecution::doRecoveringState() +{ +} + +void MissionExecution::doAbortingState() +{ +} diff --git a/src/mission_execution/src/MissionExecutionStateMachine.cpp b/src/mission_execution/src/MissionExecutionStateMachine.cpp new file mode 100644 index 00000000000..20c8c221764 --- /dev/null +++ b/src/mission_execution/src/MissionExecutionStateMachine.cpp @@ -0,0 +1,26 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "mission_execution/MissionExecutionStateMachine.hpp" + +MissionExecutionStateMachine::MissionExecutionStateMachine( + MissionExecutionStateMachineBehavior * behavior) +: m_behavior(behavior) +{ +} + +MissionExecutionStateMachine::~MissionExecutionStateMachine() +{ +} + +void MissionExecutionStateMachine::run() +{ +} + +void MissionExecutionStateMachine::fireEvent(const MissionExecutionEvent /*eventToFire*/) +{ +} + +void MissionExecutionStateMachine::halt() +{ +} diff --git a/src/mission_execution/src/NavigationCommand.cpp b/src/mission_execution/src/NavigationCommand.cpp new file mode 100644 index 00000000000..418e129d70a --- /dev/null +++ b/src/mission_execution/src/NavigationCommand.cpp @@ -0,0 +1,12 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "mission_execution/NavigationCommand.hpp" + +NavigationCommand::NavigationCommand() +{ +} + +NavigationCommand::~NavigationCommand() +{ +} diff --git a/src/mission_execution/src/main.cpp b/src/mission_execution/src/main.cpp new file mode 100644 index 00000000000..14c52ff40a8 --- /dev/null +++ b/src/mission_execution/src/main.cpp @@ -0,0 +1,15 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include +#include "rclcpp/rclcpp.hpp" +#include "mission_execution/MissionExecution.hpp" + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} From 3cff85adda0a1ff1ef47ff115adc7d5a022d015f Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Mon, 16 Jul 2018 17:09:44 -0700 Subject: [PATCH 13/27] Begin adding some sample state machine implementation code --- src/mission_execution/CMakeLists.txt | 13 ++- .../mission_execution/MissionExecution.hpp | 4 +- .../MissionExecutionStateMachine.hpp | 6 +- .../src/MissionExecution.cpp | 29 ++++++- .../src/MissionExecutionStateMachine.cpp | 81 ++++++++++++++++++- 5 files changed, 124 insertions(+), 9 deletions(-) diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 6f1e3dc82d4..7600f112756 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -15,6 +15,13 @@ find_package(rclcpp REQUIRED) include_directories( include + /usr/local/include/yasmine + /usr/local/include/yasmine/include + /usr/local/include/yasmine/include_impl +# /usr/local/include/yasmine/essentials/include +# /usr/local/include/yasmine/essentials/include/essentials +# /usr/local/include/yasmine/essentials/include/essentials/compatibility +# /usr/local/include/yasmine/hermes ) add_executable(mission_execution @@ -24,6 +31,10 @@ add_executable(mission_execution src/NavigationCommand.cpp ) +target_link_libraries(mission_execution + yasmine + ) + ament_target_dependencies(mission_execution rclcpp ) @@ -31,6 +42,6 @@ ament_target_dependencies(mission_execution install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION bin) + RUNTIME DESTINATION lib/${PROJECT_NAME}) ament_package() diff --git a/src/mission_execution/include/mission_execution/MissionExecution.hpp b/src/mission_execution/include/mission_execution/MissionExecution.hpp index 828451c9068..64198b91084 100644 --- a/src/mission_execution/include/mission_execution/MissionExecution.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecution.hpp @@ -51,8 +51,8 @@ class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachin ///@} private: - MissionExecutionStateMachine m_MissionExecutionStateMachine; - const MissionPlan * m_missionPlan; + MissionExecutionStateMachine missionExecutionStateMachine_; + const MissionPlan * missionPlan_; }; #endif // MISSION_EXECUTION__MISSIONEXECUTION_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp index a6ff41f92dd..0d728c3bbcc 100644 --- a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp @@ -33,7 +33,11 @@ class MissionExecutionStateMachine void halt(); private: - MissionExecutionStateMachineBehavior * m_behavior; + void initStateMachine(); + bool checkStateMachineForDefects(); + + MissionExecutionStateMachineBehavior * behavior_; + void * impl_; }; #endif // MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp index 698a944c3a9..d8750bb46b7 100644 --- a/src/mission_execution/src/MissionExecution.cpp +++ b/src/mission_execution/src/MissionExecution.cpp @@ -5,8 +5,8 @@ MissionExecution::MissionExecution() : Node("mission_execution"), - m_MissionExecutionStateMachine(this), - m_missionPlan(nullptr) + missionExecutionStateMachine_(this), + missionPlan_(nullptr) { } @@ -16,15 +16,34 @@ MissionExecution::~MissionExecution() void MissionExecution::executeMission(const MissionPlan * missionPlan) { - m_missionPlan = missionPlan; + missionPlan_ = missionPlan; } void MissionExecution::cancelMission() { + // TODO: Do the work to cancel the in-flight mission + + // Initiate the state transition + missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_CANCELED); } void MissionExecution::doReadyState() { + // TODO: Wait for a mission to execute + + // TODO: Once we receive a mission plan, we may want to do some work, such as validating its syntax and semantics + + // TODO: Now that we know the mission plan is ready for execution, get started + + // TODO: Normal processing loop for the mission plan + + + // Initiate the state transition + missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_EXECUTED); + // Or: + missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); + // Or: + missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_RECOVERY); } void MissionExecution::doExecutingState() @@ -41,4 +60,8 @@ void MissionExecution::doRecoveringState() void MissionExecution::doAbortingState() { + // TODO: Do the work to abort the current mission + + // Initiate the state transition + missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); } diff --git a/src/mission_execution/src/MissionExecutionStateMachine.cpp b/src/mission_execution/src/MissionExecutionStateMachine.cpp index 20c8c221764..c8f5a1ec436 100644 --- a/src/mission_execution/src/MissionExecutionStateMachine.cpp +++ b/src/mission_execution/src/MissionExecutionStateMachine.cpp @@ -3,10 +3,32 @@ #include "mission_execution/MissionExecutionStateMachine.hpp" +#include +#include "yasmine.hpp" + +typedef sxe::SX_UNIQUE_PTR state_machine_uptr; + +typedef struct yasmine_data { + state_machine_uptr sm; +} yasmine_data; + +static void +handleUnhandledEvent(const sxy::event& event) +{ + std::cout << "Unhandled state machine event: '" << event.get_name() << "'" << std::endl; +} + MissionExecutionStateMachine::MissionExecutionStateMachine( MissionExecutionStateMachineBehavior * behavior) -: m_behavior(behavior) +: behavior_(behavior) { + impl_ = new yasmine_data; + sxy::version::log_version(); + + initStateMachine(); + + if (checkStateMachineForDefects()) + throw("MissionExecution state machine has defects"); } MissionExecutionStateMachine::~MissionExecutionStateMachine() @@ -15,12 +37,67 @@ MissionExecutionStateMachine::~MissionExecutionStateMachine() void MissionExecutionStateMachine::run() { + //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::run()\n"); + std::cout << "MissionExecutionStateMachine::run()\n"; } -void MissionExecutionStateMachine::fireEvent(const MissionExecutionEvent /*eventToFire*/) +void MissionExecutionStateMachine::fireEvent(const MissionExecutionEvent eventToFire) { + //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::fireEvent: %d\n", eventToFire); + std::cout << "MissionExecutionStateMachine::fireEvent: " << eventToFire << "\n"; } void MissionExecutionStateMachine::halt() { + //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::halt\n"); + std::cout << "MissionExecutionStateMachine::halt\n"; +} + +void MissionExecutionStateMachine::initStateMachine() +{ + std::string nm("MissionExecution"); + const std::string& name = nm; + + // Create the state machine + state_machine_uptr state_machine = SX_MAKE_UNIQUE(name); + + // Create a single "region" to contain the state machine + sxy::composite_state& root_state = state_machine->get_root_state(); + sxy::region& main_region = root_state.add_region("main region"); + + // Add the initial state, required by all state machines + sxy::initial_pseudostate& initial_pseudostate = main_region.add_initial_pseudostate("initial"); + + // Add the states + sxy::simple_state& simple_state_ready = main_region.add_simple_state("Ready", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doReadyState)); + + sxy::simple_state& simple_state_executing = main_region.add_simple_state("Executing", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doExecutingState)); + + sxy::simple_state& simple_state_canceling = main_region.add_simple_state("Canceling", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doCancelingState)); + + sxy::simple_state& simple_state_recovering = main_region.add_simple_state("Recovering", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doRecoveringState)); + + sxy::simple_state& simple_state_aborting = main_region.add_simple_state("Aborting", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doAbortingState)); + + // Add the state transitions + + state_machine->add_transition(sxy::Y_COMPLETION_EVENT_ID, initial_pseudostate, simple_state_ready); +} + +bool MissionExecutionStateMachine::checkStateMachineForDefects() +{ + yasmine_data *impl = (yasmine_data *) impl_; + + sxy::state_machine_defects defects; + const bool state_machine_has_no_defects = impl->sm->check(defects); + + if (!state_machine_has_no_defects) + sxy::write_defects_to_log(defects); + + return state_machine_has_no_defects; } From 602138e771073947b131ad6ea17c939803a63472 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Tue, 17 Jul 2018 15:51:54 -0700 Subject: [PATCH 14/27] Add the state machine transitions --- src/mission_execution/CMakeLists.txt | 4 +--- .../src/MissionExecutionStateMachine.cpp | 20 +++++++++++++++++++ 2 files changed, 21 insertions(+), 3 deletions(-) diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 7600f112756..7620cdca69a 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -18,9 +18,7 @@ include_directories( /usr/local/include/yasmine /usr/local/include/yasmine/include /usr/local/include/yasmine/include_impl -# /usr/local/include/yasmine/essentials/include -# /usr/local/include/yasmine/essentials/include/essentials -# /usr/local/include/yasmine/essentials/include/essentials/compatibility + /usr/local/include/yasmine/essentials/include # /usr/local/include/yasmine/hermes ) diff --git a/src/mission_execution/src/MissionExecutionStateMachine.cpp b/src/mission_execution/src/MissionExecutionStateMachine.cpp index c8f5a1ec436..ff21fd51de6 100644 --- a/src/mission_execution/src/MissionExecutionStateMachine.cpp +++ b/src/mission_execution/src/MissionExecutionStateMachine.cpp @@ -86,7 +86,27 @@ void MissionExecutionStateMachine::initStateMachine() // Add the state transitions + // The default state transition to Ready state_machine->add_transition(sxy::Y_COMPLETION_EVENT_ID, initial_pseudostate, simple_state_ready); + + // Transitions from Ready + state_machine->add_transition(EVENT_EXECUTE_MISSION, simple_state_ready, simple_state_executing); + + // Transitions from Executing + state_machine->add_transition(EVENT_CANCEL_MISSION, simple_state_executing, simple_state_canceling); + state_machine->add_transition(EVENT_EXECUTE_RECOVERY, simple_state_executing, simple_state_recovering); + state_machine->add_transition(EVENT_EXECUTION_FAILED, simple_state_executing, simple_state_aborting); + state_machine->add_transition(EVENT_MISSION_EXECUTED, simple_state_executing, simple_state_ready); + + // Transitions from Canceling + state_machine->add_transition(EVENT_MISSION_CANCELED, simple_state_canceling, simple_state_ready); + + // Transitions from Recovering + state_machine->add_transition(EVENT_RECOVERY_SUCCESSFUL, simple_state_recovering, simple_state_executing); + state_machine->add_transition(EVENT_RECOVERY_FAILED, simple_state_recovering, simple_state_aborting); + + // Transitions from Aborting + state_machine->add_transition(EVENT_MISSION_FAILED, simple_state_aborting, simple_state_ready); } bool MissionExecutionStateMachine::checkStateMachineForDefects() From ba6c8644eee74439a5745984a609a49fa3748b25 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Wed, 18 Jul 2018 17:19:01 -0700 Subject: [PATCH 15/27] Add some ROS messaging input to the MissionExecution --- src/mission_execution/CMakeLists.txt | 2 + .../mission_execution/MissionExecution.hpp | 20 +--- .../MissionExecutionStateMachine.hpp | 2 +- .../include/mission_execution/MissionPlan.hpp | 4 +- .../src/MissionExecution.cpp | 70 ++++++++--- .../src/MissionExecutionStateMachine.cpp | 113 ++++++++++++------ 6 files changed, 141 insertions(+), 70 deletions(-) diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 7620cdca69a..1a0a8c3834b 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -12,6 +12,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) include_directories( include @@ -35,6 +36,7 @@ target_link_libraries(mission_execution ament_target_dependencies(mission_execution rclcpp + std_msgs ) install(TARGETS ${PROJECT_NAME} diff --git a/src/mission_execution/include/mission_execution/MissionExecution.hpp b/src/mission_execution/include/mission_execution/MissionExecution.hpp index 64198b91084..d337d62325b 100644 --- a/src/mission_execution/include/mission_execution/MissionExecution.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecution.hpp @@ -5,6 +5,7 @@ #define MISSION_EXECUTION__MISSIONEXECUTION_HPP_ #include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" #include "mission_execution/MissionPlan.hpp" #include "mission_execution/MissionExecutionStateMachineBehavior.hpp" #include "mission_execution/MissionExecutionStateMachine.hpp" @@ -15,19 +16,6 @@ class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachin MissionExecution(); virtual ~MissionExecution(); - /** - * @brief Start Mission Execution. Once the instance is initialized, the state - * machine automatically transitions to the Ready state and is ready to - * execute missions, which can be initiated using executionMission. - */ - void start(); - - /** - * @brief Stop Mission Execution. Any in-flight missions must be canceled first, - * using cancelMission. - */ - void stop(); - /** * @brief Execute a Mission Plan */ @@ -51,8 +39,12 @@ class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachin ///@} private: - MissionExecutionStateMachine missionExecutionStateMachine_; + void onCmdReceived(const std_msgs::msg::String::SharedPtr msg); + +private: + MissionExecutionStateMachine stateMachine_; const MissionPlan * missionPlan_; + rclcpp::Subscription::SharedPtr cmdSub_; }; #endif // MISSION_EXECUTION__MISSIONEXECUTION_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp index 0d728c3bbcc..ecba3c6e648 100644 --- a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp @@ -34,7 +34,7 @@ class MissionExecutionStateMachine private: void initStateMachine(); - bool checkStateMachineForDefects(); + bool isValidStateMachine(); MissionExecutionStateMachineBehavior * behavior_; void * impl_; diff --git a/src/mission_execution/include/mission_execution/MissionPlan.hpp b/src/mission_execution/include/mission_execution/MissionPlan.hpp index f21d25bd1c1..2c9ab30e800 100644 --- a/src/mission_execution/include/mission_execution/MissionPlan.hpp +++ b/src/mission_execution/include/mission_execution/MissionPlan.hpp @@ -7,8 +7,8 @@ class MissionPlan { public: - MissionPlan(); - virtual ~MissionPlan(); + MissionPlan(){} + virtual ~MissionPlan(){} }; #endif // MISSION_EXECUTION__MISSIONPLAN_HPP_ diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp index d8750bb46b7..b67f384ff4d 100644 --- a/src/mission_execution/src/MissionExecution.cpp +++ b/src/mission_execution/src/MissionExecution.cpp @@ -3,65 +3,99 @@ #include "mission_execution/MissionExecution.hpp" +#include + MissionExecution::MissionExecution() : Node("mission_execution"), - missionExecutionStateMachine_(this), + stateMachine_(this), missionPlan_(nullptr) { + RCLCPP_INFO(get_logger(), "MissionExecution::MissionExecution"); + + stateMachine_.run(); + + cmdSub_ = create_subscription("MissionExecutionCmd", + std::bind(&MissionExecution::onCmdReceived, this, std::placeholders::_1)); } MissionExecution::~MissionExecution() { + RCLCPP_INFO(get_logger(), "MissionExecution::~MissionExecution"); + stateMachine_.halt(); } void MissionExecution::executeMission(const MissionPlan * missionPlan) { + RCLCPP_INFO(get_logger(), "MissionExecution::executeMission"); + missionPlan_ = missionPlan; + stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_MISSION); } void MissionExecution::cancelMission() { - // TODO: Do the work to cancel the in-flight mission - - // Initiate the state transition - missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_CANCELED); + RCLCPP_INFO(get_logger(), "MissionExecution::cancelMission"); + stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_CANCEL_MISSION); } void MissionExecution::doReadyState() { - // TODO: Wait for a mission to execute - - // TODO: Once we receive a mission plan, we may want to do some work, such as validating its syntax and semantics + // This is the starting state. Do any work to reset operations. - // TODO: Now that we know the mission plan is ready for execution, get started + RCLCPP_INFO(get_logger(), "MissionExecution::doReadyState"); +} - // TODO: Normal processing loop for the mission plan +void MissionExecution::doExecutingState() +{ + // TODO(mjeronimo): Validate input for syntax and semantics + // TODO(mjeronimo): Perform normal processing loop for the mission plan // Initiate the state transition - missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_EXECUTED); + // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_EXECUTED); // Or: - missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); + // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); // Or: - missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_RECOVERY); -} + // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_RECOVERY); -void MissionExecution::doExecutingState() -{ + RCLCPP_INFO(get_logger(), "MissionExecution::doExecutingState"); } void MissionExecution::doCancelingState() { + // TODO(mjeronimo): Cancel the currently running mission + + RCLCPP_INFO(get_logger(), "MissionExecution::doCancelingState"); } void MissionExecution::doRecoveringState() { + // TODO(mjeronimo): Attempt to perform local recovery + + RCLCPP_INFO(get_logger(), "MissionExecution::doRecoveringState"); } void MissionExecution::doAbortingState() { - // TODO: Do the work to abort the current mission + RCLCPP_INFO(get_logger(), "MissionExecution::doAbortingState"); + + // TODO(mjeronimo): Do the work to abort the current mission // Initiate the state transition - missionExecutionStateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); + stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); +} + +void MissionExecution::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) +{ + RCLCPP_INFO(get_logger(), "MissionExecution::onCmdReceived: \"%s\"", msg->data.c_str()) + + if (msg->data.compare("ExecuteMission") == 0) { + MissionPlan missionPlan; + executeMission(&missionPlan); + } else if (msg->data.compare("CancelMission") == 0) { + cancelMission(); + } else { + RCLCPP_INFO(get_logger(), "MissionExecution::onCmdReceived: invalid command: \"%s\"", + msg->data.c_str()) + } } diff --git a/src/mission_execution/src/MissionExecutionStateMachine.cpp b/src/mission_execution/src/MissionExecutionStateMachine.cpp index ff21fd51de6..13764c1e88e 100644 --- a/src/mission_execution/src/MissionExecutionStateMachine.cpp +++ b/src/mission_execution/src/MissionExecutionStateMachine.cpp @@ -4,16 +4,18 @@ #include "mission_execution/MissionExecutionStateMachine.hpp" #include +#include #include "yasmine.hpp" typedef sxe::SX_UNIQUE_PTR state_machine_uptr; -typedef struct yasmine_data { +typedef struct yasmine_data +{ state_machine_uptr sm; } yasmine_data; static void -handleUnhandledEvent(const sxy::event& event) +handleUnhandledEvent(const sxy::event & event) { std::cout << "Unhandled state machine event: '" << event.get_name() << "'" << std::endl; } @@ -23,101 +25,142 @@ MissionExecutionStateMachine::MissionExecutionStateMachine( : behavior_(behavior) { impl_ = new yasmine_data; + +#if 0 + // Initialize the yasmine log manager + hermes::log_manager_template & log_manager = + hermes::log_manager::get_instance(); + log_manager.set_log_level(hermes::log_level::LL_DEBUG); + log_manager.add_logger(SX_MAKE_UNIQUE()); + log_manager.run(); sxy::version::log_version(); +#endif initStateMachine(); - if (checkStateMachineForDefects()) + if (!isValidStateMachine()) { throw("MissionExecution state machine has defects"); + } } MissionExecutionStateMachine::~MissionExecutionStateMachine() { + // log_manager.halt(); } void MissionExecutionStateMachine::run() { - //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::run()\n"); + // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::run()\n"); std::cout << "MissionExecutionStateMachine::run()\n"; + + yasmine_data * impl = reinterpret_cast(impl_); + impl->sm->run(); } void MissionExecutionStateMachine::fireEvent(const MissionExecutionEvent eventToFire) { - //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::fireEvent: %d\n", eventToFire); - std::cout << "MissionExecutionStateMachine::fireEvent: " << eventToFire << "\n"; + // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::fireEvent: %d\n", eventToFire); + + yasmine_data * impl = reinterpret_cast(impl_); + impl->sm->fire_event(sxy::event_impl::create(eventToFire)); } void MissionExecutionStateMachine::halt() { - //RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::halt\n"); + // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::halt\n"); std::cout << "MissionExecutionStateMachine::halt\n"; + + yasmine_data * impl = reinterpret_cast(impl_); + impl->sm->halt_and_join(); } void MissionExecutionStateMachine::initStateMachine() { std::string nm("MissionExecution"); - const std::string& name = nm; + const std::string & name = nm; // Create the state machine state_machine_uptr state_machine = SX_MAKE_UNIQUE(name); - // Create a single "region" to contain the state machine - sxy::composite_state& root_state = state_machine->get_root_state(); - sxy::region& main_region = root_state.add_region("main region"); + // Create a single "region" to contain the state machine + sxy::composite_state & root_state = state_machine->get_root_state(); + sxy::region & main_region = root_state.add_region("main region"); // Add the initial state, required by all state machines - sxy::initial_pseudostate& initial_pseudostate = main_region.add_initial_pseudostate("initial"); + sxy::initial_pseudostate & initial_pseudostate = main_region.add_initial_pseudostate("initial"); // Add the states - sxy::simple_state& simple_state_ready = main_region.add_simple_state("Ready", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doReadyState)); + sxy::simple_state & simple_state_ready = main_region.add_simple_state("Ready", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doReadyState)); - sxy::simple_state& simple_state_executing = main_region.add_simple_state("Executing", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doExecutingState)); + sxy::simple_state & simple_state_executing = main_region.add_simple_state("Executing", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doExecutingState)); - sxy::simple_state& simple_state_canceling = main_region.add_simple_state("Canceling", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doCancelingState)); + sxy::simple_state & simple_state_canceling = main_region.add_simple_state("Canceling", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doCancelingState)); - sxy::simple_state& simple_state_recovering = main_region.add_simple_state("Recovering", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doRecoveringState)); + sxy::simple_state & simple_state_recovering = main_region.add_simple_state("Recovering", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doRecoveringState)); - sxy::simple_state& simple_state_aborting = main_region.add_simple_state("Aborting", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doAbortingState)); + sxy::simple_state & simple_state_aborting = main_region.add_simple_state("Aborting", + Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doAbortingState)); // Add the state transitions // The default state transition to Ready - state_machine->add_transition(sxy::Y_COMPLETION_EVENT_ID, initial_pseudostate, simple_state_ready); + state_machine->add_transition(sxy::Y_COMPLETION_EVENT_ID, initial_pseudostate, + simple_state_ready); // Transitions from Ready state_machine->add_transition(EVENT_EXECUTE_MISSION, simple_state_ready, simple_state_executing); // Transitions from Executing - state_machine->add_transition(EVENT_CANCEL_MISSION, simple_state_executing, simple_state_canceling); - state_machine->add_transition(EVENT_EXECUTE_RECOVERY, simple_state_executing, simple_state_recovering); - state_machine->add_transition(EVENT_EXECUTION_FAILED, simple_state_executing, simple_state_aborting); - state_machine->add_transition(EVENT_MISSION_EXECUTED, simple_state_executing, simple_state_ready); + state_machine->add_transition(EVENT_CANCEL_MISSION, simple_state_executing, + simple_state_canceling); + state_machine->add_transition(EVENT_EXECUTE_RECOVERY, simple_state_executing, + simple_state_recovering); + state_machine->add_transition(EVENT_EXECUTION_FAILED, simple_state_executing, + simple_state_aborting); + state_machine->add_transition(EVENT_MISSION_EXECUTED, simple_state_executing, + simple_state_ready); // Transitions from Canceling state_machine->add_transition(EVENT_MISSION_CANCELED, simple_state_canceling, simple_state_ready); // Transitions from Recovering - state_machine->add_transition(EVENT_RECOVERY_SUCCESSFUL, simple_state_recovering, simple_state_executing); - state_machine->add_transition(EVENT_RECOVERY_FAILED, simple_state_recovering, simple_state_aborting); + state_machine->add_transition(EVENT_RECOVERY_SUCCESSFUL, simple_state_recovering, + simple_state_executing); + state_machine->add_transition(EVENT_RECOVERY_FAILED, simple_state_recovering, + simple_state_aborting); // Transitions from Aborting - state_machine->add_transition(EVENT_MISSION_FAILED, simple_state_aborting, simple_state_ready); + state_machine->add_transition(EVENT_MISSION_FAILED, simple_state_aborting, + simple_state_ready); + + // Set the handler for any invalid state transitions +#ifndef SX_CPP03_BOOST + state_machine->set_behavior_of_unhandled_event_handler( + Y_BEHAVIOR_FUNCTION2(handleUnhandledEvent)); +#else + state_machine->set_behavior_of_unhandled_event_handler( + sxy::behavior_function(sxe::bind(&handleUnhandledEvent, sxe::_1))); +#endif + + // Save the resulting state machine to our member variable + yasmine_data * impl = reinterpret_cast(impl_); + impl->sm = sxe::move(state_machine); } -bool MissionExecutionStateMachine::checkStateMachineForDefects() +bool MissionExecutionStateMachine::isValidStateMachine() { - yasmine_data *impl = (yasmine_data *) impl_; + yasmine_data * impl = reinterpret_cast(impl_); sxy::state_machine_defects defects; - const bool state_machine_has_no_defects = impl->sm->check(defects); + const bool isValid = impl->sm->check(defects); - if (!state_machine_has_no_defects) + if (!isValid) { sxy::write_defects_to_log(defects); + } - return state_machine_has_no_defects; + return isValid; } From e1eace5a15c2d7d1d4c905706721f8de6fb524a3 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 19 Jul 2018 10:55:59 -0700 Subject: [PATCH 16/27] Begin sketching other levels of the stack --- src/libs/task/CMakeLists.txt | 21 +++++++ ....TaskExecutionStateMachineBehavior.hpp.swp | Bin 0 -> 12288 bytes .../task/TaskExecutionStateMachine.hpp | 43 +++++++++++++ .../TaskExecutionStateMachineBehavior.hpp} | 8 +-- src/libs/task/package.xml | 19 ++++++ .../task/src/TaskExecutionStateMachine.cpp} | 58 +++++++++--------- src/mission_execution/CMakeLists.txt | 19 +++--- .../mission_execution/MissionExecution.hpp | 10 +-- .../MissionExecutionStateMachine.hpp | 43 ------------- .../include/mission_execution/MissionPlan.hpp | 4 +- src/mission_execution/package.xml | 1 + .../src/MissionExecution.cpp | 20 +++--- .../include/navigation/NavigationTask.hpp | 13 ++++ src/navigation/src/NavigationTask.cpp | 12 ++++ src/robot/include/robot/Robot.hpp | 13 ++++ src/robot/src/Robot.cpp | 12 ++++ 16 files changed, 194 insertions(+), 102 deletions(-) create mode 100644 src/libs/task/CMakeLists.txt create mode 100644 src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp create mode 100644 src/libs/task/include/task/TaskExecutionStateMachine.hpp rename src/{mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp => libs/task/include/task/TaskExecutionStateMachineBehavior.hpp} (56%) create mode 100644 src/libs/task/package.xml rename src/{mission_execution/src/MissionExecutionStateMachine.cpp => libs/task/src/TaskExecutionStateMachine.cpp} (59%) delete mode 100644 src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp create mode 100644 src/navigation/include/navigation/NavigationTask.hpp create mode 100644 src/navigation/src/NavigationTask.cpp create mode 100644 src/robot/include/robot/Robot.hpp create mode 100644 src/robot/src/Robot.cpp diff --git a/src/libs/task/CMakeLists.txt b/src/libs/task/CMakeLists.txt new file mode 100644 index 00000000000..d98d45dc1eb --- /dev/null +++ b/src/libs/task/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.5) +project(task) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +include_directories( + include + /usr/local/include/yasmine + /usr/local/include/yasmine/include + /usr/local/include/yasmine/include_impl + /usr/local/include/yasmine/essentials/include + ) + +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "../libs/") + +add_library(task STATIC + src/TaskExecutionStateMachine.cpp + ) diff --git a/src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp b/src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp new file mode 100644 index 0000000000000000000000000000000000000000..4d084f1ec581e7f761b0243d9f4f37fb7a89592b GIT binary patch literal 12288 zcmeI&zi-n(6bJAZn9I){9%P|NwbOtEDq?VrrI8n z8$7cB3$OqSumB6N01L1H3;YKHwrIc$dd^deXFb1|8^6qpB~L8C0xZA+EWiRRzyd75 z0xZA+EWiT)pg@uVyj}zNOsW6>U%vmpI}7lN@{$r$E>kX1zMcX2LitE}PkBQ*qC}Jp z%5};*rM}*$`kFjgfCX591z3OuSbzmsfCX591^$jeQ>aXi5nUH!FWMOn>(Agp;P1!b zUN4HhIOuwQC+r2=LB~4?_XfjGzdrSHi5U^AnYdd}Z098+`R$lWg|W7b~WtT&7!a1Zkd>C9Z5Or#9J4jH%cBWK>N# zR&?IUP6GNtd|k|pJe*i;w>EEMsI188peeMOH_AKc($xj?DVXl*f*Mx<7onFHSeGtlay literal 0 HcmV?d00001 diff --git a/src/libs/task/include/task/TaskExecutionStateMachine.hpp b/src/libs/task/include/task/TaskExecutionStateMachine.hpp new file mode 100644 index 00000000000..bb529a459fb --- /dev/null +++ b/src/libs/task/include/task/TaskExecutionStateMachine.hpp @@ -0,0 +1,43 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef TASK__TASKEXECUTIONSTATEMACHINE_HPP_ +#define TASK__TASKEXECUTIONSTATEMACHINE_HPP_ + +#include "task/TaskExecutionStateMachineBehavior.hpp" + +class TaskExecutionStateMachine +{ +public: + explicit TaskExecutionStateMachine(TaskExecutionStateMachineBehavior * behavior); + virtual ~TaskExecutionStateMachine(); + + // No default constructor + TaskExecutionStateMachine() = delete; + + typedef enum TaskExecutionEvent + { + EVENT_CANCEL_TASK, + EVENT_EXECUTE_TASK, + EVENT_EXECUTE_TASK_RECOVERY, + EVENT_TASK_EXECUTION_FAILED, + EVENT_TASK_CANCELED, + EVENT_TASK_EXECUTED, + EVENT_TASK_FAILED, + EVENT_TASK_RECOVERY_FAILED, + EVENT_TASK_RECOVERY_SUCCESSFUL + } TaskExecutionEvent; + + void run(); + void fireEvent(const TaskExecutionEvent eventToFire); + void halt(); + +private: + void initStateMachine(); + bool isValidStateMachine(); + + TaskExecutionStateMachineBehavior * behavior_; + void * impl_; +}; + +#endif // TASK__TASKEXECUTIONSTATEMACHINE_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp b/src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp similarity index 56% rename from src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp rename to src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp index 897afbe97c3..d3db4d5f7bb 100644 --- a/src/mission_execution/include/mission_execution/MissionExecutionStateMachineBehavior.hpp +++ b/src/libs/task/include/task/TaskExecutionStateMachineBehavior.hpp @@ -1,10 +1,10 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright 2018 Intel Corporation. All Rights Reserved. -#ifndef MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ -#define MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ +#ifndef TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ +#define TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ -class MissionExecutionStateMachineBehavior +class TaskExecutionStateMachineBehavior { public: virtual void doReadyState() = 0; @@ -14,4 +14,4 @@ class MissionExecutionStateMachineBehavior virtual void doAbortingState() = 0; }; -#endif // MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ +#endif // TASK__TASKEXECUTIONSTATEMACHINEBEHAVIOR_HPP_ diff --git a/src/libs/task/package.xml b/src/libs/task/package.xml new file mode 100644 index 00000000000..0230af4575d --- /dev/null +++ b/src/libs/task/package.xml @@ -0,0 +1,19 @@ + + + + task + 0.1.0 + TODO + Michael Jeronimo + Michael Jeronimo + Apache License 2.0 + ament_cmake + + + ament_cmake + + diff --git a/src/mission_execution/src/MissionExecutionStateMachine.cpp b/src/libs/task/src/TaskExecutionStateMachine.cpp similarity index 59% rename from src/mission_execution/src/MissionExecutionStateMachine.cpp rename to src/libs/task/src/TaskExecutionStateMachine.cpp index 13764c1e88e..8f5fd41c86b 100644 --- a/src/mission_execution/src/MissionExecutionStateMachine.cpp +++ b/src/libs/task/src/TaskExecutionStateMachine.cpp @@ -1,7 +1,7 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright 2018 Intel Corporation. All Rights Reserved. -#include "mission_execution/MissionExecutionStateMachine.hpp" +#include "task/TaskExecutionStateMachine.hpp" #include #include @@ -20,8 +20,8 @@ handleUnhandledEvent(const sxy::event & event) std::cout << "Unhandled state machine event: '" << event.get_name() << "'" << std::endl; } -MissionExecutionStateMachine::MissionExecutionStateMachine( - MissionExecutionStateMachineBehavior * behavior) +TaskExecutionStateMachine::TaskExecutionStateMachine( + TaskExecutionStateMachineBehavior * behavior) : behavior_(behavior) { impl_ = new yasmine_data; @@ -39,44 +39,42 @@ MissionExecutionStateMachine::MissionExecutionStateMachine( initStateMachine(); if (!isValidStateMachine()) { - throw("MissionExecution state machine has defects"); + throw("TaskExecution state machine has defects"); } } -MissionExecutionStateMachine::~MissionExecutionStateMachine() +TaskExecutionStateMachine::~TaskExecutionStateMachine() { // log_manager.halt(); } -void MissionExecutionStateMachine::run() +void TaskExecutionStateMachine::run() { - // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::run()\n"); - std::cout << "MissionExecutionStateMachine::run()\n"; + // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::run()\n"); yasmine_data * impl = reinterpret_cast(impl_); impl->sm->run(); } -void MissionExecutionStateMachine::fireEvent(const MissionExecutionEvent eventToFire) +void TaskExecutionStateMachine::fireEvent(const TaskExecutionEvent eventToFire) { - // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::fireEvent: %d\n", eventToFire); + // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::fireEvent: %d\n", eventToFire); yasmine_data * impl = reinterpret_cast(impl_); impl->sm->fire_event(sxy::event_impl::create(eventToFire)); } -void MissionExecutionStateMachine::halt() +void TaskExecutionStateMachine::halt() { - // RCLCPP_INFO(this->get_logger(), "MissionExecutionStateMachine::halt\n"); - std::cout << "MissionExecutionStateMachine::halt\n"; + // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::halt\n"); yasmine_data * impl = reinterpret_cast(impl_); impl->sm->halt_and_join(); } -void MissionExecutionStateMachine::initStateMachine() +void TaskExecutionStateMachine::initStateMachine() { - std::string nm("MissionExecution"); + std::string nm("TaskExecution"); const std::string & name = nm; // Create the state machine @@ -91,19 +89,19 @@ void MissionExecutionStateMachine::initStateMachine() // Add the states sxy::simple_state & simple_state_ready = main_region.add_simple_state("Ready", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doReadyState)); + Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doReadyState)); sxy::simple_state & simple_state_executing = main_region.add_simple_state("Executing", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doExecutingState)); + Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doExecutingState)); sxy::simple_state & simple_state_canceling = main_region.add_simple_state("Canceling", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doCancelingState)); + Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doCancelingState)); sxy::simple_state & simple_state_recovering = main_region.add_simple_state("Recovering", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doRecoveringState)); + Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doRecoveringState)); sxy::simple_state & simple_state_aborting = main_region.add_simple_state("Aborting", - Y_BEHAVIOR_METHOD2(behavior_, &MissionExecutionStateMachineBehavior::doAbortingState)); + Y_BEHAVIOR_METHOD2(behavior_, &TaskExecutionStateMachineBehavior::doAbortingState)); // Add the state transitions @@ -112,29 +110,29 @@ void MissionExecutionStateMachine::initStateMachine() simple_state_ready); // Transitions from Ready - state_machine->add_transition(EVENT_EXECUTE_MISSION, simple_state_ready, simple_state_executing); + state_machine->add_transition(EVENT_EXECUTE_TASK, simple_state_ready, simple_state_executing); // Transitions from Executing - state_machine->add_transition(EVENT_CANCEL_MISSION, simple_state_executing, + state_machine->add_transition(EVENT_CANCEL_TASK, simple_state_executing, simple_state_canceling); - state_machine->add_transition(EVENT_EXECUTE_RECOVERY, simple_state_executing, + state_machine->add_transition(EVENT_EXECUTE_TASK_RECOVERY, simple_state_executing, simple_state_recovering); - state_machine->add_transition(EVENT_EXECUTION_FAILED, simple_state_executing, + state_machine->add_transition(EVENT_TASK_EXECUTION_FAILED, simple_state_executing, simple_state_aborting); - state_machine->add_transition(EVENT_MISSION_EXECUTED, simple_state_executing, + state_machine->add_transition(EVENT_TASK_EXECUTED, simple_state_executing, simple_state_ready); // Transitions from Canceling - state_machine->add_transition(EVENT_MISSION_CANCELED, simple_state_canceling, simple_state_ready); + state_machine->add_transition(EVENT_TASK_CANCELED, simple_state_canceling, simple_state_ready); // Transitions from Recovering - state_machine->add_transition(EVENT_RECOVERY_SUCCESSFUL, simple_state_recovering, + state_machine->add_transition(EVENT_TASK_RECOVERY_SUCCESSFUL, simple_state_recovering, simple_state_executing); - state_machine->add_transition(EVENT_RECOVERY_FAILED, simple_state_recovering, + state_machine->add_transition(EVENT_TASK_RECOVERY_FAILED, simple_state_recovering, simple_state_aborting); // Transitions from Aborting - state_machine->add_transition(EVENT_MISSION_FAILED, simple_state_aborting, + state_machine->add_transition(EVENT_TASK_FAILED, simple_state_aborting, simple_state_ready); // Set the handler for any invalid state transitions @@ -151,7 +149,7 @@ void MissionExecutionStateMachine::initStateMachine() impl->sm = sxe::move(state_machine); } -bool MissionExecutionStateMachine::isValidStateMachine() +bool TaskExecutionStateMachine::isValidStateMachine() { yasmine_data * impl = reinterpret_cast(impl_); diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 1a0a8c3834b..117a762f6da 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -16,27 +16,26 @@ find_package(std_msgs REQUIRED) include_directories( include - /usr/local/include/yasmine - /usr/local/include/yasmine/include - /usr/local/include/yasmine/include_impl - /usr/local/include/yasmine/essentials/include -# /usr/local/include/yasmine/hermes + ../libs/task/include ) +link_directories(${CMAKE_BINARY_DIR}/../libs) + add_executable(mission_execution src/main.cpp src/MissionExecution.cpp - src/MissionExecutionStateMachine.cpp src/NavigationCommand.cpp ) -target_link_libraries(mission_execution - yasmine - ) - ament_target_dependencies(mission_execution rclcpp std_msgs + task + ) + +target_link_libraries(mission_execution + task + yasmine ) install(TARGETS ${PROJECT_NAME} diff --git a/src/mission_execution/include/mission_execution/MissionExecution.hpp b/src/mission_execution/include/mission_execution/MissionExecution.hpp index d337d62325b..3323feaf305 100644 --- a/src/mission_execution/include/mission_execution/MissionExecution.hpp +++ b/src/mission_execution/include/mission_execution/MissionExecution.hpp @@ -7,10 +7,10 @@ #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" #include "mission_execution/MissionPlan.hpp" -#include "mission_execution/MissionExecutionStateMachineBehavior.hpp" -#include "mission_execution/MissionExecutionStateMachine.hpp" +#include "task/TaskExecutionStateMachineBehavior.hpp" +#include "task/TaskExecutionStateMachine.hpp" -class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachineBehavior +class MissionExecution : public rclcpp::Node, public TaskExecutionStateMachineBehavior { public: MissionExecution(); @@ -28,7 +28,7 @@ class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachin void cancelMission(); /** @name State Machine Behavior - * Implementation of the MissionExecutionStateMachineBehavior interface + * Implementation of the TaskExecutionStateMachineBehavior interface */ ///@{ void doReadyState(); @@ -42,7 +42,7 @@ class MissionExecution : public rclcpp::Node, public MissionExecutionStateMachin void onCmdReceived(const std_msgs::msg::String::SharedPtr msg); private: - MissionExecutionStateMachine stateMachine_; + TaskExecutionStateMachine stateMachine_; const MissionPlan * missionPlan_; rclcpp::Subscription::SharedPtr cmdSub_; }; diff --git a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp b/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp deleted file mode 100644 index ecba3c6e648..00000000000 --- a/src/mission_execution/include/mission_execution/MissionExecutionStateMachine.hpp +++ /dev/null @@ -1,43 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ -#define MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ - -#include "mission_execution/MissionExecutionStateMachineBehavior.hpp" - -class MissionExecutionStateMachine -{ -public: - explicit MissionExecutionStateMachine(MissionExecutionStateMachineBehavior * behavior); - virtual ~MissionExecutionStateMachine(); - - // No default constructor - MissionExecutionStateMachine() = delete; - - typedef enum MissionExecutionEvent - { - EVENT_CANCEL_MISSION, - EVENT_EXECUTE_MISSION, - EVENT_EXECUTE_RECOVERY, - EVENT_EXECUTION_FAILED, - EVENT_MISSION_CANCELED, - EVENT_MISSION_EXECUTED, - EVENT_MISSION_FAILED, - EVENT_RECOVERY_FAILED, - EVENT_RECOVERY_SUCCESSFUL - } MissionExecutionEvent; - - void run(); - void fireEvent(const MissionExecutionEvent eventToFire); - void halt(); - -private: - void initStateMachine(); - bool isValidStateMachine(); - - MissionExecutionStateMachineBehavior * behavior_; - void * impl_; -}; - -#endif // MISSION_EXECUTION__MISSIONEXECUTIONSTATEMACHINE_HPP_ diff --git a/src/mission_execution/include/mission_execution/MissionPlan.hpp b/src/mission_execution/include/mission_execution/MissionPlan.hpp index 2c9ab30e800..bde21a0abca 100644 --- a/src/mission_execution/include/mission_execution/MissionPlan.hpp +++ b/src/mission_execution/include/mission_execution/MissionPlan.hpp @@ -7,8 +7,8 @@ class MissionPlan { public: - MissionPlan(){} - virtual ~MissionPlan(){} + MissionPlan() {} + virtual ~MissionPlan() {} }; #endif // MISSION_EXECUTION__MISSIONPLAN_HPP_ diff --git a/src/mission_execution/package.xml b/src/mission_execution/package.xml index 043b811d109..697d83b5044 100644 --- a/src/mission_execution/package.xml +++ b/src/mission_execution/package.xml @@ -9,6 +9,7 @@ Apache License 2.0 ament_cmake rclcpp + task rclcpp ament_cmake diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp index b67f384ff4d..0e717478c62 100644 --- a/src/mission_execution/src/MissionExecution.cpp +++ b/src/mission_execution/src/MissionExecution.cpp @@ -24,18 +24,20 @@ MissionExecution::~MissionExecution() stateMachine_.halt(); } -void MissionExecution::executeMission(const MissionPlan * missionPlan) +void +MissionExecution::executeMission(const MissionPlan * missionPlan) { RCLCPP_INFO(get_logger(), "MissionExecution::executeMission"); missionPlan_ = missionPlan; - stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_MISSION); + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK); } -void MissionExecution::cancelMission() +void +MissionExecution::cancelMission() { RCLCPP_INFO(get_logger(), "MissionExecution::cancelMission"); - stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_CANCEL_MISSION); + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_CANCEL_TASK); } void MissionExecution::doReadyState() @@ -52,11 +54,11 @@ void MissionExecution::doExecutingState() // TODO(mjeronimo): Perform normal processing loop for the mission plan // Initiate the state transition - // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_EXECUTED); + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_EXECUTED); // Or: - // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); // Or: - // stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_EXECUTE_RECOVERY); + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK_RECOVERY); RCLCPP_INFO(get_logger(), "MissionExecution::doExecutingState"); } @@ -66,6 +68,8 @@ void MissionExecution::doCancelingState() // TODO(mjeronimo): Cancel the currently running mission RCLCPP_INFO(get_logger(), "MissionExecution::doCancelingState"); + + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_CANCELED); } void MissionExecution::doRecoveringState() @@ -82,7 +86,7 @@ void MissionExecution::doAbortingState() // TODO(mjeronimo): Do the work to abort the current mission // Initiate the state transition - stateMachine_.fireEvent(MissionExecutionStateMachine::EVENT_MISSION_FAILED); + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); } void MissionExecution::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) diff --git a/src/navigation/include/navigation/NavigationTask.hpp b/src/navigation/include/navigation/NavigationTask.hpp new file mode 100644 index 00000000000..01feba2444e --- /dev/null +++ b/src/navigation/include/navigation/NavigationTask.hpp @@ -0,0 +1,13 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef NAVIGATION__NAVIGATIONTASK_HPP_ +#define NAVIGATION__NAVIGATIONTASK_HPP_ + +class NavigationTask +{ + NavigationTask(); + ~NavigationTask(); +}; + +#endif // NAVIGATION__NAVIGATIONTASK_HPP_ diff --git a/src/navigation/src/NavigationTask.cpp b/src/navigation/src/NavigationTask.cpp new file mode 100644 index 00000000000..086a695ea82 --- /dev/null +++ b/src/navigation/src/NavigationTask.cpp @@ -0,0 +1,12 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "navigation/NavigationTask.hpp" + +NavigationTask::NavigationTask() +{ +} + +NavigationTask::~NavigationTask() +{ +} diff --git a/src/robot/include/robot/Robot.hpp b/src/robot/include/robot/Robot.hpp new file mode 100644 index 00000000000..78f77852b83 --- /dev/null +++ b/src/robot/include/robot/Robot.hpp @@ -0,0 +1,13 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#ifndef ROBOT__ROBOT_HPP_ +#define ROBOT__ROBOT_HPP_ + +class Robot +{ + Robot(); + ~Robot(); +}; + +#endif // ROBOT__ROBOT_HPP_ diff --git a/src/robot/src/Robot.cpp b/src/robot/src/Robot.cpp new file mode 100644 index 00000000000..680d5578a10 --- /dev/null +++ b/src/robot/src/Robot.cpp @@ -0,0 +1,12 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright 2018 Intel Corporation. All Rights Reserved. + +#include "robot/Robot.hpp" + +Robot::Robot() +{ +} + +Robot::~Robot() +{ +} From 6a0c774771b30478b49dc1a6a5396e91122241ec Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 19 Jul 2018 11:00:44 -0700 Subject: [PATCH 17/27] Remove include directory at the top level --- include/.gitignore | 0 .../.TaskExecutionStateMachineBehavior.hpp.swp | Bin 12288 -> 0 bytes 2 files changed, 0 insertions(+), 0 deletions(-) delete mode 100644 include/.gitignore delete mode 100644 src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp diff --git a/include/.gitignore b/include/.gitignore deleted file mode 100644 index e69de29bb2d..00000000000 diff --git a/src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp b/src/libs/task/include/task/.TaskExecutionStateMachineBehavior.hpp.swp deleted file mode 100644 index 4d084f1ec581e7f761b0243d9f4f37fb7a89592b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12288 zcmeI&zi-n(6bJAZn9I){9%P|NwbOtEDq?VrrI8n z8$7cB3$OqSumB6N01L1H3;YKHwrIc$dd^deXFb1|8^6qpB~L8C0xZA+EWiRRzyd75 z0xZA+EWiT)pg@uVyj}zNOsW6>U%vmpI}7lN@{$r$E>kX1zMcX2LitE}PkBQ*qC}Jp z%5};*rM}*$`kFjgfCX591z3OuSbzmsfCX591^$jeQ>aXi5nUH!FWMOn>(Agp;P1!b zUN4HhIOuwQC+r2=LB~4?_XfjGzdrSHi5U^AnYdd}Z098+`R$lWg|W7b~WtT&7!a1Zkd>C9Z5Or#9J4jH%cBWK>N# zR&?IUP6GNtd|k|pJe*i;w>EEMsI188peeMOH_AKc($xj?DVXl*f*Mx<7onFHSeGtlay From f037cfea76b3cb02b1e3704f83f665203694287d Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 19 Jul 2018 11:13:52 -0700 Subject: [PATCH 18/27] Remove NavigationCommand in favor of NavigationTask --- src/mission_execution/CMakeLists.txt | 1 - .../mission_execution/NavigationCommand.hpp | 14 -------------- src/mission_execution/src/NavigationCommand.cpp | 12 ------------ 3 files changed, 27 deletions(-) delete mode 100644 src/mission_execution/include/mission_execution/NavigationCommand.hpp delete mode 100644 src/mission_execution/src/NavigationCommand.cpp diff --git a/src/mission_execution/CMakeLists.txt b/src/mission_execution/CMakeLists.txt index 117a762f6da..7512ac4c172 100644 --- a/src/mission_execution/CMakeLists.txt +++ b/src/mission_execution/CMakeLists.txt @@ -24,7 +24,6 @@ link_directories(${CMAKE_BINARY_DIR}/../libs) add_executable(mission_execution src/main.cpp src/MissionExecution.cpp - src/NavigationCommand.cpp ) ament_target_dependencies(mission_execution diff --git a/src/mission_execution/include/mission_execution/NavigationCommand.hpp b/src/mission_execution/include/mission_execution/NavigationCommand.hpp deleted file mode 100644 index 32830f75f2c..00000000000 --- a/src/mission_execution/include/mission_execution/NavigationCommand.hpp +++ /dev/null @@ -1,14 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#ifndef MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ -#define MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ - -class NavigationCommand -{ -public: - NavigationCommand(); - virtual ~NavigationCommand(); -}; - -#endif // MISSION_EXECUTION__NAVIGATIONCOMMAND_HPP_ diff --git a/src/mission_execution/src/NavigationCommand.cpp b/src/mission_execution/src/NavigationCommand.cpp deleted file mode 100644 index 418e129d70a..00000000000 --- a/src/mission_execution/src/NavigationCommand.cpp +++ /dev/null @@ -1,12 +0,0 @@ -// License: Apache 2.0. See LICENSE file in root directory. -// Copyright 2018 Intel Corporation. All Rights Reserved. - -#include "mission_execution/NavigationCommand.hpp" - -NavigationCommand::NavigationCommand() -{ -} - -NavigationCommand::~NavigationCommand() -{ -} From 24807de4395fdecebb2d4603d6d14f9bc0154509 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 19 Jul 2018 11:39:54 -0700 Subject: [PATCH 19/27] Add mission_planning directory and a few minor edits --- .../task/TaskExecutionStateMachine.hpp | 2 +- .../task/src/TaskExecutionStateMachine.cpp | 17 ++++--- .../src/MissionExecution.cpp | 50 +++++++++++++------ .../include/mission_planning/.gitignore | 0 src/mission_planning/src/.gitignore | 0 5 files changed, 46 insertions(+), 23 deletions(-) create mode 100644 src/mission_planning/include/mission_planning/.gitignore create mode 100644 src/mission_planning/src/.gitignore diff --git a/src/libs/task/include/task/TaskExecutionStateMachine.hpp b/src/libs/task/include/task/TaskExecutionStateMachine.hpp index bb529a459fb..3a56399ea5d 100644 --- a/src/libs/task/include/task/TaskExecutionStateMachine.hpp +++ b/src/libs/task/include/task/TaskExecutionStateMachine.hpp @@ -25,7 +25,7 @@ class TaskExecutionStateMachine EVENT_TASK_EXECUTED, EVENT_TASK_FAILED, EVENT_TASK_RECOVERY_FAILED, - EVENT_TASK_RECOVERY_SUCCESSFUL + EVENT_TASK_RECOVERY_SUCCEEDED, } TaskExecutionEvent; void run(); diff --git a/src/libs/task/src/TaskExecutionStateMachine.cpp b/src/libs/task/src/TaskExecutionStateMachine.cpp index 8f5fd41c86b..4c14fec9b46 100644 --- a/src/libs/task/src/TaskExecutionStateMachine.cpp +++ b/src/libs/task/src/TaskExecutionStateMachine.cpp @@ -48,7 +48,8 @@ TaskExecutionStateMachine::~TaskExecutionStateMachine() // log_manager.halt(); } -void TaskExecutionStateMachine::run() +void +TaskExecutionStateMachine::run() { // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::run()\n"); @@ -56,7 +57,8 @@ void TaskExecutionStateMachine::run() impl->sm->run(); } -void TaskExecutionStateMachine::fireEvent(const TaskExecutionEvent eventToFire) +void +TaskExecutionStateMachine::fireEvent(const TaskExecutionEvent eventToFire) { // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::fireEvent: %d\n", eventToFire); @@ -64,7 +66,8 @@ void TaskExecutionStateMachine::fireEvent(const TaskExecutionEvent eventToFire) impl->sm->fire_event(sxy::event_impl::create(eventToFire)); } -void TaskExecutionStateMachine::halt() +void +TaskExecutionStateMachine::halt() { // RCLCPP_INFO(this->get_logger(), "TaskExecutionStateMachine::halt\n"); @@ -72,7 +75,8 @@ void TaskExecutionStateMachine::halt() impl->sm->halt_and_join(); } -void TaskExecutionStateMachine::initStateMachine() +void +TaskExecutionStateMachine::initStateMachine() { std::string nm("TaskExecution"); const std::string & name = nm; @@ -126,7 +130,7 @@ void TaskExecutionStateMachine::initStateMachine() state_machine->add_transition(EVENT_TASK_CANCELED, simple_state_canceling, simple_state_ready); // Transitions from Recovering - state_machine->add_transition(EVENT_TASK_RECOVERY_SUCCESSFUL, simple_state_recovering, + state_machine->add_transition(EVENT_TASK_RECOVERY_SUCCEEDED, simple_state_recovering, simple_state_executing); state_machine->add_transition(EVENT_TASK_RECOVERY_FAILED, simple_state_recovering, simple_state_aborting); @@ -149,7 +153,8 @@ void TaskExecutionStateMachine::initStateMachine() impl->sm = sxe::move(state_machine); } -bool TaskExecutionStateMachine::isValidStateMachine() +bool +TaskExecutionStateMachine::isValidStateMachine() { yasmine_data * impl = reinterpret_cast(impl_); diff --git a/src/mission_execution/src/MissionExecution.cpp b/src/mission_execution/src/MissionExecution.cpp index 0e717478c62..8f2f42e11ab 100644 --- a/src/mission_execution/src/MissionExecution.cpp +++ b/src/mission_execution/src/MissionExecution.cpp @@ -29,7 +29,13 @@ MissionExecution::executeMission(const MissionPlan * missionPlan) { RCLCPP_INFO(get_logger(), "MissionExecution::executeMission"); + // We've been given a mission plan to execute. Do an preparatory work + // and start things off by firing a state transition, which will land + // us in the Executing state. + + // TODO(mjeronimo): Validate the mission plan for syntax and semantics missionPlan_ = missionPlan; + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK); } @@ -37,49 +43,60 @@ void MissionExecution::cancelMission() { RCLCPP_INFO(get_logger(), "MissionExecution::cancelMission"); + + // We've been told to cancel the currently running mission, so fire the + // state transition to cause a transition to the Canceling state + stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_CANCEL_TASK); } -void MissionExecution::doReadyState() +void +MissionExecution::doReadyState() { - // This is the starting state. Do any work to reset operations. - RCLCPP_INFO(get_logger(), "MissionExecution::doReadyState"); + + // TODO(mjeronimo): Anything we can do while we're waiting for work to do? } -void MissionExecution::doExecutingState() +void +MissionExecution::doExecutingState() { - // TODO(mjeronimo): Validate input for syntax and semantics + RCLCPP_INFO(get_logger(), "MissionExecution::doExecutingState"); // TODO(mjeronimo): Perform normal processing loop for the mission plan // Initiate the state transition + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_EXECUTED); - // Or: // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); - // Or: // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_EXECUTE_TASK_RECOVERY); - - RCLCPP_INFO(get_logger(), "MissionExecution::doExecutingState"); } -void MissionExecution::doCancelingState() +void +MissionExecution::doCancelingState() { - // TODO(mjeronimo): Cancel the currently running mission - RCLCPP_INFO(get_logger(), "MissionExecution::doCancelingState"); + // TODO(mjeronimo): Cancel the currently running mission + + // Initiate the state transition stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_CANCELED); } -void MissionExecution::doRecoveringState() +void +MissionExecution::doRecoveringState() { + RCLCPP_INFO(get_logger(), "MissionExecution::doRecoveringState"); + // TODO(mjeronimo): Attempt to perform local recovery - RCLCPP_INFO(get_logger(), "MissionExecution::doRecoveringState"); + // Initiate the state transition + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_FAILED); + // stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_RECOVERY_SUCCEEDED); } -void MissionExecution::doAbortingState() +void +MissionExecution::doAbortingState() { RCLCPP_INFO(get_logger(), "MissionExecution::doAbortingState"); @@ -89,7 +106,8 @@ void MissionExecution::doAbortingState() stateMachine_.fireEvent(TaskExecutionStateMachine::EVENT_TASK_FAILED); } -void MissionExecution::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) +void +MissionExecution::onCmdReceived(const std_msgs::msg::String::SharedPtr msg) { RCLCPP_INFO(get_logger(), "MissionExecution::onCmdReceived: \"%s\"", msg->data.c_str()) diff --git a/src/mission_planning/include/mission_planning/.gitignore b/src/mission_planning/include/mission_planning/.gitignore new file mode 100644 index 00000000000..e69de29bb2d diff --git a/src/mission_planning/src/.gitignore b/src/mission_planning/src/.gitignore new file mode 100644 index 00000000000..e69de29bb2d From 98a8e87eaecebb671af3d33f1c9857892857c123 Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Thu, 19 Jul 2018 13:16:31 -0700 Subject: [PATCH 20/27] Add a Doxyfile; add RosRobot class --- Doxyfile | 2427 +++++++++++++++++ doc/images/ros2-logo.png | Bin 7010 -> 0 bytes .../include/navigation/NavigationTask.hpp | 1 + src/robot/include/robot/Robot.hpp | 7 +- src/robot/include/robot/RosRobot.hpp | 14 + src/robot/src/{Robot.cpp => RosRobot.cpp} | 6 +- 6 files changed, 2450 insertions(+), 5 deletions(-) create mode 100644 Doxyfile delete mode 100644 doc/images/ros2-logo.png create mode 100644 src/robot/include/robot/RosRobot.hpp rename src/robot/src/{Robot.cpp => RosRobot.cpp} (63%) diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 00000000000..70ea929dbae --- /dev/null +++ b/Doxyfile @@ -0,0 +1,2427 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "ROS2 Navigation System" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = 0.1 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. 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If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. 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By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = actuation can decision-making highway-pilot localization mission-planning navigation-maps route-planning sensing sensor-fusion trajectory-execution util vehicle virtual-bus world-model dash-sign + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. 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