Jazzy sync 3: Nov 8, 2024

nav2_amcl/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.3.2</version>
+  <version>1.3.3</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

nav2_behavior_tree/CMakeLists.txt

@@ -246,6 +246,10 @@ install(DIRECTORY test/utils/
         DESTINATION include/${PROJECT_NAME}/utils/
 )
 
+install(DIRECTORY test/utils/
+  DESTINATION include/${PROJECT_NAME}/nav2_behavior_tree/test/utils
+)
+
 install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -58,9 +58,7 @@ class BtActionNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -310,18 +310,18 @@ void BtActionServer<ActionT>::executeCallback()
 
   switch (rc) {
     case nav2_behavior_tree::BtStatus::SUCCEEDED:
-      RCLCPP_INFO(logger_, "Goal succeeded");
       action_server_->succeeded_current(result);
+      RCLCPP_INFO(logger_, "Goal succeeded");
       break;
 
     case nav2_behavior_tree::BtStatus::FAILED:
-      RCLCPP_ERROR(logger_, "Goal failed");
       action_server_->terminate_current(result);
+      RCLCPP_ERROR(logger_, "Goal failed");
       break;
 
     case nav2_behavior_tree::BtStatus::CANCELED:
-      RCLCPP_INFO(logger_, "Goal canceled");
       action_server_->terminate_all(result);
+      RCLCPP_INFO(logger_, "Goal canceled");
       break;
   }
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp

@@ -56,9 +56,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
     callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
     // Get the required items from the blackboard
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -59,9 +59,7 @@ class BtServiceNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp

@@ -17,13 +17,15 @@
 
 #include <string>
 #include <set>
+#include <vector>
 
 #include "rclcpp/time.hpp"
 #include "rclcpp/node.hpp"
 #include "behaviortree_cpp/behavior_tree.h"
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav_msgs/msg/path.hpp"
 
 namespace BT
 {
@@ -102,6 +104,70 @@ inline geometry_msgs::msg::PoseStamped convertFromString(const StringView key)
   }
 }
 
+/**
+ * @brief Parse XML string to std::vector<geometry_msgs::msg::PoseStamped>
+ * @param key XML string
+ * @return std::vector<geometry_msgs::msg::PoseStamped>
+ */
+template<>
+inline std::vector<geometry_msgs::msg::PoseStamped> convertFromString(const StringView key)
+{
+  // 9 real numbers separated by semicolons
+  auto parts = BT::splitString(key, ';');
+  if (parts.size() % 9 != 0) {
+    throw std::runtime_error("invalid number of fields for std::vector<PoseStamped> attribute)");
+  } else {
+    std::vector<geometry_msgs::msg::PoseStamped> poses;
+    for (size_t i = 0; i < parts.size(); i += 9) {
+      geometry_msgs::msg::PoseStamped pose_stamped;
+      pose_stamped.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
+      pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
+      pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
+      pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
+      pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
+      pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
+      pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
+      pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
+      pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
+      poses.push_back(pose_stamped);
+    }
+    return poses;
+  }
+}
+
+/**
+ * @brief Parse XML string to nav_msgs::msg::Path
+ * @param key XML string
+ * @return nav_msgs::msg::Path
+ */
+template<>
+inline nav_msgs::msg::Path convertFromString(const StringView key)
+{
+  // 9 real numbers separated by semicolons
+  auto parts = BT::splitString(key, ';');
+  if ((parts.size() - 2) % 9 != 0) {
+    throw std::runtime_error("invalid number of fields for Path attribute)");
+  } else {
+    nav_msgs::msg::Path path;
+    path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[0]));
+    path.header.frame_id = BT::convertFromString<std::string>(parts[1]);
+    for (size_t i = 2; i < parts.size(); i += 9) {
+      geometry_msgs::msg::PoseStamped pose_stamped;
+      path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
+      pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
+      pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
+      pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
+      pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
+      pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
+      pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
+      pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
+      pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
+      path.poses.push_back(pose_stamped);
+    }
+    return path;
+  }
+}
+
 /**
  * @brief Parse XML string to std::chrono::milliseconds
  * @param key XML string

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp

@@ -23,6 +23,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "behaviortree_cpp/action_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

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

@@ -24,6 +24,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "tf2_ros/buffer.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp

@@ -22,6 +22,7 @@
 
 #include "behaviortree_cpp/condition_node.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 
 namespace nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp

@@ -21,6 +21,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp/condition_node.h"
 #include "tf2_ros/buffer.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp

@@ -20,6 +20,7 @@
 
 #include "behaviortree_cpp/condition_node.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp

@@ -17,6 +17,7 @@
 
 #include <string>
 #include "behaviortree_cpp/behavior_tree.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp

@@ -20,6 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "behaviortree_cpp/condition_node.h"
 #include "nav_msgs/msg/path.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp

@@ -23,6 +23,7 @@
 #include "tf2_ros/buffer.h"
 
 #include "behaviortree_cpp/decorator_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp

@@ -23,6 +23,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp

@@ -25,6 +25,7 @@
 #include "nav2_util/odometry_utils.hpp"
 
 #include "behaviortree_cpp/decorator_node.h"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.3.2</version>
+  <version>1.3.3</version>
   <description>Nav2 behavior tree wrappers, nodes, and utilities</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>

nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp

@@ -20,7 +20,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp

@@ -20,7 +20,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp

@@ -16,7 +16,6 @@
 #include <string>
 
 #include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp

@@ -20,7 +20,6 @@
 #include "nav2_util/node_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp

@@ -15,7 +15,6 @@
 #include <string>
 #include <vector>
 #include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/decorator/distance_controller.cpp

@@ -26,7 +26,6 @@
 #include "behaviortree_cpp/decorator_node.h"
 
 #include "nav2_behavior_tree/plugins/decorator/distance_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp

@@ -19,7 +19,6 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "behaviortree_cpp/decorator_node.h"
 #include "nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

@@ -34,9 +34,10 @@ bool PathLongerOnApproach::isPathUpdated(
   nav_msgs::msg::Path & new_path,
   nav_msgs::msg::Path & old_path)
 {
-  return new_path != old_path && old_path.poses.size() != 0 &&
+  return old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back().pose == new_path.poses.back().pose;
+         new_path.poses.size() != old_path.poses.size() &&
+         old_path.poses.back().pose.position == new_path.poses.back().pose.position;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(
@@ -64,7 +65,7 @@ inline BT::NodeStatus PathLongerOnApproach::tick()
 
   if (first_time_ == false) {
     if (old_path_.poses.empty() || new_path_.poses.empty() ||
-      old_path_.poses.back() != new_path_.poses.back())
+      old_path_.poses.back().pose != new_path_.poses.back().pose)
     {
       first_time_ = true;
     }

nav2_behavior_tree/plugins/decorator/speed_controller.cpp

@@ -19,7 +19,6 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/decorator/speed_controller.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {

nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp

@@ -23,7 +23,6 @@
 
 #include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp"
-#include "nav2_behavior_tree/bt_utils.hpp"
 
 using namespace std::chrono;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT

nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp

@@ -36,8 +36,6 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree
     poses1.push_back(goal1);
     config_->blackboard->set("goal", goal1);
     config_->blackboard->set("goals", poses1);
-    config_->input_ports["goals"] = "";
-    config_->input_ports["goal"] = "";
     bt_node_ = std::make_shared<nav2_behavior_tree::GoalUpdatedController>(
       "goal_updated_controller", *config_);
     dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();