Follow pose by fmrico · Pull Request #1859 · ros-navigation/navigation2

fmrico · 2020-07-08T07:08:51Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#1660
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of Tally

Description of contribution in a few bullet points

This PR replaces #1748.

The goal of this work is following a dynamic pose to a certain distance:

The goal pose can change during the execution of navigate_to_pose action.
The robot stops when the goal is nearer than a configured distance, and then it faces the goal.

One use case could be following a person to ~1 meter in a house. We want to use it in RoboCup@Home.

I don't want to implement this as a new plugin for controller or planner. This work is independent of the algorithms used to create the plan and following it. To implement it I have:

developed a decorator node for updating the goal pose from a subscribed topic.
developed a decorator to modify path. The modified path makes reach the robot to a pose to the desired distance and faces real final goal.

This is an example of BT for achieving this functionality:

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <PipelineSequence name="NavigateWithReplanning">
      <RateController hz="1.0">
        <UpdateGoal input_goal="{goal}" output_goal="{mod_goal}">
          <ComputePathToPose goal="{mod_goal}" path="{path}" planner_id="GridBased"/>
        </UpdateGoal>
      </RateController>
      <KeepRunningUntilFailure>
        <TruncatePath distance="1.0" input_path="{path}" output_path="{mod_path}">
          <FollowPath path="{mod_path}" controller_id="FollowPath"/>
        </TruncatePath>
      </KeepRunningUntilFailure>
    </PipelineSequence>
  </BehaviorTree>
</root>

Description of documentation updates required from your changes

I have still to document BT nodes.

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

codecov · 2020-07-08T07:43:41Z

Codecov Report

Merging #1859 into master will decrease coverage by 0.49%.
The diff coverage is 93.22%.

@@            Coverage Diff             @@
##           master    #1859      +/-   ##
==========================================
- Coverage   69.25%   68.76%   -0.50%     
==========================================
  Files         218      222       +4     
  Lines       10604    10663      +59     
==========================================
- Hits         7344     7332      -12     
- Misses       3260     3331      +71

Flag	Coverage Δ
#project	`?`

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
nav2_bt_navigator/src/bt_navigator.cpp	`80.12% <ø> (ø)`
...avior_tree/plugins/action/truncate_path_action.cpp	`86.66% <86.66%> (ø)`
...avior_tree/plugins/action/truncate_path_action.hpp	`100.00% <100.00%> (ø)`
...avior_tree/plugins/decorator/goal_updater_node.hpp	`100.00% <100.00%> (ø)`
...avior_tree/plugins/decorator/goal_updater_node.cpp	`100.00% <100.00%> (ø)`
nav2_recoveries/plugins/spin.cpp	`0.00% <0.00%> (-89.48%)`	⬇️
nav2_map_server/src/map_server/main.cpp	`63.63% <0.00%> (-36.37%)`	⬇️
...ns/include/dwb_plugins/one_d_velocity_iterator.hpp	`97.22% <0.00%> (-2.78%)`	⬇️
nav2_amcl/src/amcl_node.cpp	`83.23% <0.00%> (-0.61%)`	⬇️
nav2_amcl/src/pf/pf.c	`83.98% <0.00%> (-0.40%)`	⬇️
... and 8 more

Continue to review full report at Codecov.

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SteveMacenski

Interesting way to approach this - I like it. I think there's an open question that needs to be thought about regarding if this is an appropriate use within BT navigator since BT navigator gets a goal pose and then its basically just ignored to rather use this topic.

I'm wondering if another action server for following / non-point-to-point navigator tasks to be called at. That way we're not disingenuously using the action API and ignoring half the info. Just an action server with a behavior tree ID in the message to execute and the assumption is that any additional information is made available and used by the BT

As you identified, documentation updates also needed:

param list md file
param list on website
migration guide
add to website plugins list

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/truncate_path_controller.hpp

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/update_goal_controller.hpp

nav2_behavior_tree/plugins/decorator/truncate_path_controller.cpp

nav2_behavior_tree/plugins/decorator/update_goal_controller.cpp

nav2_bringup/bringup/params/nav2_params.yaml

nav2_bt_navigator/behavior_trees/follow_point.xml

SteveMacenski · 2020-07-08T21:55:38Z

Also need basic test coverage - if you look at BT package now, you'll see a number of good test examples to follow from @naiveHobo. While there's no official test policy (yet), any package with > 80% coverage I'm unofficially saying that there should be tests added so that we can keep them > 80% (and this one is >90%)

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

fmrico · 2020-07-11T09:32:14Z

Hi @SteveMacenski

I added tests, and I think that now the names are reasonable. Doc is updated, and I believe that the rest of doc must be done in ros-navigation/docs.nav2.org#40

doc/parameters/param_list.md

nav2_behavior_tree/plugins/decorator/update_goal_controller.cpp

nav2_behavior_tree/plugins/decorator/truncate_path_node.cpp

SteveMacenski · 2020-07-13T20:02:33Z

nav2_bt_navigator/behavior_trees/follow_point.xml

+    <PipelineSequence name="NavigateWithReplanning">
+      <RateController hz="1.0">
+        <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
+          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}">


Semantically, wouldn't it make more sense if TruncatePath was an action after ComputePathToPose? @naiveHobo what do you think?

It seems to me like both of these don't really need to be decorators, but I suppose it works. @fmrico can you explain maybe why you think of it this way? Maybe its a 'me' thing.

I implemented it as a decorator because it modifies the output/input of an action node. It has no sense without the action nodes that it modifies. Am I wrong?

It just seems so paired to this particular action node that it itself seems to be computing an action. I could go either way on it, there are many ways to implement the same thing.

I'm also on the edge here. The node only makes sense when it's used with ComputePathToPose. I can see it as an action node that is ticked in sequence after ComputePathToPose is ticked successfully.

One argument to justify TruncatePath to be an action node instead of a decorator is that technically it is supposed to work on the output of ComputePathToPose. Having it as a decorator forces it to tick before a new path is computed. In my opinion, the natural flow would be to get a goal, compute a new path to the goal, truncate the path, and execute.

OK. So do you think we should change or leave it?

I think making it an action node such that it ticks after ComputePathToPose returns success makes more sense. That way this node isn't ticked in every cycle, it's only ticked once a new path is available. More natural fit in my opinion.

Ok. Changing to action node

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

SteveMacenski

A few more small things. @naiveHobo please review

SteveMacenski · 2020-07-20T20:31:22Z

doc/parameters/param_list.md

+
+| Input Port | Default | Description |
+| ---------- | ------- | ----------- |
+| input_path | N/A | Path to be truncated |


Update the names / values here in the navigation.ros.org PR

Ok. I am planning to do it in that PR after this PR.

nav2_bringup/bringup/launch/tb3_simulation_launch.py

nav2_bt_navigator/behavior_trees/follow_point.xml

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

nav2_behavior_tree/plugins/decorator/truncate_path_node.cpp

nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

fmrico · 2020-07-23T10:34:14Z

Hi @SteveMacenski

I have just committed the changes that you asked for.

I hope it will be better now ;)

SteveMacenski

One last typo and that can be merged!

nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

fmrico · 2020-07-23T18:53:52Z

@SteveMacenski Done :)

SteveMacenski · 2020-07-23T19:00:58Z

Waiting on CI

* Truncate path finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Follow Pose finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names. Add test and doc Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names and check atan2 values Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Checking Inf/NaNs and trucate path changes Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Revert changes in launcher Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Documenting Tree Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change TruncatePath from decorator to action node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Add slam toolbox as exec dep for nav2_bringup (#1827) * Add slam toolbox as exec dep * Added slam toolbox * Changed version of slam toolbox to foxy-devel * Added modifications to allow for exec depend of slam toolbox without breaking docker / CI * reformatted skip keys * Added tabs to skip key arguments * Removed commented out code block * Add unit tests for follow path, compute path to pose, and navigate to pose BT action nodes (#1844) * Add compute path to pose unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add follow path action unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add navigate to pose action unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * adding foxy build icons to readme (#1853) * adding foxy build icons * adding dividers * sync master from foxy version updates (#1852) * sync master from foxy version updates * syncing foxy and master * Add unit tests for clear entire costmap and reinitialize global localization BT service nodes (#1845) * Add clear entire costmap service unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add reinitialize global localization service unit test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Temporarily disable dump_params test (#1856) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * commenting out unused validPointPotential (#1854) * Adding ROS2 versions to issue template (#1861) * reload behavior tree before creating RosTopicLogger to prevent nullptr error or no /behavior_tree_log problem (#1849) Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * Add citation for IROS paper (#1867) * Add citation We'll want to add the DOI once published * Bump citation section above build status * Fix line breaks * Changes RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED to RCUTILS_LOGGING_BUFFERED_STREAM (#1868) * Added parameters to configure amcl laser scan topic (#1870) * Added parameters to configure amcl topic * changed parameter to scan_topic and added to all the configuration files * added scan_topic amcl param to docs * Satisfied linter * Move dwb goal/progress checker plugins to nav2_controller (#1857) * Move dwb goal/progress checker plugins to nav2_controller Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Move goal/progress checker plugins to nav2_controller Address review comments Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Move goal/progress checker plugins to nav2_controller Use new plugin declaration format and doc update Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Update bringup.yaml for new plugins in nav2_controller Also remove redundent file from dwb_plugins Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Fix doc errors and update remaining yaml files Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Remove mention of goal_checker from dwb docs Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Add .plugin params to doc Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Tests for progress_checker plugin declare .plugin only if not declared before Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Tweak plugin names/description in doc Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Follow pose (#1859) * Truncate path finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Follow Pose finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names. Add test and doc Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names and check atan2 values Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Checking Inf/NaNs and trucate path changes Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Revert changes in launcher Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Documenting Tree Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change TruncatePath from decorator to action node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Remove Deprecated Declaration (#1884) * Remove deprecated rclcpp::executor::FutureReturnCode::SUCCESS in favor of rclcpp::FutureReturnCode::SUCCESS Signed-off-by: Hunter L. Allen <hunter.allen@ghostrobotics.io> * Update nav2_util/include/nav2_util/service_client.hpp Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Added new costmap buffer to resize map safely (#1837) * Added new costmap buffer to resize map safely Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Update map if the layer is not being processed. Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Updated bool name and added buffer initialization Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Fix dump params tests (#1886) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Move definitions in tf_help to separate src cpp file (#1890) * Move definitions of functions in tf_help to separate src cpp file to avoid multiple definition error * Fix linting issues * Make uncrustify happier * More format fixing * resolved the simulated motion into its x & y components (#1887) Signed-off-by: Marwan Taher <marokhaled99@gmail.com> * Fix nav2_bt_navigator cleanup (#1901) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Adding some more test coverage (#1903) * more tests * removing old cmake * remove on_errors in specific servers in favor of a general lifecycle warning (#1904) * remove on_errors in favor of a general lifecycle warning * adding removed thing * simply nodes to remove lines (#1907) * Bunches of random new tests (#1909) * trying to get A* to work again * make flake 8 happy * adding cancel and preempt test * planner tests use A* * adding A* note * test with topic * Adding failure to navigate test (#1912) * failures tests * adding copyrights * cancel test in recoveries * Costmap lock while copying data in navfn planner (#1913) * acquire the costmap lock while copying data in navfn planner Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * add costmap lock to dwb local plannger Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * Added map_topic parameters to static layer and amcl (#1910) * see if spin some in cancel will allow result callback (#1914) * Adding near-complete voxel grid test coverage and more to controller server (#1915) * remove erraneous handling done by prior * adding a bunch of voxel unit tests * retrigger * adding waypoint follower failure test, voxel layer integration tests, etc (#1916) * adding waypoint follower failure test * adding voxel, more logging * reset -> clear * minor changes to lower redundent warnings (#1918) * Costmap plugins declare if not declared for reset capabilities (#1919) * fixing #1917 on declare if not declared * fix API * adding CLI test (#1920) * More coverage in map server tests (#1921) * adding CLI test * adding a bunch of new coverages for map_server * Add in range sensor costmap layer (#1888) * range costmap building * range sensor layer working * nav2 costmap pass linter and uncrustify tests * Added back semicolon to range class * Added docs * Added angles dependency * Added BSD license * Added BSD license * Made functions inline * revmoed get_clock * added input_sensor_type to docs * Made defualt topic name empty to cause error * using chorno literal to denote time units * Added small initial test * Fixed linter error, line breaks, enum, logger level, and transform_tolerance issue * fixed segmentation fault in test and added transfrom tolerances to tf_->transform * Got test to pass * Added more tests * removed incorrect parameter declaration * Improved marking while moving tests and added clearing tests * removed general clearing test * changed testing helper import in test * [Test sprint] push nav2_map_server over 90% (#1922) * adding CLI test * adding tests for more lines to map_server * fix last test * adding out of bounds and higher bounds checks * adding planner tests for plugins working * add cleanup * working * ping * [testing sprint] final test coverage and debug logging in planner/controller servers (#1924) * adding CLI test * adding tests for more lines to map_server * fix last test * adding out of bounds and higher bounds checks * adding planner tests for plugins working * add cleanup * working * ping * adding more testing and debug info messages * [testing sprint] remove dead code not used in 10 years from navfn (#1926) * remove dead code not used in 10 years from navfn * ping * inverting period to rate * removing debug statement that could never be triggered by a single non-looping action server * type change * adding removed files * bump to 0.4.2 * add another missing file * add missing files * remove some tests * lint * removing nav2_bringup from binaries Co-authored-by: Michael Equi <32988490+Michael-Equi@users.noreply.github.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Siddarth Gore <siddarth.gore@gmail.com> Co-authored-by: Francisco Martín Rico <fmrico@gmail.com> Co-authored-by: Hunter L. Allen <hunter.allen@ghostrobotics.io> Co-authored-by: Aitor Miguel Blanco <aitormibl@gmail.com> Co-authored-by: Joe Smallman <ijsmallman@gmail.com> Co-authored-by: Marwan Taher <marokhaled99@gmail.com>

* Truncate path finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Follow Pose finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names. Add test and doc Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names and check atan2 values Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Checking Inf/NaNs and trucate path changes Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Revert changes in launcher Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Documenting Tree Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change TruncatePath from decorator to action node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

fmrico added 2 commits July 7, 2020 20:49

Truncate path finished

fb176ed

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

Follow Pose finished

7b92667

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

This was referenced Jul 8, 2020

[WIP] Following an object a certain distance #1748

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Remove final orientation movement from controller plugins #1802

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SteveMacenski requested changes Jul 8, 2020

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fmrico mentioned this pull request Jul 9, 2020

Description of BT plugins for follow pose behavior ros-navigation/docs.nav2.org#40

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fmrico added 2 commits July 9, 2020 21:25

Change names. Add test and doc

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Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

Change names and check atan2 values

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Revert changes in launcher

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Documenting Tree

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fmrico and others added 3 commits July 23, 2020 11:40

Update nav2_bt_navigator/README.md

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Update nav2_bt_navigator/README.md

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SteveMacenski merged commit 69fdfd6 into ros-navigation:master Jul 23, 2020

fmrico deleted the follow_pose branch August 10, 2020 07:11

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fmrico commented Jul 8, 2020

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

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