Merge branch 'ros-navigation:main' into eigen_mppi

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v28\
+              - "<< parameters.key >>-v31\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v28\
+              - "<< parameters.key >>-v31\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v28\
+            key: "<< parameters.key >>-v31\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

nav2_behavior_tree/CMakeLists.txt

@@ -95,6 +95,9 @@ list(APPEND plugin_libs nav2_clear_costmap_service_bt_node)
 add_library(nav2_is_stuck_condition_bt_node SHARED plugins/condition/is_stuck_condition.cpp)
 list(APPEND plugin_libs nav2_is_stuck_condition_bt_node)
 
+add_library(nav2_is_stopped_condition_bt_node SHARED plugins/condition/is_stopped_condition.cpp)
+list(APPEND plugin_libs nav2_is_stopped_condition_bt_node)
+
 add_library(nav2_transform_available_condition_bt_node SHARED plugins/condition/transform_available_condition.cpp)
 list(APPEND plugin_libs nav2_transform_available_condition_bt_node)
 

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp

@@ -0,0 +1,90 @@
+// Copyright (c) 2024 Angsa Robotics
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_
+
+#include <string>
+#include <atomic>
+#include <deque>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "behaviortree_cpp/condition_node.h"
+#include "nav_msgs/msg/odometry.hpp"
+#include "nav2_util/odometry_utils.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
+
+
+using namespace std::chrono_literals; // NOLINT
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A BT::ConditionNode that tracks robot odometry and returns SUCCESS
+ * if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise
+ */
+class IsStoppedCondition : public BT::ConditionNode
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::IsStoppedCondition
+   * @param condition_name Name for the XML tag for this node
+   * @param conf BT node configuration
+   */
+  IsStoppedCondition(
+    const std::string & condition_name,
+    const BT::NodeConfiguration & conf);
+
+  IsStoppedCondition() = delete;
+
+  /**
+   * @brief A destructor for nav2_behavior_tree::IsStoppedCondition
+   */
+  ~IsStoppedCondition() override;
+
+  /**
+   * @brief The main override required by a BT action
+   * @return BT::NodeStatus Status of tick execution
+   */
+  BT::NodeStatus tick() override;
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return {
+      BT::InputPort<double>("velocity_threshold", 0.01,
+          "Velocity threshold below which robot is considered stopped"),
+      BT::InputPort<std::chrono::milliseconds>("duration_stopped", 1000ms,
+          "Duration (ms) the velocity must remain below the threshold"),
+    };
+  }
+
+private:
+  rclcpp::Node::SharedPtr node_;
+
+  double velocity_threshold_;
+  std::chrono::milliseconds duration_stopped_;
+  rclcpp::Time stopped_stamp_;
+
+  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_

nav2_behavior_tree/include/nav2_behavior_tree/utils/loop_rate.hpp

@@ -0,0 +1,82 @@
+// Copyright (c) 2024 Angsa Robotics
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__UTILS__LOOP_RATE_HPP_
+#define NAV2_BEHAVIOR_TREE__UTILS__LOOP_RATE_HPP_
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+
+namespace nav2_behavior_tree
+{
+
+class LoopRate
+{
+public:
+  LoopRate(const rclcpp::Duration & period, BT::Tree * tree)
+  : clock_(std::make_shared<rclcpp::Clock>(RCL_STEADY_TIME)), period_(period),
+    last_interval_(clock_->now()), tree_(tree)
+  {}
+
+  // Similar to rclcpp::WallRate::sleep() but using tree_->sleep()
+  bool sleep()
+  {
+    // Time coming into sleep
+    auto now = clock_->now();
+    // Time of next interval
+    auto next_interval = last_interval_ + period_;
+    // Detect backwards time flow
+    if (now < last_interval_) {
+      // Best thing to do is to set the next_interval to now + period
+      next_interval = now + period_;
+    }
+    // Update the interval
+    last_interval_ += period_;
+    // If the time_to_sleep is negative or zero, don't sleep
+    if (next_interval <= now) {
+      // If an entire cycle was missed then reset next interval.
+      // This might happen if the loop took more than a cycle.
+      // Or if time jumps forward.
+      if (now > next_interval + period_) {
+        last_interval_ = now + period_;
+      }
+      // Either way do not sleep and return false
+      return false;
+    }
+    // Calculate the time to sleep
+    auto time_to_sleep = next_interval - now;
+    std::chrono::nanoseconds time_to_sleep_ns(time_to_sleep.nanoseconds());
+    // Sleep (can get interrupted by emitWakeUpSignal())
+    tree_->sleep(time_to_sleep_ns);
+    return true;
+  }
+
+  std::chrono::nanoseconds period() const
+  {
+    return std::chrono::nanoseconds(period_.nanoseconds());
+  }
+
+private:
+  rclcpp::Clock::SharedPtr clock_;
+  rclcpp::Duration period_;
+  rclcpp::Time last_interval_;
+  BT::Tree * tree_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__UTILS__LOOP_RATE_HPP_

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -227,6 +227,11 @@
 
     <Condition ID="IsStuck"/>
 
+    <Condition ID="IsStopped">
+      <input_port name="velocity_threshold">Velocity threshold below which robot is considered stopped</input_port>
+      <input_port name="duration_stopped">Duration (ms) the velocity must remain below the threshold</input_port>
+    </Condition>
+
     <Condition ID="TransformAvailable">
       <input_port name="child">Child frame for transform</input_port>
       <input_port name="parent">Parent frame for transform</input_port>

nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp

@@ -0,0 +1,80 @@
+// Copyright (c) 2024 Angsa Robotics
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <chrono>
+
+#include "nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp"
+
+namespace nav2_behavior_tree
+{
+
+IsStoppedCondition::IsStoppedCondition(
+  const std::string & condition_name,
+  const BT::NodeConfiguration & conf)
+: BT::ConditionNode(condition_name, conf),
+  velocity_threshold_(0.01),
+  duration_stopped_(1000ms),
+  stopped_stamp_(rclcpp::Time(0, 0, RCL_ROS_TIME))
+{
+  node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+  odom_smoother_ = config().blackboard->get<std::shared_ptr<nav2_util::OdomSmoother>>(
+    "odom_smoother");
+}
+
+IsStoppedCondition::~IsStoppedCondition()
+{
+  RCLCPP_DEBUG(node_->get_logger(), "Shutting down IsStoppedCondition BT node");
+}
+
+BT::NodeStatus IsStoppedCondition::tick()
+{
+  getInput("velocity_threshold", velocity_threshold_);
+  getInput("duration_stopped", duration_stopped_);
+
+  auto twist = odom_smoother_->getRawTwistStamped();
+
+  // if there is no timestamp, set it to now
+  if (twist.header.stamp.sec == 0 && twist.header.stamp.nanosec == 0) {
+    twist.header.stamp = node_->get_clock()->now();
+  }
+
+  if (abs(twist.twist.linear.x) < velocity_threshold_ &&
+    abs(twist.twist.linear.y) < velocity_threshold_ &&
+    abs(twist.twist.angular.z) < velocity_threshold_)
+  {
+    if (stopped_stamp_ == rclcpp::Time(0, 0, RCL_ROS_TIME)) {
+      stopped_stamp_ = rclcpp::Time(twist.header.stamp);
+    }
+
+    if (node_->get_clock()->now() - stopped_stamp_ > rclcpp::Duration(duration_stopped_)) {
+      stopped_stamp_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
+      return BT::NodeStatus::SUCCESS;
+    } else {
+      return BT::NodeStatus::RUNNING;
+    }
+
+  } else {
+    stopped_stamp_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
+    return BT::NodeStatus::FAILURE;
+  }
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<nav2_behavior_tree::IsStoppedCondition>("IsStopped");
+}