Merge branch 'main' into add_polygon_velocity

ros-navigation · Dec 5, 2023 · 8491ed4 · 8491ed4
2 parents 3db0146 + aa9396e
commit 8491ed4
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Showing 70 changed files with 999 additions and 232 deletions.
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -9,6 +9,7 @@
 | Ticket(s) this addresses   | (add tickets here #1) |
 | Primary OS tested on | (Ubuntu, MacOS, Windows) |
 | Robotic platform tested on | (Steve's Robot, gazebo simulation of Tally, hardware turtlebot) |
+| Does this PR contain AI generated software? | (No; Yes and it is marked inline in the code) |
 
 ---
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -61,6 +61,8 @@ class BtActionNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     // Initialize the input and output messages
     goal_ = typename ActionT::Goal();
@@ -93,7 +95,7 @@ class BtActionNode : public BT::ActionNodeBase
 
     // Make sure the server is actually there before continuing
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
         action_name.c_str());
@@ -462,6 +464,9 @@ class BtActionNode : public BT::ActionNodeBase
   // The timeout value for BT loop execution
   std::chrono::milliseconds bt_loop_duration_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the action server acknowledgement when a new goal is sent
   std::shared_ptr<std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>
   future_goal_handle_;

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
@@ -248,6 +248,9 @@ class BtActionServer
   // Default timeout value while waiting for response from a server
   std::chrono::milliseconds default_server_timeout_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // User-provided callbacks
   OnGoalReceivedCallback on_goal_received_callback_;
   OnLoopCallback on_loop_callback_;

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -135,7 +135,7 @@ bool BtActionServer<ActionT>::on_configure()
     node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
   nav2_util::declare_parameter_if_not_declared(
     node, "transform_tolerance", rclcpp::ParameterValue(0.1));
-  nav2_util::copy_all_parameters(node, client_node_);
+  rclcpp::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
   double action_server_result_timeout;
@@ -158,6 +158,9 @@ bool BtActionServer<ActionT>::on_configure()
   int default_server_timeout;
   node->get_parameter("default_server_timeout", default_server_timeout);
   default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
+  int wait_for_service_timeout;
+  node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
+  wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
 
   // Get error code id names to grab off of the blackboard
   error_code_names_ = node->get_parameter("error_code_names").as_string_array();
@@ -172,6 +175,9 @@ bool BtActionServer<ActionT>::on_configure()
   blackboard_->set<rclcpp::Node::SharedPtr>("node", client_node_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);  // NOLINT
+  blackboard_->set<std::chrono::milliseconds>(
+    "wait_for_service_timeout",
+    wait_for_service_timeout_);
 
   return true;
 }
@@ -235,6 +241,9 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
       blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
       blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
+      blackboard->set<std::chrono::milliseconds>(
+        "wait_for_service_timeout",
+        wait_for_service_timeout_);
     }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -59,6 +59,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     std::string remapped_action_name;
     if (getInput("server_name", remapped_action_name)) {
@@ -89,7 +91,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
 
     // Make sure the server is actually there before continuing
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
         action_name.c_str());
@@ -168,6 +170,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
   // The timeout value while waiting for response from a server when a
   // new action goal is canceled
   std::chrono::milliseconds server_timeout_;
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
 };
 
 }  // namespace nav2_behavior_tree

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -62,6 +62,8 @@ class BtServiceNode : public BT::ActionNodeBase
     server_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
     getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    wait_for_service_timeout_ =
+      config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
     // Now that we have node_ to use, create the service client for this BT service
     getInput("service_name", service_name_);
@@ -77,7 +79,7 @@ class BtServiceNode : public BT::ActionNodeBase
     RCLCPP_DEBUG(
       node_->get_logger(), "Waiting for \"%s\" service",
       service_name_.c_str());
-    if (!service_client_->wait_for_service(1s)) {
+    if (!service_client_->wait_for_service(wait_for_service_timeout_)) {
       RCLCPP_ERROR(
         node_->get_logger(), "\"%s\" service server not available after waiting for 1 s",
         service_node_name.c_str());
@@ -249,6 +251,9 @@ class BtServiceNode : public BT::ActionNodeBase
   // The timeout value for BT loop execution
   std::chrono::milliseconds bt_loop_duration_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the server response when a new request is sent
   std::shared_future<typename ServiceT::Response::SharedPtr> future_result_;
   bool request_sent_{false};

diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp
@@ -68,6 +68,9 @@ class AssistedTeleopActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp
@@ -65,6 +65,9 @@ class CancelAssistedTeleopActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::AssistedTeleop>(
       node_, "assisted_teleop");
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
@@ -68,6 +68,9 @@ class BackUpActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelBackUpActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::BackUp>(
       node_, "back_up");
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
@@ -173,6 +173,7 @@ class BTActionNodeTestFixture : public ::testing::Test
     config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
     config_->blackboard->set<std::chrono::milliseconds>("server_timeout", 20ms);
     config_->blackboard->set<std::chrono::milliseconds>("bt_loop_duration", 10ms);
+    config_->blackboard->set<std::chrono::milliseconds>("wait_for_service_timeout", 1000ms);
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<bool>("on_cancelled_triggered", false);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp
@@ -53,6 +53,9 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
@@ -139,6 +142,9 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 
@@ -231,6 +237,9 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
@@ -76,6 +76,9 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -74,6 +74,9 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelControllerActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::FollowPath>(
       node_, "follow_path");
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp
@@ -69,6 +69,9 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp
@@ -65,6 +65,9 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::DriveOnHeading>(
       node_, "drive_on_heading_cancel");
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -67,6 +67,9 @@ class FollowPathActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
@@ -70,6 +70,9 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     std::vector<geometry_msgs::msg::PoseStamped> poses;
     config_->blackboard->set<std::vector<geometry_msgs::msg::PoseStamped>>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -68,6 +68,9 @@ class NavigateToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp
@@ -53,6 +53,9 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     factory_->registerNodeType<nav2_behavior_tree::ReinitializeGlobalLocalizationService>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
@@ -67,6 +67,9 @@ class SmoothPathActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
 
     BT::NodeBuilder builder =

diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
@@ -68,6 +68,9 @@ class SpinActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelSpinActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::Spin>(
       node_, "spin");
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
@@ -59,6 +59,9 @@ class WaitActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     config_->blackboard->set<bool>("initial_pose_received", false);
     config_->blackboard->set<int>("number_recoveries", 0);
 

diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp
@@ -64,6 +64,9 @@ class CancelWaitActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "bt_loop_duration",
       std::chrono::milliseconds(10));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "wait_for_service_timeout",
+      std::chrono::milliseconds(1000));
     client_ = rclcpp_action::create_client<nav2_msgs::action::Wait>(
       node_, "wait");