Adding planner server timeout for costmap waiting (#4673)

* Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <[email protected]> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>
ros-navigation · Sep 12, 2024 · b71cccd · b71cccd
1 parent 271d2d6
commit b71cccd
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Showing 10 changed files with 46 additions and 1 deletion.
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -68,6 +68,7 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
+    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -198,6 +199,7 @@ map_server:
 planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
+    costmap_update_timeout: 1.0
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -68,6 +68,7 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
+    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -197,6 +198,7 @@ map_server:
 planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
+    costmap_update_timeout: 1.0
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -68,6 +68,7 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
+    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -230,6 +231,7 @@ map_saver:
 planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
+    costmap_update_timeout: 1.0
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -68,6 +68,7 @@ bt_navigator:
 controller_server:
   ros__parameters:
     controller_frequency: 20.0
+    costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
@@ -276,6 +277,7 @@ planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
+    costmap_update_timeout: 1.0
     GridBased:
       plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5

diff --git a/nav2_controller/include/nav2_controller/controller_server.hpp b/nav2_controller/include/nav2_controller/controller_server.hpp
@@ -267,6 +267,7 @@ class ControllerServer : public nav2_util::LifecycleNode
 
   double failure_tolerance_;
   bool use_realtime_priority_;
+  rclcpp::Duration costmap_update_timeout_;
 
   // Whether we've published the single controller warning yet
   geometry_msgs::msg::PoseStamped end_pose_;

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
@@ -44,7 +44,8 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   default_goal_checker_types_{"nav2_controller::SimpleGoalChecker"},
   lp_loader_("nav2_core", "nav2_core::Controller"),
   default_ids_{"FollowPath"},
-  default_types_{"dwb_core::DWBLocalPlanner"}
+  default_types_{"dwb_core::DWBLocalPlanner"},
+  costmap_update_timeout_(300ms)
 {
   RCLCPP_INFO(get_logger(), "Creating controller server");
 
@@ -63,6 +64,7 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
 
   declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
   declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false));
+  declare_parameter("costmap_update_timeout", 0.30);  // 300ms
 
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
@@ -222,6 +224,10 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
+  double costmap_update_timeout_dbl;
+  get_parameter("costmap_update_timeout", costmap_update_timeout_dbl);
+  costmap_update_timeout_ = rclcpp::Duration::from_seconds(costmap_update_timeout_dbl);
+
   // Create the action server that we implement with our followPath method
   // This may throw due to real-time prioritzation if user doesn't have real-time permissions
   try {
@@ -480,7 +486,11 @@ void ControllerServer::computeControl()
 
       // Don't compute a trajectory until costmap is valid (after clear costmap)
       rclcpp::Rate r(100);
+      auto waiting_start = now();
       while (!costmap_ros_->isCurrent()) {
+        if (now() - waiting_start > costmap_update_timeout_) {
+          throw nav2_core::ControllerTimedOut("Costmap timed out waiting for update");
+        }
         r.sleep();
       }
 
@@ -543,6 +553,13 @@ void ControllerServer::computeControl()
     result->error_code = Action::Result::INVALID_PATH;
     action_server_->terminate_current(result);
     return;
+  } catch (nav2_core::ControllerTimedOut & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Result::CONTROLLER_TIMED_OUT;
+    action_server_->terminate_current(result);
+    return;
   } catch (nav2_core::ControllerException & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
     publishZeroVelocity();

diff --git a/nav2_core/include/nav2_core/controller_exceptions.hpp b/nav2_core/include/nav2_core/controller_exceptions.hpp
@@ -69,6 +69,13 @@ class NoValidControl : public ControllerException
   : ControllerException(description) {}
 };
 
+class ControllerTimedOut : public ControllerException
+{
+public:
+  explicit ControllerTimedOut(const std::string & description)
+  : ControllerException(description) {}
+};
+
 }  // namespace nav2_core
 
 #endif  // NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action
@@ -16,6 +16,7 @@ uint16 INVALID_PATH=103
 uint16 PATIENCE_EXCEEDED=104
 uint16 FAILED_TO_MAKE_PROGRESS=105
 uint16 NO_VALID_CONTROL=106
+uint16 CONTROLLER_TIMED_OUT=107
 
 std_msgs/Empty result
 uint16 error_code

diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -242,6 +242,7 @@ class PlannerServer : public nav2_util::LifecycleNode
   std::vector<std::string> planner_ids_;
   std::vector<std::string> planner_types_;
   double max_planner_duration_;
+  rclcpp::Duration costmap_update_timeout_;
   std::string planner_ids_concat_;
 
   // TF buffer

diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
@@ -44,6 +44,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   gp_loader_("nav2_core", "nav2_core::GlobalPlanner"),
   default_ids_{"GridBased"},
   default_types_{"nav2_navfn_planner::NavfnPlanner"},
+  costmap_update_timeout_(1s),
   costmap_(nullptr)
 {
   RCLCPP_INFO(get_logger(), "Creating");
@@ -52,6 +53,7 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   declare_parameter("planner_plugins", default_ids_);
   declare_parameter("expected_planner_frequency", 1.0);
   declare_parameter("action_server_result_timeout", 10.0);
+  declare_parameter("costmap_update_timeout", 1.0);
 
   get_parameter("planner_plugins", planner_ids_);
   if (planner_ids_ == default_ids_) {
@@ -150,6 +152,10 @@ PlannerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
+  double costmap_update_timeout_dbl;
+  get_parameter("costmap_update_timeout", costmap_update_timeout_dbl);
+  costmap_update_timeout_ = rclcpp::Duration::from_seconds(costmap_update_timeout_dbl);
+
   // Create the action servers for path planning to a pose and through poses
   action_server_pose_ = std::make_unique<ActionServerToPose>(
     shared_from_this(),
@@ -283,7 +289,11 @@ void PlannerServer::waitForCostmap()
 {
   // Don't compute a plan until costmap is valid (after clear costmap)
   rclcpp::Rate r(100);
+  auto waiting_start = now();
   while (!costmap_ros_->isCurrent()) {
+    if (now() - waiting_start > costmap_update_timeout_) {
+      throw nav2_core::PlannerTimedOut("Costmap timed out waiting for update");
+    }
     r.sleep();
   }
 }