Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

WIP: Make BT nodes have configurable wait times. #3960

Merged
merged 8 commits into from
Nov 20, 2023
Merged

WIP: Make BT nodes have configurable wait times. #3960

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
8fde00d
Make BT nodes have configurable wait times.
embeddedadam Nov 13, 2023
2812ce2
Make BT nodes have configurable wait times.
embeddedadam Nov 13, 2023
99a5f89
Fix typos, linting errors and value type from float to int
embeddedadam Nov 17, 2023
db767d6
Fix extra underscores
embeddedadam Nov 17, 2023
9fb2da9
Fix extra underscore
embeddedadam Nov 17, 2023
6507a60
Update unit tests with blackboard parameter
embeddedadam Nov 19, 2023
aa9492b
Fix formatting errors
embeddedadam Nov 19, 2023
e5e08e4
Update system tests to match new parameter
embeddedadam Nov 19, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +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_);
bt_wait_for_service_timeout_ =
config().blackboard->template get<std::chrono::milliseconds>("bt_wait_for_service_timeout_");
wait_for_service_timeout_ =
config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout_");
SteveMacenski marked this conversation as resolved.
Show resolved Hide resolved

// Initialize the input and output messages
goal_ = typename ActionT::Goal();
Expand Down Expand Up @@ -95,7 +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(bt_wait_for_service_timeout_)) {
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",
Copy link
Contributor

@tonynajjar tonynajjar Feb 28, 2024 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

you missed changing this from 1 s to "wait_for_service_timeout_" seconds

action_name.c_str());
Expand Down Expand Up @@ -465,7 +465,7 @@ class BtActionNode : public BT::ActionNodeBase
std::chrono::milliseconds bt_loop_duration_;

// The timeout value for waiting for a service to response
std::chrono::milliseconds bt_wait_for_service_timeout_;
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>>
Expand Down
2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,7 @@ class BtActionServer
std::chrono::milliseconds default_server_timeout_;

// The timeout value for waiting for a service to response
std::chrono::milliseconds bt_wait_for_service_timeout_;
std::chrono::milliseconds wait_for_service_timeout_;

// User-provided callbacks
OnGoalReceivedCallback on_goal_received_callback_;
Expand Down
10 changes: 5 additions & 5 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -158,9 +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 bt_wait_for_service_timeout;
node->get_parameter("bt_wait_for_service_timeout", bt_wait_for_service_timeout);
bt_wait_for_service_timeout_ = std::chrono::milliseconds(bt_wait_for_service_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();
Expand All @@ -175,7 +175,7 @@ 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>("bt_wait_for_service_timeout_", bt_wait_for_service_timeout_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("wait_for_service_timeout_", wait_for_service_timeout_); // NOLINT
SteveMacenski marked this conversation as resolved.
Show resolved Hide resolved

return true;
}
Expand Down Expand Up @@ -239,7 +239,7 @@ 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>("bt_wait_for_service_timeout", bt_wait_for_service_timeout_);
blackboard->set<std::chrono::milliseconds>("wait_for_service_timeout", wait_for_service_timeout_); // NOLINT
}
} catch (const std::exception & e) {
RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
Expand Down
8 changes: 4 additions & 4 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +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_);
bt_wait_for_service_timeout_ =
config().blackboard->template get<std::chrono::milliseconds>("bt_wait_for_service_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)) {
Expand Down Expand Up @@ -91,7 +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(bt_wait_for_service_timeout_)) {
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());
Expand Down Expand Up @@ -171,7 +171,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
// new action goal is canceled
std::chrono::milliseconds server_timeout_;
// The timeout value for waiting for a service to response
std::chrono::milliseconds bt_wait_for_service_timeout_;
std::chrono::milliseconds wait_for_service_timeout_;
};

} // namespace nav2_behavior_tree
Expand Down
10 changes: 5 additions & 5 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +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_);
bt_wait_for_service_timeout_ =
config().blackboard->template get<std::chrono::milliseconds>("bt_wait_for_service_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_);
Expand All @@ -79,7 +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(bt_wait_for_service_timeout_)) {
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());
Expand Down Expand Up @@ -250,9 +250,9 @@ 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 bt_wait_for_service_timeout_;
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_;
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/params/nav2_multirobot_params_1.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ bt_navigator:
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
bt_wait_for_service_timeout: 1000.0
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/params/nav2_multirobot_params_2.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ bt_navigator:
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
bt_wait_for_service_timeout: 1000.0
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/params/nav2_multirobot_params_all.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ bt_navigator:
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
bt_wait_for_service_timeout: 1000.0
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/params/nav2_params.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ bt_navigator:
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
bt_wait_for_service_timeout: 1000.0
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
Expand Down
2 changes: 1 addition & 1 deletion nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ bt_navigator:
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
bt_wait_for_service_timeout: 1000.0
wait_for_service_timeout: 1000
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
Expand Down