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PoseStamped vector specialization #4607

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merged 9 commits into from
Sep 4, 2024
Merged

PoseStamped vector specialization #4607

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f404906
PoseStamped vector specialization
tonynajjar Aug 8, 2024
03c713f
merge master
tonynajjar Aug 23, 2024
dd57910
Merge branch 'main' into fix-bt-specializations
tonynajjar Aug 23, 2024
9478d5b
add path
tonynajjar Aug 23, 2024
4b35740
Merge remote-tracking branch 'upstream/main' into fix-bt-specializations
tonynajjar Sep 3, 2024
4d2b402
fix size check
tonynajjar Sep 3, 2024
51f54eb
fix test
tonynajjar Sep 3, 2024
3421529
Revert "fix test"
tonynajjar Sep 3, 2024
8e4971e
fix test
tonynajjar Sep 3, 2024
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66 changes: 66 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
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Expand Up @@ -17,13 +17,15 @@

#include <string>
#include <set>
#include <vector>

#include "rclcpp/time.hpp"
#include "rclcpp/node.hpp"
#include "behaviortree_cpp/behavior_tree.h"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"

namespace BT
{
Expand Down Expand Up @@ -102,6 +104,70 @@ inline geometry_msgs::msg::PoseStamped convertFromString(const StringView key)
}
}

/**
* @brief Parse XML string to std::vector<geometry_msgs::msg::PoseStamped>
* @param key XML string
* @return std::vector<geometry_msgs::msg::PoseStamped>
*/
template<>
inline std::vector<geometry_msgs::msg::PoseStamped> convertFromString(const StringView key)
{
// 9 real numbers separated by semicolons
auto parts = BT::splitString(key, ';');
if (parts.size() % 9 != 0) {
throw std::runtime_error("invalid number of fields for std::vector<PoseStamped> attribute)");
} else {
std::vector<geometry_msgs::msg::PoseStamped> poses;
for (size_t i = 0; i < parts.size(); i += 9) {
geometry_msgs::msg::PoseStamped pose_stamped;
pose_stamped.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
poses.push_back(pose_stamped);
}
return poses;
}
}

/**
* @brief Parse XML string to nav_msgs::msg::Path
* @param key XML string
* @return nav_msgs::msg::Path
*/
template<>
inline nav_msgs::msg::Path convertFromString(const StringView key)
{
// 9 real numbers separated by semicolons
auto parts = BT::splitString(key, ';');
if ((parts.size() - 2) % 9 != 0) {
throw std::runtime_error("invalid number of fields for Path attribute)");
} else {
nav_msgs::msg::Path path;
path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[0]));
path.header.frame_id = BT::convertFromString<std::string>(parts[1]);
for (size_t i = 2; i < parts.size(); i += 9) {
geometry_msgs::msg::PoseStamped pose_stamped;
path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
path.poses.push_back(pose_stamped);
}
return path;
}
}

/**
* @brief Parse XML string to std::chrono::milliseconds
* @param key XML string
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1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
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Expand Up @@ -23,6 +23,7 @@
#include "nav2_util/geometry_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "behaviortree_cpp/action_node.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 1 addition & 0 deletions ...ehavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
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Expand Up @@ -24,6 +24,7 @@
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 1 addition & 0 deletions ...ior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
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Expand Up @@ -22,6 +22,7 @@

#include "behaviortree_cpp/condition_node.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"


namespace nav2_behavior_tree
Expand Down
1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp
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Expand Up @@ -21,6 +21,7 @@
#include "rclcpp/rclcpp.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "tf2_ros/buffer.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
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1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
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Expand Up @@ -20,6 +20,7 @@

#include "behaviortree_cpp/condition_node.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
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1 change: 1 addition & 0 deletions ...ior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp
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Expand Up @@ -17,6 +17,7 @@

#include <string>
#include "behaviortree_cpp/behavior_tree.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
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1 change: 1 addition & 0 deletions ...avior_tree/include/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp
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Expand Up @@ -20,6 +20,7 @@
#include "rclcpp/rclcpp.hpp"
#include "behaviortree_cpp/condition_node.h"
#include "nav_msgs/msg/path.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp
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Expand Up @@ -23,6 +23,7 @@
#include "tf2_ros/buffer.h"

#include "behaviortree_cpp/decorator_node.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
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Expand Up @@ -23,6 +23,7 @@

#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
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Expand Up @@ -25,6 +25,7 @@
#include "nav2_util/odometry_utils.hpp"

#include "behaviortree_cpp/decorator_node.h"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
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Expand Up @@ -20,7 +20,6 @@
#include "nav2_util/geometry_utils.hpp"

#include "nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
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Expand Up @@ -20,7 +20,6 @@
#include "nav2_util/geometry_utils.hpp"

#include "nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
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Expand Up @@ -16,7 +16,6 @@
#include <string>

#include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
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Expand Up @@ -20,7 +20,6 @@
#include "nav2_util/node_utils.hpp"

#include "nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
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Expand Up @@ -15,7 +15,6 @@
#include <string>
#include <vector>
#include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
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Expand Up @@ -13,7 +13,6 @@
// limitations under the License.

#include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/decorator/distance_controller.cpp
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Expand Up @@ -26,7 +26,6 @@
#include "behaviortree_cpp/decorator_node.h"

#include "nav2_behavior_tree/plugins/decorator/distance_controller.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
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Expand Up @@ -19,7 +19,6 @@
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "behaviortree_cpp/decorator_node.h"
#include "nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down
1 change: 0 additions & 1 deletion nav2_behavior_tree/plugins/decorator/speed_controller.cpp
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Expand Up @@ -19,7 +19,6 @@
#include "nav2_util/geometry_utils.hpp"

#include "nav2_behavior_tree/plugins/decorator/speed_controller.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

namespace nav2_behavior_tree
{
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1 change: 0 additions & 1 deletion nav2_behavior_tree/test/plugins/condition/test_path_expiring_timer.cpp
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Expand Up @@ -23,7 +23,6 @@

#include "utils/test_behavior_tree_fixture.hpp"
#include "nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.hpp"
#include "nav2_behavior_tree/bt_utils.hpp"

using namespace std::chrono; // NOLINT
using namespace std::chrono_literals; // NOLINT
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2 changes: 0 additions & 2 deletions nav2_behavior_tree/test/plugins/decorator/test_goal_updated_controller.cpp
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Expand Up @@ -36,8 +36,6 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree
poses1.push_back(goal1);
config_->blackboard->set("goal", goal1);
config_->blackboard->set("goals", poses1);
config_->input_ports["goals"] = "";
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@SteveMacenski these were causing the test to fail, I see they were added there by you I believe, do you remember what were you solving with these lines?

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There were issues in the 24.04 migration about ports not being set, so I set them all to something in the tests. It doesn't need to be "", but needs to be initialized as something to stop BT.CPP update from throwing an uninitialized port error due to how the tests are structured

config_->input_ports["goal"] = "";
bt_node_ = std::make_shared<nav2_behavior_tree::GoalUpdatedController>(
"goal_updated_controller", *config_);
dummy_node_ = std::make_shared<nav2_behavior_tree::DummyNode>();
Expand Down
130 changes: 130 additions & 0 deletions nav2_behavior_tree/test/test_bt_utils.cpp
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Expand Up @@ -194,6 +194,136 @@ TEST(PoseStampedPortTest, test_correct_syntax)
EXPECT_EQ(value.pose.orientation.w, 7.0);
}

TEST(PoseStampedVectorPortTest, test_wrong_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PoseStampedVectorPortTest test="0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;map;1.0;2.0;3.0;4.0;5.0;6.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<geometry_msgs::msg::PoseStamped>>>(
"PoseStampedVectorPortTest");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);

xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PoseStampedVectorPortTest test="0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;8.0" />
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
}

TEST(PoseStampedVectorPortTest, test_correct_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PoseStampedVectorPortTest test="0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;odom;8.0;9.0;10.0;11.0;12.0;13.0;14.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<geometry_msgs::msg::PoseStamped>>>(
"PoseStampedVectorPortTest");
auto tree = factory.createTreeFromText(xml_txt);

tree = factory.createTreeFromText(xml_txt);
std::vector<geometry_msgs::msg::PoseStamped> values;
tree.rootNode()->getInput("test", values);
EXPECT_EQ(rclcpp::Time(values[0].header.stamp).nanoseconds(), 0);
EXPECT_EQ(values[0].header.frame_id, "map");
EXPECT_EQ(values[0].pose.position.x, 1.0);
EXPECT_EQ(values[0].pose.position.y, 2.0);
EXPECT_EQ(values[0].pose.position.z, 3.0);
EXPECT_EQ(values[0].pose.orientation.x, 4.0);
EXPECT_EQ(values[0].pose.orientation.y, 5.0);
EXPECT_EQ(values[0].pose.orientation.z, 6.0);
EXPECT_EQ(values[0].pose.orientation.w, 7.0);
EXPECT_EQ(rclcpp::Time(values[1].header.stamp).nanoseconds(), 0);
EXPECT_EQ(values[1].header.frame_id, "odom");
EXPECT_EQ(values[1].pose.position.x, 8.0);
EXPECT_EQ(values[1].pose.position.y, 9.0);
EXPECT_EQ(values[1].pose.position.z, 10.0);
EXPECT_EQ(values[1].pose.orientation.x, 11.0);
EXPECT_EQ(values[1].pose.orientation.y, 12.0);
EXPECT_EQ(values[1].pose.orientation.z, 13.0);
EXPECT_EQ(values[1].pose.orientation.w, 14.0);
}

TEST(PathPortTest, test_wrong_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PathPortTest test="0;map;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;map;8.0;9.0;10.0;11.0;12.0;13.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav_msgs::msg::Path>>(
"PathPortTest");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);

xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PathPortTest test="0;map;0;map;1.0;2.0;3.0;4.0;5.0;6.0;" />
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
}

TEST(PathPortTest, test_correct_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PathPortTest test="0;map;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;map;8.0;9.0;10.0;11.0;12.0;13.0;14.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav_msgs::msg::Path>>(
"PathPortTest");
auto tree = factory.createTreeFromText(xml_txt);

tree = factory.createTreeFromText(xml_txt);
nav_msgs::msg::Path path;
tree.rootNode()->getInput("test", path);
EXPECT_EQ(rclcpp::Time(path.header.stamp).nanoseconds(), 0);
EXPECT_EQ(path.header.frame_id, "map");
EXPECT_EQ(rclcpp::Time(path.poses[0].header.stamp).nanoseconds(), 0);
EXPECT_EQ(path.poses[0].header.frame_id, "map");
EXPECT_EQ(path.poses[0].pose.position.x, 1.0);
EXPECT_EQ(path.poses[0].pose.position.y, 2.0);
EXPECT_EQ(path.poses[0].pose.position.z, 3.0);
EXPECT_EQ(path.poses[0].pose.orientation.x, 4.0);
EXPECT_EQ(path.poses[0].pose.orientation.y, 5.0);
EXPECT_EQ(path.poses[0].pose.orientation.z, 6.0);
EXPECT_EQ(path.poses[0].pose.orientation.w, 7.0);
EXPECT_EQ(rclcpp::Time(path.poses[1].header.stamp).nanoseconds(), 0);
EXPECT_EQ(path.poses[1].header.frame_id, "map");
EXPECT_EQ(path.poses[1].pose.position.x, 8.0);
EXPECT_EQ(path.poses[1].pose.position.y, 9.0);
EXPECT_EQ(path.poses[1].pose.position.z, 10.0);
EXPECT_EQ(path.poses[1].pose.orientation.x, 11.0);
EXPECT_EQ(path.poses[1].pose.orientation.y, 12.0);
EXPECT_EQ(path.poses[1].pose.orientation.z, 13.0);
EXPECT_EQ(path.poses[1].pose.orientation.w, 14.0);
}

TEST(MillisecondsPortTest, test_correct_syntax)
{
std::string xml_txt =
Expand Down
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