diff --git a/nav2_integration/README.md b/nav2_integration/README.md new file mode 100644 index 0000000..fa1522d --- /dev/null +++ b/nav2_integration/README.md @@ -0,0 +1,175 @@ +# Spatio-Temporal Partitioning Demo + +A demonstration system for multi-robot path planning and navigation using spatio-temporal space partitioning. This repository contains the client-side simulation and navigation stack for coordinating multiple robots in shared environments. + +> **Note:** This repository contains the *client implementation* for the spatio-temporal partitioning algorithm. The core algorithm lives in the [mapf_post](https://github.com/arjo129/mapf_post) repository. + +## Overview + +This demo showcases how multiple robots can safely and efficiently navigate in shared environments by dividing space-time into partitions. Each robot reserves specific regions of space during specific time intervals, enabling collision-free multi-agent path planning. + +> **Status:** This is exploratory research work investigating spatio-temporal partitioning as a foundational approach for next-generation Open-RMF multi-robot coordination systems. + +### Key Features + +- **Multi-robot coordination** using spatio-temporal resource allocation +- **ROS 2 integration** with Nav2 for autonomous navigation +- **Gazebo simulation** support for testing in realistic environments +- **Flexible robot configuration** for various numbers of robots and starting positions +- **Dynamic scene modification** with collision-aware obstacles + +### Demo Scenarios + +The following GIFs show multi-robot navigation demonstrations: + +![Multi-robot coordination without obstacles](docs/images/no_obs.gif) + +*Figure 1: Multiple robots navigating efficiently using spatio-temporal partitioning.* + +![Dynamic rerouting with obstacles](docs/images/reroute.gif) + +*Figure 2: Robot trajectory replanning when obstacles are introduced (dynamic rerouting).* + +Notice how there is no need to trigger a replan despite the introduction of new obstacle directly in the path. The spatio-temporal allocation ensures that any detour remains safe. + +## Requirements + +- ROS 2 (Jazzy or later recommended) +- Nav2 stack +- Gazebo for simulation +- Turtlebot3 simulation packages +- Python 3.8+ +- Cargo/Rust (for running the backend allocation server) + +## Architecture + +This demo consists of three main components: + +1. **Client Demo** (this repository) + - ROS 2 launch files and navigation configuration + - Multi-robot simulation setup + - Nav2 integration for path execution + +2. **Allocation Server** ([mapf_post](https://github.com/arjo129/mapf_post)) + - Core spatio-temporal partitioning algorithm + - REST API for space allocation requests + - Trajectory validation + +3. **MAPF Planner** (external) + - Generates initial multi-robot trajectories + - Examples: [mapf](https://github.com/open-rmf/mapf), [pibt_rs](https://github.com/arjo129/pibt_rs) + +## Getting Started + +### 1. Set Up the Allocation Server + +The allocation server handles the space partitioning logic. Clone and run the mapf_post repository: + +```bash +git clone git@github.com:arjo129/mapf_post.git +cd mapf_post +``` + +Generate or obtain a trajectory file (CSV format): + +```bash +# Using pre-built example trajectories: +# See: https://github.com/arjo129/mapf_post/tree/main/example_trajectories + +# Or generate trajectories using a MAPF planner: +# - https://github.com/open-rmf/mapf +# - https://github.com/arjo129/pibt_rs +``` + +Launch the REST API server: + +```bash +cargo run --example rest_api -- -p +``` + +> **Important:** Ensure your robots have appropriate safety buffers in the trajectory file to prevent collisions. + +### 2. Start the Simulation + +In a separate terminal, launch the multi-robot simulation: + +```bash +ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py \ + robots:="robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};" +``` + +The robot poses should correspond to the starting positions in your trajectory CSV file. + +> **Tip:** Start the simulation before launching the REST server to avoid initialization issues. + +### 3. Add Dynamic Obstacles (Optional) + +To test dynamic replanning with obstacles, add models to the scene: + +```bash +gz service -s /world/warehouse/create \ + --reqtype gz.msgs.EntityFactory \ + --reptype gz.msgs.Boolean \ + --timeout 300 \ + --req 'sdf: "1.6 5.6 0 0 0 0true0.2 0.2 11 1 1"' +``` + +Alternatively, use the provided script to generate multiple obstacles: + +```bash +./clutter_gen.sh +``` + +## Deploying on real robots + +By default the rest server runs on port 3000 on localhost. If youd like to change this you can use the environment variable +```bash +export SP_SERVER_BASE="www.your-fleet-server.com:8443" # Note do not terminate with "/" +``` +This will allow you to deploy this to nav2 robots without a problem. + + +## Project Structure + +``` +nav2_integration/ +├── sp_demo_nav2_bringup/ # Nav2 launch files and robot configurations +├── spatio_temporal_partition_layer/ # ROS 2 costmap layer plugin +├── demo_world/ # Custom demo world and utilities +├── docs/ # Documentation and images +└── clutter_gen.sh # Script for generating test obstacles +``` + +## Configuration + +Modify the following files to customize the demo: + +- **Robot parameters**: `sp_demo_nav2_bringup/params/nav2_params.yaml` +- **Multi-robot configuration**: `sp_demo_nav2_bringup/params/nav2_multirobot_params_*.yaml` +- **Available maps**: `sp_demo_nav2_bringup/maps/` (depot, warehouse, sandbox) + +## Version Notes + +- ROS 2 Jazzy is recommended for this demo +- If using ROS 2 Rolling with the `simple_nav` API, compatibility issues may arise with earlier implementations + +## Citation + +The associated research paper is currently under peer review. Citation information will be provided once the paper has been accepted and published. + +## License + +See [LICENSE](LICENSE) for licensing information. + +## Contributing + +Contributions and feedback are welcome. Please open an issue or submit a pull request. + +## References + +- [Nav2 Documentation](https://docs.nav2.org/) +- [mapf_post Repository](https://github.com/arjo129/mapf_post) +- [ROS 2 Documentation](https://docs.ros.org/) + + + diff --git a/nav2_integration/clutter_gen.sh b/nav2_integration/clutter_gen.sh new file mode 100755 index 0000000..1922f7e --- /dev/null +++ b/nav2_integration/clutter_gen.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -e + +# Spawns a given number of cubes in random positions in the warehouse world. +# Usage: +# ./clutter_gen.sh + +if [[ $# -eq 0 ]] ; then + echo "Error: Number of cubes to spawn not provided." + echo "Usage: $0 " + exit 1 +fi + +N_CUBES=$1 + +echo "Spawning ${N_CUBES} cubes..." +touch clutter.csv +for i in $(seq 1 $N_CUBES); +do + MODEL_NAME="random_box_${i}" + + # Generate a random position between (-10, -10) and (10, 10) + X_POS=$(awk -v seed=$RANDOM 'BEGIN{srand(seed); printf "%.2f", -10+rand()*20}') + Y_POS=$(awk -v seed=$RANDOM 'BEGIN{srand(seed); printf "%.2f", -10+rand()*20}') + POSE="${X_POS} ${Y_POS} 0 0 0 0" + + # Using single quotes for attributes is valid in XML and simplifies quoting in bash + SDF_CONTENT="${POSE}true0.2 0.2 10.2 0.2 1" + + echo $POSE >> clutter.csv + # Spawn the model in Gazebo using the /world/warehouse/create service + gz service -s /world/warehouse/create \ + --reqtype gz.msgs.EntityFactory \ + --reptype gz.msgs.Boolean \ + --timeout 300 \ + --req "sdf: \"${SDF_CONTENT}\"" +done + +echo "Successfully spawned ${N_CUBES} cubes." diff --git a/nav2_integration/demo_world/demo_world/__init__.py b/nav2_integration/demo_world/demo_world/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/nav2_integration/demo_world/demo_world/goal_selector.py b/nav2_integration/demo_world/demo_world/goal_selector.py new file mode 100644 index 0000000..ae7e54b --- /dev/null +++ b/nav2_integration/demo_world/demo_world/goal_selector.py @@ -0,0 +1,212 @@ +from geometry_msgs.msg import PoseArray, PoseStamped +from nav2_simple_commander.robot_navigator import BasicNavigator +from nav2_simple_commander.costmap_2d import PyCostmap2D +from nav2_msgs.action import ComputePathToPose +from rclpy.action import ActionClient + + +from nav2_msgs.msg import Costmap +from nav_msgs.msg import OccupancyGrid + +import numpy as np + +import rclpy + + +def costmap_to_occupancy_grid(cost_msg: Costmap) -> OccupancyGrid: + """ + Converts a nav2_msgs/Costmap message to a nav_msgs/OccupancyGrid message. + + :param cost_msg: The incoming nav2_msgs/msg/Costmap message + :return: A standard nav_msgs/msg/OccupancyGrid message + """ + grid = OccupancyGrid() + + # 1. Transfer Header + grid.header = cost_msg.header + + # 2. Transfer Metadata + # Nav2 uses 'size_x/y', OccupancyGrid uses 'width/height' + grid.info.resolution = cost_msg.metadata.resolution + grid.info.width = cost_msg.metadata.size_x + grid.info.height = cost_msg.metadata.size_y + grid.info.origin = cost_msg.metadata.origin + + # Nav2 CostmapMetaData has 'map_load_time' and 'update_time' + # We typically use map_load_time for the static map info + grid.info.map_load_time = cost_msg.metadata.map_load_time + + # 3. Convert Data + # Nav2 Costmap (uint8): 0 (Free) ... 254 (Lethal) ... 255 (Unknown) + # OccupancyGrid (int8): 0 (Free) ... 100 (Lethal) ... -1 (Unknown) + + # We use numpy for efficiency as maps can be large + raw_data = np.array(cost_msg.data, dtype=np.uint8) + + # Initialize output array with 0 (Free) + occ_data = np.zeros_like(raw_data, dtype=np.int8) + + # Logic: + # 255 (NO_INFORMATION) -> -1 + # 254 (LETHAL_OBSTACLE) -> 100 + # 0-253 -> Scaled to 0-99 + + # Create masks + mask_unknown = (raw_data == 255) + mask_lethal = (raw_data == 254) + mask_cost = (raw_data < 254) + + # Apply conversions + # Scale: value * 100 / 254 roughly maps 0-253 to 0-99 + # We use floating point division then cast to int + occ_data[mask_cost] = (raw_data[mask_cost].astype(np.float32) * 100.0 / 254.0).astype(np.int8) + + occ_data[mask_lethal] = 100 + occ_data[mask_unknown] = -1 + + # Flatten and convert to list for the message + grid.data = occ_data.tolist() + + return grid + + +class AdaptiveGoalSelector: + def __init__(self, navigator: BasicNavigator): + self.nav = navigator + self.lethal_threshold = 100 + + def get_path_hack(self, start, end): + #self.nav.clearPreviousState() + goal_msg = ComputePathToPose.Goal() + goal_msg.start = start + goal_msg.goal = end + goal_msg.planner_id = "" + goal_msg.use_start = False + + self.nav.info('Getting path...') + send_goal_future = self.nav.compute_path_to_pose_client.send_goal_async(goal_msg) + rclpy.spin_until_future_complete(self.nav, send_goal_future) + self.nav.goal_handle = send_goal_future.result() + + if not self.nav.goal_handle or not self.nav.goal_handle.accepted: + self.nav.error('Get path was rejected!') + self.nav.status = self.nav.GoalStatus.STATUS_UNKNOWN + result = ComputePathToPose.Result() + result.error_code = ComputePathToPose.Result.UNKNOWN + result.error_msg = 'Get path was rejected' + return None + self.nav.result_future = self.nav.goal_handle.get_result_async() + rclpy.spin_until_future_complete(self.nav, self.nav.result_future) + if self.nav.result_future.result() is None: + return None + + self.status = self.nav.result_future.result().status # type: ignore[union-attr] + + return self.nav.result_future.result().result + + + def find_next_best_goal(self, pose_array: PoseArray, interpolation_steps=5): + """ + Processes PoseArray to find the furthest reachable pose within a window. + """ + global_costmap = PyCostmap2D(costmap_to_occupancy_grid(self.nav.getGlobalCostmap())) + local_costmap = PyCostmap2D(costmap_to_occupancy_grid(self.nav.getLocalCostmap())) + # 1. Convert PoseArray to a list of PoseStamped for Nav2 compatibility + full_path = self._pose_array_to_list(pose_array) + + my_pose = pose_array.poses[0] + + # 2. Interpolate the path to ensure no gaps in costmap checks + interpolated_path = self._interpolate_path(full_path, interpolation_steps) + + # 3. Filter points that are physically within the costmap window + valid_indices = [ + id for id, p in enumerate(interpolated_path) + if self._is_in_costmap_bounds(p, local_costmap, global_costmap) + ] + + """" + low = 0 + high = len(valid_indices) - 1 + best_idx = -1 + + while low <= high: + mid = (low + high) // 2 + candidate_pose = interpolated_path[valid_indices[mid]] + + # Quick check: Is the point itself in a wall? + if self._get_cost(candidate_pose, local_costmap, global_costmap) >= self.lethal_threshold: + # If point is lethal, everything beyond it is likely unreachable + high = mid - 1 + continue + + # Heavy check: Can Nav2 actually plan a path to this point? + path = self.get_path_hack(full_path[0], candidate_pose) + print(path) + if path : + best_idx = mid # This is reachable, try to find something further + low = mid + 1 + else: + high = mid - 1 + """ + + # Farthest goal heuristic + mx = my_pose.position.x + my = my_pose.position.y + max_idx = -1 + max_val = 0 + for index in valid_indices: + kx = interpolated_path[index].pose.position.x + ky = interpolated_path[index].pose.position.y + + dist = (kx - mx)**2 + (ky - my)**2 + if dist > max_val: + max_val = dist + max_idx = index + + return interpolated_path[max_idx] + + + def _interpolate_path(self, path, steps): + """Linear interpolation between PoseStamped points.""" + new_path = [] + for i in range(len(path) - 1): + p1 = path[i].pose.position + p2 = path[i+1].pose.position + for j in range(steps): + alpha = j / steps + interp_pose = PoseStamped() + interp_pose.header = path[0].header + interp_pose.pose.position.x = p1.x + alpha * (p2.x - p1.x) + interp_pose.pose.position.y = p1.y + alpha * (p2.y - p1.y) + interp_pose.pose.orientation = path[i].pose.orientation # Keep orientation + new_path.append(interp_pose) + return new_path + + def _is_in_costmap_bounds(self, pose: PoseStamped, costmap, global_costmap): + # Logic to check if pose.x/y is within costmap.info.origin and dimensions + #ax, ay = costmap.worldToMapValidated(pose.x, pose.y) + x = pose.pose.position.x + y = pose.pose.position.y + bx, by = global_costmap.worldToMapValidated(x, y) + cost = global_costmap.getCostXY(bx,by) + return cost < 90 + + def _get_cost(self, pose, costmap, global_costmap): + # Logic to extract cost from the OccupancyGrid data array + x = pose.pose.position.x + y = pose.pose.position.y + bx, by = global_costmap.worldToMapValidated(x, y) + cost = global_costmap.getCostXY(bx, by) + lx, ly = costmap.worldToMapValidated(x, y) + #cost2 = costmap.getCostXY(lx, ly) + return cost #max(cost, cost2) + + def _pose_array_to_list(self, pose_array): + path_list = [] + for p in pose_array.poses: + ps = PoseStamped() + ps.header = pose_array.header + ps.pose = p + path_list.append(ps) + return path_list diff --git a/nav2_integration/demo_world/demo_world/localization_init.py b/nav2_integration/demo_world/demo_world/localization_init.py new file mode 100644 index 0000000..825986c --- /dev/null +++ b/nav2_integration/demo_world/demo_world/localization_init.py @@ -0,0 +1,81 @@ +import sys +import rclpy +from rclpy.node import Node +from rclpy.executors import SingleThreadedExecutor +from rclpy.task import Future +from nav2_msgs.srv import SetInitialPose +from lifecycle_msgs.srv import GetState +from math import sin, cos + + +class ReadyInitialPoseClient(Node): + def __init__(self, x, y, yaw): + super().__init__('ready_init_pose_client') + self.future = Future() + # 1. Client to check AMCL lifecycle state + self.lifecycle_client = self.create_client(GetState, 'amcl/get_state') + # 2. Client to set the pose + self.pose_client = self.create_client(SetInitialPose, 'set_initial_pose') + self.x, self.y, self.yaw = x, y, yaw + # Start the "Wait for Ready" loop + self.timer = self.create_timer(1.0, self.check_amcl_ready) + + def get_future(self): + return self.future + + def check_amcl_ready(self): + if not self.lifecycle_client.wait_for_service(timeout_sec=0.5): + self.get_logger().info('Waiting for amcl/get_state service...') + return + + future = self.lifecycle_client.call_async(GetState.Request()) + future.add_done_callback(self.lifecycle_callback) + self.timer.cancel() + + def lifecycle_callback(self, future): + try: + state = future.result().current_state + # ID 3 == Active + if state.id == 3: + self.get_logger().info('AMCL is ACTIVE. Sending pose...') + self.send_pose() + else: + self.get_logger().warn(f'AMCL state is {state.label} ({state.id}). Waiting...') + self.timer.reset() + except Exception as e: + self.get_logger().error(f'Lifecycle check failed: {e}') + self.timer.reset() + + def send_pose(self): + req = SetInitialPose.Request() + req.pose.header.frame_id = 'map' + req.pose.header.stamp = self.get_clock().now().to_msg() + req.pose.pose.pose.position.x = self.x + req.pose.pose.pose.position.y = self.y + req.pose.pose.pose.orientation.z = sin(self.yaw / 2.0) + req.pose.pose.pose.orientation.w = cos(self.yaw / 2.0) + req.pose.pose.covariance = [0.1]*36 + + self.pose_client.call_async(req).add_done_callback(self.done) + + def done(self, _): + self.get_logger().info('Pose set. Shutting down.') + self.future.set_result(True) + + +def main(): + rclpy.init() + x = float(sys.argv[1]) if len(sys.argv) > 1 else 0.0 + y = float(sys.argv[2]) if len(sys.argv) > 2 else 0.0 + yaw = float(sys.argv[3]) if len(sys.argv) > 3 else 0.0 + node = ReadyInitialPoseClient(x, y, yaw) + executor = SingleThreadedExecutor() + executor.add_node(node) + future = node.get_future() + executor.spin_until_future_complete(future) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/nav2_integration/demo_world/demo_world/path_reporter.py b/nav2_integration/demo_world/demo_world/path_reporter.py new file mode 100644 index 0000000..22430cc --- /dev/null +++ b/nav2_integration/demo_world/demo_world/path_reporter.py @@ -0,0 +1,105 @@ +from nav2_simple_commander.robot_navigator import BasicNavigator +from nav2_simple_commander.costmap_2d import PyCostmap2D +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, DurabilityPolicy +from rclpy.callback_groups import ReentrantCallbackGroup +from rclpy.executors import MultiThreadedExecutor +from geometry_msgs.msg import Point, PoseStamped, PoseArray +from std_msgs.msg import String +from demo_world.goal_selector import AdaptiveGoalSelector +import time +from nav_msgs.msg import OccupancyGrid +from nav2_msgs.msg import Costmap + +import numpy as np + + +""" +This is in charge of telling where the robot should head next. +It works by registering the robot to the /registration topic +and then it +""" +class RobotController(Node): + def __init__(self): + super().__init__('robot_controller') + self.registration_pub = self.create_publisher(String, '/registration', 10) + #self.subscription # prevent unused variable warning + self.get_logger().info('Pose subscriber node started') + self.timer = self.create_timer(1.0, self.heartbeat) + self.nav = BasicNavigator(namespace=self.get_namespace()) + #self.nav.waitUntilNav2Active() + self.get_logger().info("NAV2 now ACTIVE!") + qos_profile = QoSProfile( + depth=1, # Keep last 10 messages + durability=DurabilityPolicy.TRANSIENT_LOCAL + ) + self.reentrant_group = ReentrantCallbackGroup() + self.sub = self.create_subscription(Point, 'global_costmap/next_goal', self.next_goal_recv, qos_profile, callback_group=self.reentrant_group) + self.prev_point = None + self.sub + self.sub1 = self.create_subscription(PoseArray, 'global_costmap/remaining_path', self.path_recv, qos_profile, callback_group=self.reentrant_group) + self.sub1 + self.goal_selector = AdaptiveGoalSelector(self.nav) + + def heartbeat(self): + ns = self.get_namespace() + self.registration_pub.publish(String(data=ns)) + + def path_recv(self, msg: PoseArray): + print("Path received") + goal = self.goal_selector.find_next_best_goal(msg) + print(f"{goal}") + #goal = PoseStamped() + goal.header.frame_id = "map" + #goal + self.nav.goToPose(goal) + + def next_goal_recv(self, point: Point): + self.get_logger().info(f"Received next goal as {point}") + #gcp = PyCostmap2D(costmap_to_occupancy_grid(self.nav.getGlobalCostmap())) + #print(f"{gcp}") + #lcp = PyCostmap2D(costmap_to_occupancy_grid(self.nav.getLocalCostmap())) + #print(lcp.header) + #gx, gy = gcp.worldToMapValidated(point.x, point.y) + if self.prev_point is None: + self.get_logger().info("Setting new nav2 goal") + pose = PoseStamped() + pose.pose.position.x = point.x + pose.pose.position.y = point.y + pose.pose.orientation.w = 1.0 + pose.header.frame_id = "map" + #self.nav.goToPose(pose) + self.prev_point = point + return + dist = (self.prev_point.x - point.x)**2 + (self.prev_point.y - point.y)**2 + + if dist < 1: + self.get_logger().info("Prev goal near current goal, doing nothing") + return + + self.get_logger().info("Setting new nav2 goal") + pose = PoseStamped() + pose.pose.position.x = point.x + pose.pose.position.y = point.y + pose.pose.orientation.w = 1.0 + pose.header.frame_id = "map" + #self.nav.goToPose(pose) + self.prev_point = point + return + +def main(args=None): + time.sleep(30) + rclpy.init(args=args) + pose_subscriber = RobotController() + # cant use waitUntilNav2Active cause it sets the wrong pose + #pose_subscriber.nav.waitUntilNav2Active() + executor = MultiThreadedExecutor() + executor.add_node(pose_subscriber) + executor.spin() + pose_subscriber.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() + diff --git a/nav2_integration/demo_world/demo_world/path_vis.py b/nav2_integration/demo_world/demo_world/path_vis.py new file mode 100644 index 0000000..5bb3294 --- /dev/null +++ b/nav2_integration/demo_world/demo_world/path_vis.py @@ -0,0 +1,54 @@ +import rclpy +from rclpy.node import Node +from geometry_msgs.msg import PoseArray +from visualization_msgs.msg import Marker + +class PoseToMarkerConverter(Node): + def __init__(self): + super().__init__('pose_to_marker_converter') + + # Subscriber to your current "hacked" PoseArray + self.subscription = self.create_subscription( + PoseArray, + 'global_costmap/remaining_path', # Change this to your topic + self.callback, + 10) + + # Publisher for the RViz Marker + self.marker_pub = self.create_publisher(Marker, 'visual_path_marker', 10) + + def callback(self, msg): + if not msg.poses: + return + + marker = Marker() + marker.header.frame_id = "map" + marker.ns = "path_visualization" + marker.id = 0 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + + # Set the thickness of the line + marker.scale.x = 0.3 # Line width in meters + + # Set the color (RGBA) + marker.color.r = 1.0 + marker.color.g = 0.0 # Bright Green + marker.color.b = 0.0 # Cyan mix + marker.color.a = 0.8 # Fully opaque + + # Convert PoseArray positions to Marker points + for pose in msg.poses: + marker.points.append(pose.position) + + self.marker_pub.publish(marker) + +def main(args=None): + rclpy.init(args=args) + node = PoseToMarkerConverter() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/nav2_integration/demo_world/package.xml b/nav2_integration/demo_world/package.xml new file mode 100644 index 0000000..0c00df3 --- /dev/null +++ b/nav2_integration/demo_world/package.xml @@ -0,0 +1,18 @@ + + + + demo_world + 0.0.0 + TODO: Package description + arjoc + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/nav2_integration/demo_world/resource/demo_world b/nav2_integration/demo_world/resource/demo_world new file mode 100644 index 0000000..e69de29 diff --git a/nav2_integration/demo_world/setup.cfg b/nav2_integration/demo_world/setup.cfg new file mode 100644 index 0000000..38f23b0 --- /dev/null +++ b/nav2_integration/demo_world/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/demo_world +[install] +install_scripts=$base/lib/demo_world diff --git a/nav2_integration/demo_world/setup.py b/nav2_integration/demo_world/setup.py new file mode 100644 index 0000000..2be29bb --- /dev/null +++ b/nav2_integration/demo_world/setup.py @@ -0,0 +1,28 @@ +from setuptools import find_packages, setup + +package_name = 'demo_world' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Arjo Chakravarty', + maintainer_email='arjoc@intrinsic.ai', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'set_init = demo_world.localization_init:main', + 'robot_client = demo_world.path_reporter:main', + 'path_vis = demo_world.path_vis:main' + ], + }, +) diff --git a/nav2_integration/demo_world/test/test_copyright.py b/nav2_integration/demo_world/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/nav2_integration/demo_world/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/nav2_integration/demo_world/test/test_flake8.py b/nav2_integration/demo_world/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/nav2_integration/demo_world/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/nav2_integration/demo_world/test/test_pep257.py b/nav2_integration/demo_world/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/nav2_integration/demo_world/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# 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. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/nav2_integration/docs/images/no_obs.gif b/nav2_integration/docs/images/no_obs.gif new file mode 100644 index 0000000..daae17e Binary files /dev/null and b/nav2_integration/docs/images/no_obs.gif differ diff --git a/nav2_integration/docs/images/reroute.gif b/nav2_integration/docs/images/reroute.gif new file mode 100644 index 0000000..16d839d Binary files /dev/null and b/nav2_integration/docs/images/reroute.gif differ diff --git a/nav2_integration/rmf_nav2_traffic/.gitignore b/nav2_integration/rmf_nav2_traffic/.gitignore new file mode 100644 index 0000000..07a1e39 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/.gitignore @@ -0,0 +1,3 @@ +/target +Cargo.lock + diff --git a/nav2_integration/rmf_nav2_traffic/Cargo.toml b/nav2_integration/rmf_nav2_traffic/Cargo.toml new file mode 100644 index 0000000..ed06b61 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/Cargo.toml @@ -0,0 +1,38 @@ +[package] +name = "rmf_nav2_traffic" +version = "0.1.0" +edition = "2021" + +[lib] +name = "nav2_traffic" + +[[bin]] +path = "src/main.rs" +name = "nav2_traffic" + +[dependencies] +axum = "0.8" +bevy = "0.16" +bevy_ecs = "0.16" +crossbeam = "0.8" +crossflow = { git = "https://github.com/open-rmf/crossflow" } +futures = "0.3" +mapf = { git = "https://github.com/open-rmf/mapf" } +mapf_post = { git = "https://github.com/arjo129/mapf_post" } +nalgebra = "0.34" +rclrs = "0.7" +reqwest = { version = "0.13", features = ["json", "blocking"] } +nav_msgs = "*" +nav2_msgs = "*" +geometry_msgs = "*" +std_msgs = "*" +action_msgs = "*" +builtin_interfaces = "*" +unique_identifier_msgs = "*" +rmf_prototype_msgs = "*" +rosidl_runtime_rs = "0.6" +serde = "1.0" +serde_json = "1.0" +thiserror = "2.0" +tokio = { version = "1.52", features = ["full"] } +uuid = "1" diff --git a/nav2_integration/rmf_nav2_traffic/LICENSE b/nav2_integration/rmf_nav2_traffic/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/nav2_integration/rmf_nav2_traffic/README.md b/nav2_integration/rmf_nav2_traffic/README.md new file mode 100644 index 0000000..5bff131 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/README.md @@ -0,0 +1,200 @@ +# rmf_nav2_traffic + + +# InnerNavigationServices Workflow Diagram + +This document describes the workflow in `InnerNavigationServices`, specifically the `await_and_send_goal` workflow, implemented using Crossflow. + +## Workflow Diagram + +```mermaid +graph TD + Start([scope.start]) --> ForkClone{Fork Clone} + + ForkClone --> AwaitReq[Await Requests] + ForkClone --> AwaitExtCancel[Await External Cancellation] + + AwaitExtCancel -->|stream| CancelGoal[Cancel Goal] + AwaitReq -->|stream| CheckGoal[Check Goal] + + CheckGoal -->|Ok| CancelGoal + CancelGoal -->|Ok| RequestGoal[Request Goal] + + CheckGoal -->|Err| RequestGoal + + RequestGoal -->|Ok| UpdateGoal[Update Goal Client] + UpdateGoal --> MonitorGoal[Monitor Navigation] + MonitorGoal --> ProcessNav[Process Navigation Result] + + ProcessNav -->|Ok| RequestGoal + ProcessNav -->|Err| CleanupGoal[Cleanup Goal Client] + + CancelGoal -->|Err| LogError[Log Error] + RequestGoal -->|Err| LogError + + AwaitReq -->|output| Terminate([scope.terminate]) +``` + +## Node Descriptions + +- **`await_new_requests`**: A continuous service that listens for `InnerNavigationTarget` events and streams `InnerNavigationRequest` objects. +- **`await_external_cancellation`**: A continuous service that listens for `CancelInnerForAgent` events and streams cancellation requests. +- **`check_existing_goal`**: Checks if the agent already has an active goal. If so, it proceeds to cancel it; otherwise, it requests a new goal. +- **`async_cancel_goal`**: An asynchronous service that cancels the existing Nav2 goal. +- **`async_request_new_goal`**: An asynchronous service that sends a new `NavigateToPose` goal to Nav2. +- **`update_goal_client`**: Updates the `InnerNavigationClient` component with the new goal handle. +- **`async_monitor_ongoing_navigation`**: Monitors the progress of the navigation goal, handling feedback and final results (Succeeded, Aborted, Cancelled). +- **`process_navigation_result`**: Processes the final result of the navigation request. If aborted, it prepares to retry by requesting a new goal; otherwise, it passes the result for cleanup. +- **`cleanup_goal_client`**: Cleans up the goal client state in the component upon completion or failure. +- **`log_inner_navigation_error`**: Logs any errors encountered during goal cancellation or request. + + +# NavigationServices Workflow Diagram + +This document describes the workflow in `NavigationServices`, implemented using Crossflow. + +## Workflow Diagram + +```mermaid +graph TD + Start([scope.start]) --> ForkClone{Fork Clone} + + ForkClone --> MonitorClients[Monitor Clients] + ForkClone --> MonitorFeedback[Monitor Feedback] + + MonitorFeedback -- streams --> FeedbackBuffer[(Feedback Buffer)] + + MonitorClients -- streams --> BufferAccess[Buffer Access] + FeedbackBuffer -.-> BufferAccess + + BufferAccess --> PublishFeedback[Publish Feedback] + + MonitorClients -- output --> Terminate([scope.terminate]) +``` + +## Node Descriptions + +- **`monitor_inner_navigation_clients`**: A continuous service that manages incoming navigation requests and responds to orders when the entire navigation is completed. +- **`monitor_inner_navigation_feedback`**: A continuous service that monitors feedback from inner navigation clients. +- **`FeedbackBuffer`**: A buffer that keeps the last 10 `InnerNavigationFeedback` items. +- **`Buffer Access`**: Accesses the `FeedbackBuffer` to retrieve feedback for requests coming from `monitor_inner_navigation_clients`. +- **`publish_navigation_feedback`**: A service that publishes the navigation feedback. + + +## Try out the demo + + +### Setup + +Do a fresh update & upgrade: +``` +sudo apt update && sudo apt upgrade -y +``` + +Set up a fresh workspace +``` +mkdir ~/nav2_traffic_ws/src -p +``` + +Clone this repository to the workspace and import the relevant repositories +``` +cd ~/nav2_traffic_ws/src +git clone https://github.com/open-rmf/next_gen_prototype.git -b xiyu/nav2 +cd ~/nav2_traffic_ws +vcs import src < src/next_gen_prototype/nav2_integration/rmf_nav2_traffic/nav2_traffic.repos +``` + +Deps +``` +rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y +``` + +Build +``` +colcon build --packages-up-to sp_demo_nav2_bringup rmf_nav2_traffic rmf_path_server_demo rmf_path_server_test +``` + +### Run + +With the workspace built and sourced, run the following nodes: + +Spin up the Nav2 simulation: +``` +ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};" +``` + +In a separate terminal, spin up the Nav2 traffic node: +``` +ros2 run rmf_nav2_traffic nav2_traffic --ros-args -p use_sim_time:=true +``` + +Run the demo launch file containing the path server, plan executor, destination server, and path visualizer nodes: +``` +ros2 launch rmf_path_server_demo demo.launch.py robots:="robot0 robot1" +``` + +Send action goals to the robots: + +``` +ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{ + pose: { + header: { + stamp: {sec: 0, nanosec: 0}, + frame_id: 'map' + }, + pose: { + position: {x: 5.0, y: 5.0, z: 0.0}, + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} + } + } +}" + +``` + +``` +ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{ + pose: { + header: { + stamp: {sec: 0, nanosec: 0}, + frame_id: 'map' + }, + pose: { + position: {x: 0.0, y: 3.0, z: 0.0}, + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} + } + } +}" + +``` + +Alternate navigation goals: + +``` +ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{ + pose: { + header: { + stamp: {sec: 0, nanosec: 0}, + frame_id: 'map' + }, + pose: { + position: {x: 9.0, y: 3.0, z: 0.0}, + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} + } + } +}" --feedback +``` + +``` +ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{ + pose: { + header: { + stamp: {sec: 0, nanosec: 0}, + frame_id: 'map' + }, + pose: { + position: {x: 9.0, y: 6.0, z: 0.0}, + orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} + } + } +}" --feedback +``` \ No newline at end of file diff --git a/nav2_integration/rmf_nav2_traffic/nav2_traffic.repos b/nav2_integration/rmf_nav2_traffic/nav2_traffic.repos new file mode 100644 index 0000000..a4218b6 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/nav2_traffic.repos @@ -0,0 +1,29 @@ +repositories: + ros2/common_interfaces: + type: git + url: https://github.com/ros2/common_interfaces.git + version: jazzy + ros2/example_interfaces: + type: git + url: https://github.com/ros2/example_interfaces.git + version: jazzy + ros2/geographic_info: + type: git + url: https://github.com/ros-geographic-info/geographic_info.git + version: ros2 + ros2/navigation2: + type: git + url: https://github.com/xiyuoh/navigation2.git + version: jazzy + ros2/rcl_interfaces: + type: git + url: https://github.com/ros2/rcl_interfaces.git + version: jazzy + ros2/test_interface_files: + type: git + url: https://github.com/ros2/test_interface_files.git + version: jazzy + ros2/unique_identifier_msgs: + type: git + url: https://github.com/ros2/unique_identifier_msgs.git + version: jazzy diff --git a/nav2_integration/rmf_nav2_traffic/package.xml b/nav2_integration/rmf_nav2_traffic/package.xml new file mode 100644 index 0000000..65e8ddd --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/package.xml @@ -0,0 +1,20 @@ + + rmf_nav2_traffic + 0.0.0 + A traffic plugin for Next Gen RMF for Nav2 systems + Xiyu Oh + TODO + + geometry_msgs + nav2_msgs + navigation2 + rclrs + rmf_prototype_msgs + spatio_temporal_partition_layer + std_msgs + test_msgs + + + ament_cargo + + \ No newline at end of file diff --git a/nav2_integration/rmf_nav2_traffic/src/agent.rs b/nav2_integration/rmf_nav2_traffic/src/agent.rs new file mode 100644 index 0000000..0aae975 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/agent.rs @@ -0,0 +1,145 @@ +use crate::{RclrsNode, RosPublisher, RosSubscription}; +use bevy::prelude::*; +use mapf::negotiation::scenario::Agent; +use { + geometry_msgs::msg::{PoseWithCovarianceStamped, TwistWithCovariance}, + nav_msgs::msg::Odometry, + rmf_prototype_msgs::msg::{Participant, ParticipantList, SafeZoneId}, +}; +use std::sync::Arc; + +#[derive(Component, Clone, Debug)] +pub struct Nav2Agent { + pub agent: Agent, + pub id: i32, + pub name: String, + pub localized: bool, + pub last_safe_zone_id: Option, +} + +impl Nav2Agent { + pub fn new(name: String) -> Self { + // TODO(@xiyuoh) review this - danger of duplicate IDs + // Maybe have an accumulator mapping id to agent name as a resource + let id = name + .chars() + .last() + .and_then(|id| id.to_digit(10)) + .unwrap_or(0) as i32; + + Self { + agent: Agent { + start: [0, 0], + yaw: 0.0, + goal: [10, 10], + radius: 0.5, + speed: 1.0, + spin: 1.0, + }, + id, + name, + localized: false, + last_safe_zone_id: None, + } + } +} + +#[derive(Component)] +pub struct AmclPose(pub PoseWithCovarianceStamped); + +#[derive(Component)] +pub struct AmclPoseSubscription { + pub subscriber: Arc>, +} + +#[derive(Component)] +pub struct OdomPublisher { + pub publisher: Arc>, +} + +#[derive(Resource)] +pub struct DiscoveryPublisher { + pub publisher: Arc>, +} + +impl FromWorld for DiscoveryPublisher { + fn from_world(world: &mut World) -> Self { + let node = world.resource::(); + let publisher = Arc::new(RosPublisher::::new_transient_local( + &node, + "/destination/discovery".to_string(), + )); + Self { publisher } + } +} + +#[derive(Default)] +pub struct Nav2AgentPlugin {} + +impl Plugin for Nav2AgentPlugin { + fn build(&self, app: &mut App) { + app.init_resource::() + .add_systems(PreUpdate, update_amcl_pose) + .add_observer(create_amcl_pose_subscriber) + .add_observer(publish_discovery); + } +} + +fn create_amcl_pose_subscriber( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let pose_topic = agent_name.clone() + "/inner/amcl_pose"; + let pose_subscriber = Arc::new(RosSubscription::::new( + &node, + pose_topic.clone(), + )); + let odom_topic = agent_name.clone() + "/odom"; + let odom_publisher = Arc::new(RosPublisher::::new(&node, odom_topic)); + + commands.entity(e).insert(( + AmclPoseSubscription { + subscriber: Arc::clone(&pose_subscriber), + }, + OdomPublisher { + publisher: Arc::clone(&odom_publisher), + }, + AmclPose(PoseWithCovarianceStamped::default()), + )); +} + +fn update_amcl_pose(mut agents: Query<(&mut AmclPose, &AmclPoseSubscription, &OdomPublisher)>) { + for (mut amcl_pose, amcl_pose_sub, odom_pub) in agents.iter_mut() { + if let Some(amcl_pose_msg) = amcl_pose_sub.subscriber.data_callback() { + amcl_pose.0 = amcl_pose_msg.clone(); + } + + let mut odom = Odometry::default(); + odom.header = amcl_pose.0.header.clone(); + odom.child_frame_id = "odom".to_string(); + odom.pose = amcl_pose.0.pose.clone(); + odom.twist = TwistWithCovariance::default(); + let _ = odom_pub.publisher.publish(odom); + } +} + +fn publish_discovery( + _trigger: Trigger, + publisher: Res, + agents: Query<&Nav2Agent>, +) { + let mut msg = ParticipantList::default(); + for agent in agents.iter() { + msg.participants.push(Participant { + name: agent.name.clone(), + components: vec![], + }); + } + let _ = publisher.publisher.publish(msg); +} diff --git a/nav2_integration/rmf_nav2_traffic/src/destination.rs b/nav2_integration/rmf_nav2_traffic/src/destination.rs new file mode 100644 index 0000000..02f2b0c --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/destination.rs @@ -0,0 +1,37 @@ +use crate::{Nav2Agent, RclrsNode, RosPublisher}; +use bevy::prelude::*; +use rmf_prototype_msgs::msg::DestinationGoal; +use std::sync::Arc; + +#[derive(Component)] +pub struct DestinationGoalPublisher { + pub publisher: Arc>, +} + +#[derive(Default)] +pub struct DestinationGoalPublisherPlugin {} + +impl Plugin for DestinationGoalPublisherPlugin { + fn build(&self, app: &mut App) { + app.add_observer(create_destination_goal_publisher); + } +} + +fn create_destination_goal_publisher( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/destination/goal"; + let publisher = Arc::new(RosPublisher::::new_transient_local( + &node, topic, + )); + commands.entity(e).insert(DestinationGoalPublisher { + publisher: Arc::clone(&publisher), + }); +} diff --git a/nav2_integration/rmf_nav2_traffic/src/inner_navigation_client.rs b/nav2_integration/rmf_nav2_traffic/src/inner_navigation_client.rs new file mode 100644 index 0000000..93fc974 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/inner_navigation_client.rs @@ -0,0 +1,701 @@ +use crate::{Nav2Agent, NavigateToPoseServer, RclrsExecutorCommands, RclrsNode, RosActionClient}; +use bevy::prelude::*; +use crossflow::{prelude::*, service::Service}; +use futures::StreamExt; +use mapf_post::na::DualQuaternion; +use nalgebra::UnitQuaternion; +use rclrs::*; +use { + builtin_interfaces::msg::Time as RosTime, + geometry_msgs::msg::{Point, Pose, PoseStamped, Quaternion}, + nav2_msgs::action::{NavigateToPose, NavigateToPose_Feedback, NavigateToPose_Goal}, + rmf_prototype_msgs::msg::SafeZoneId, + std_msgs::msg::Header, +}; +use std::{future::Future, sync::Arc}; +use thiserror::Error; + +#[derive(Clone, Debug, Event)] +pub struct InnerNavigationTarget { + agent: Entity, + safe_zone_id: SafeZoneId, + x: f64, + y: f64, + yaw: f64, +} + +impl InnerNavigationTarget { + pub fn new(agent: Entity, safe_zone_id: SafeZoneId, x: f64, y: f64, yaw: f64) -> Self { + Self { + agent, + safe_zone_id, + x, + y, + yaw, + } + } +} + +#[derive(Clone)] +pub struct ActiveInnerGoal { + pub goal_client: GoalClient, + pub safe_zone_id: SafeZoneId, +} + +impl ActiveInnerGoal { + pub fn new(goal_client: GoalClient, safe_zone_id: SafeZoneId) -> Self { + Self { + goal_client, + safe_zone_id, + } + } + + pub fn client(&self) -> &GoalClient { + &self.goal_client + } + + pub fn client_mut(&mut self) -> &mut GoalClient { + &mut self.goal_client + } + + pub fn id(&self) -> &SafeZoneId { + &self.safe_zone_id + } +} + +#[derive(Component, Clone)] +pub struct InnerNavigationClient { + // Stores the action client object + pub action_client: Arc>, + // The ongoing action goal (if any) + pub active_goal: Option, +} + +impl InnerNavigationClient { + pub fn new(action_client: Arc>) -> Self { + Self { + action_client, + active_goal: None, + } + } + + pub fn goal(&self) -> &Option { + &self.active_goal + } + + pub fn goal_mut(&mut self) -> &mut Option { + &mut self.active_goal + } + + pub fn reset_goal(&mut self) { + self.active_goal = None; + } +} + +#[derive(Default)] +pub struct InnerNavigationClientPlugin {} + +impl Plugin for InnerNavigationClientPlugin { + fn build(&self, app: &mut App) { + app.add_event::() + .add_event::() + .add_event::() + .add_observer(create_inner_navigation_client); + + // Initialize Navigation services + let navigation_services = InnerNavigationServices::from_app(app); + app.insert_resource(navigation_services); + let await_and_send_goal = app + .world() + .resource::() + .await_and_send_goal + .clone(); + + app.world_mut().command(|commands| { + let _ = commands.request((), await_and_send_goal).detach(); + }); + } +} + +fn create_inner_navigation_client( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let action_name = agent_name + "/inner/navigate_to_pose"; + // Set up client for the inner Nav2 action + let inner_action_client = RosActionClient::::new(&node, action_name); + + commands + .entity(e) + .insert(InnerNavigationClient::new(Arc::new(inner_action_client))); +} + +#[derive(Clone)] +struct InnerNavigationRequest { + agent: Entity, + safe_zone_id: SafeZoneId, + target_pose: PoseStamped, +} + +#[derive(Clone)] +struct CurrentInnerNavigationGoal { + request: InnerNavigationRequest, + goal_client: GoalClient, +} + +#[derive(Clone)] +struct CancelInnerNavigation { + agent: Entity, + new_request: Option, + cancel_client: GoalClient, +} + +#[derive(Clone)] +struct InnerNavigationSuccess { + pub handle: CurrentInnerNavigationGoal, +} + +#[derive(Clone)] +struct InnerNavigationError { + pub handle: Option, + pub kind: InnerNavigationErrorKind, +} + +#[derive(Clone, Debug, Error)] +enum InnerNavigationErrorKind { + #[error("Failed to cancel current goal!")] + CancelGoalError, + #[error("Failed to request new goal!")] + RequestGoalError, + #[error("Goal was aborted!")] + GoalAbortedError, + #[error("Goal was cancelled!")] + GoalCancelledError, + #[error("Unknown error!")] + UnknownError, +} + +#[derive(Clone, Debug, Event)] +pub struct CancelInnerForAgent { + pub agent: Entity, +} + +type InnerNavigationResult = Result; + +#[derive(Resource)] +pub struct InnerNavigationServices { + await_and_send_goal: Service<(), (), ()>, +} + +impl InnerNavigationServices { + pub fn from_app(app: &mut App) -> Self { + let await_new_requests_service = app.spawn_continuous_service(Update, await_new_requests); + let await_external_cancellation_service = + app.spawn_continuous_service(Update, await_external_cancellation); + let check_existing_goal_service = app.spawn_service(check_existing_goal); + let async_cancel_goal_service = app.spawn_service(async_cancel_goal); + let async_request_new_goal_service = app.spawn_service(async_request_new_goal); + let update_goal_client_service = app.spawn_service(update_goal_client); + let async_monitor_ongoing_navigation_service = + app.spawn_service(async_monitor_ongoing_navigation); + let process_navigation_result_service = app.spawn_service(process_navigation_result); + let cleanup_goal_client_service = app.spawn_service(cleanup_goal_client); + let log_error_service = app.spawn_service(log_inner_navigation_error); + + let await_and_send_goal = app.world_mut().spawn_workflow(|scope, builder| { + let fork_input = scope.start.fork_clone(builder); + let await_requests = fork_input + .clone_chain(builder) + .then_node(await_new_requests_service); + let await_external_cancellation = fork_input + .clone_chain(builder) + .then_node(await_external_cancellation_service); + + // Create nodes + let check_existing_goal = builder.create_node(check_existing_goal_service); + let async_cancel_goal = builder.create_node(async_cancel_goal_service); + let async_request_new_goal = builder.create_node(async_request_new_goal_service); + let update_goal_client = builder.create_node(update_goal_client_service); + let async_monitor_new_navigation_request = + builder.create_node(async_monitor_ongoing_navigation_service); + let post_nav_processing = builder.create_node(process_navigation_result_service); + let cleanup_goal_client = builder.create_node(cleanup_goal_client_service); + let log_error = builder.create_node(log_error_service); + + // Stream out new requests to downstream nodes + builder.connect(await_requests.streams, check_existing_goal.input); + + // Stream out external cancellation requests to downstream nodes + builder.connect(await_external_cancellation.streams, async_cancel_goal.input); + + // Check if there is an existing goal client; if so, connect to + // cancellation node, else request new goal + let (check_existing_fork_result_input, check_existing_fork_result) = + builder.create_fork_result(); + builder.connect(check_existing_goal.output, check_existing_fork_result_input); + builder.connect(check_existing_fork_result.ok, async_cancel_goal.input); + builder.connect(check_existing_fork_result.err, async_request_new_goal.input); + + // Handles incoming inner/navigate_to_pose requests - cancels ongoing + // action goals and sends new action goal. + let (cancel_goal_fork_result_input, cancel_goal_fork_result) = + builder.create_fork_result(); + builder.connect(async_cancel_goal.output, cancel_goal_fork_result_input); + + builder.connect(cancel_goal_fork_result.ok, async_request_new_goal.input); + let (new_goal_fork_result_input, new_goal_fork_result) = builder.create_fork_result(); + builder.connect(async_request_new_goal.output, new_goal_fork_result_input); + + // Handles and monitors ongoing inner/navigate_to_pose request + builder.connect(new_goal_fork_result.ok, update_goal_client.input); + builder.connect( + update_goal_client.output, + async_monitor_new_navigation_request.input, + ); + + // On completed navigation request, check goal status code and process accordingly + // Aborted -> retry, Cancelled -> publish cancellation to outer workflow, Succeeded -> do nothing + // Then connect to cleanup existing goal client data + builder.connect( + async_monitor_new_navigation_request.output, + post_nav_processing.input, + ); + let (post_nav_fork_result_input, post_nav_fork_result) = builder.create_fork_result(); + builder.connect(post_nav_processing.output, post_nav_fork_result_input); + // If goal was aborted, retry navigation by requesting new goal + // Goal client will be updated in a downstream node + builder.connect(post_nav_fork_result.ok, async_request_new_goal.input); + // Otherwise, cleanup goal client + builder.connect(post_nav_fork_result.err, cleanup_goal_client.input); + + // Connect errors to logging node + builder.connect(cancel_goal_fork_result.err, log_error.input); + builder.connect(new_goal_fork_result.err, log_error.input); + + // Connect only await_requests output to terminate + builder.connect(await_requests.output, scope.terminate); + }); + + Self { + await_and_send_goal, + } + } +} + +fn await_new_requests( + srv: ContinuousService<(), (), StreamOf>, + mut orders: ContinuousQuery<(), (), StreamOf>, + mut nav_target: EventReader, + node: Res, +) { + let Some(mut orders) = orders.get_mut(&srv.key) else { + return; + }; + if orders.is_empty() { + return; + } + if nav_target.is_empty() { + return; + } + + for target in nav_target.read() { + let now = node.get_clock().now(); + let quat = UnitQuaternion::from_euler_angles(0.0, 0.0, target.yaw); + + let goal_pose = PoseStamped { + header: Header { + stamp: RosTime { + sec: (now.nsec / 1_000_000_000) as i32, + nanosec: (now.nsec % 1_000_000_000) as u32, + }, + frame_id: "map".to_string(), + }, + pose: Pose { + position: Point { + x: target.x, + y: target.y, + z: 0.0, + }, + orientation: Quaternion { + x: quat.coords.x, + y: quat.coords.y, + z: quat.coords.z, + w: quat.coords.w, + }, + }, + }; + let pending_request = InnerNavigationRequest { + agent: target.agent, + safe_zone_id: target.safe_zone_id.clone(), + target_pose: goal_pose.clone(), + }; + info!( + "[{:?}] Requesting new pending goal to pose [{}, {}]", + target.agent.index(), + goal_pose.pose.position.x, + goal_pose.pose.position.y + ); + + orders.for_each(|order| order.streams().send(pending_request.clone())); + } +} + +fn await_external_cancellation( + srv: ContinuousService<(), (), StreamOf>, + mut orders: ContinuousQuery<(), (), StreamOf>, + mut cancel_requests: EventReader, + inner_nav_clients: Query<&InnerNavigationClient>, +) { + let Some(mut orders) = orders.get_mut(&srv.key) else { + return; + }; + if orders.is_empty() { + return; + } + + for request in cancel_requests.read() { + info!( + "Received external cancellation request for agent {:?}", + request.agent.index() + ); + let Some(existing_goal) = inner_nav_clients + .get(request.agent) + .ok() + .and_then(|inner_client| inner_client.goal().as_ref()) + else { + continue; + }; + let client = existing_goal.client(); + orders.for_each(|order| { + order.streams().send(CancelInnerNavigation { + agent: request.agent, + new_request: None, + cancel_client: client.clone(), + }) + }); + } +} + +fn check_existing_goal( + Blocking { request, .. }: Blocking, + inner_nav_clients: Query<&InnerNavigationClient>, +) -> Result { + // TODO(@xiyuoh) Create a replan mechanism instead of cancelling goal on every + // new request + let mut replan_and_cancel = false; + let Some(existing_goal) = inner_nav_clients + .get(request.agent) + .ok() + .and_then(|inner_client| inner_client.goal().as_ref()) + else { + return Err(request); + }; + + // If plan or safe zone version is later, then replan/cancel + let curr_safe_zone_id = existing_goal.id(); + let next_safe_zone_id = &request.safe_zone_id; + + if next_safe_zone_id.plan_id.plan_version > curr_safe_zone_id.plan_id.plan_version { + replan_and_cancel = true; + } else if next_safe_zone_id.plan_id.plan_version == curr_safe_zone_id.plan_id.plan_version + && next_safe_zone_id.safe_zone_version > curr_safe_zone_id.safe_zone_version + { + replan_and_cancel = true; + } + + let client = existing_goal.client(); + + if replan_and_cancel { + return Ok(CancelInnerNavigation { + agent: request.agent, + new_request: Some(request), + cancel_client: client.clone(), + }); + } + + return Err(request); +} + +#[derive(Clone, Debug, Component)] +pub struct CancellingInnerNavigation { + pub success: bool, +} + +fn async_cancel_goal( + Async { request, .. }: Async, + mut commands: Commands, + executor_commands: Res, +) -> impl Future> { + if request.new_request.is_none() { + commands + .entity(request.agent) + .insert(CancellingInnerNavigation { success: false }); + } + executor_commands + .run(async move { + let mut cancellation = request.cancel_client.cancellation.cancel().await; + if let Some(new_request) = request.new_request { + // If this a replan attempt with a new navigation request, + // regardless of whether cancellation was successful, mark as Ok() + return Ok(new_request); + } else { + // If this is an external cancellation attempt, persist until it is accepted + while !cancellation.is_accepted() { + info!( + "[{}] Cancellation request rejected for inner navigation, retrying...", + request.agent.index() + ); + cancellation = request.cancel_client.cancellation.cancel().await; + } + info!( + "[{}] Cancellation request rejected for inner navigation, requesting new goal", + request.agent.index() + ); + return Err(InnerNavigationError { + handle: None, + kind: InnerNavigationErrorKind::CancelGoalError, + }); + } + }) + .then(|res| async move { + res.unwrap_or(Err(InnerNavigationError { + handle: None, + kind: InnerNavigationErrorKind::CancelGoalError, + })) + }) +} + +fn async_request_new_goal( + Async { request, .. }: Async, + mut inner_nav_clients: Query<&mut InnerNavigationClient>, + executor_commands: Res, +) -> impl Future> { + let inner_nav_client_result = inner_nav_clients.get_mut(request.agent); + if inner_nav_client_result.is_err() { + return std::future::ready(Err(InnerNavigationError { + handle: None, + kind: InnerNavigationErrorKind::RequestGoalError, + })) + .left_future(); + } + let mut inner_nav_client = inner_nav_client_result.unwrap(); + + // Reset goal client before submitting new request + inner_nav_client.reset_goal(); + + let mut pose = request.target_pose.clone(); + debug!( + "[{:?}] Requesting new navigation goal to pose [{}, {}]", + request.agent.index(), + pose.pose.position.x, + pose.pose.position.y + ); + pose.header.frame_id = "map".to_string(); + let nav_request = inner_nav_client + .action_client + .request_goal(NavigateToPose_Goal { pose, ..default() }); + + executor_commands + .run(async move { + match nav_request.await { + Some(handle) => Ok(CurrentInnerNavigationGoal { + request, + goal_client: handle, + }), + None => Err(InnerNavigationError { + handle: None, + kind: InnerNavigationErrorKind::RequestGoalError, + }), + } + }) + .then(|res| async move { + res.unwrap_or(Err(InnerNavigationError { + handle: None, + kind: InnerNavigationErrorKind::RequestGoalError, + })) + }) + .right_future() +} + +fn update_goal_client( + Blocking { + request: handle, .. + }: Blocking, + mut inner_nav_clients: Query<&mut InnerNavigationClient>, +) -> CurrentInnerNavigationGoal { + if let Ok(mut inner_nav_client) = inner_nav_clients.get_mut(handle.request.agent) { + *inner_nav_client.goal_mut() = Some(ActiveInnerGoal::new( + handle.goal_client.clone(), + handle.request.safe_zone_id.clone(), + )); + } else { + warn!( + "[{:?}] InnerNavigationClient not found!", + handle.request.agent.index() + ); + } + handle +} + +fn log_inner_navigation_error(Blocking { request: err, .. }: Blocking) { + error!("InnerNavigationError occurred: {}", err.kind); +} + +#[derive(Clone, Event)] +pub struct InnerNavigationFeedback { + pub agent: Entity, + pub feedback: NavigateToPose_Feedback, +} + +impl InnerNavigationFeedback { + pub fn new(agent: Entity, feedback: NavigateToPose_Feedback) -> Self { + Self { agent, feedback } + } +} + +fn async_monitor_ongoing_navigation( + Async { + request: handle, + channel, + .. + }: Async, + executor_commands: Res, +) -> impl Future { + let nav_handle = handle.clone(); + executor_commands + .run(async move { + let mut goal_client_stream = handle.goal_client.clone().stream(); + let agent = handle.request.agent.clone(); + // TODO(@xiyuoh) this gets stuck sometimes, find out why + while let Some(event) = goal_client_stream.next().await { + match event { + GoalEvent::Feedback(feedback) => { + // Publish feedback via observer triggers + channel.commands(move |cmds| { + cmds.trigger(InnerNavigationFeedback::new(agent, feedback.clone())); + }); + } + GoalEvent::Status(s) => { + debug!( + "[{:?}] [inner nav2pose] Status: {:?}", + handle.request.agent.index(), + s.code + ); + } + GoalEvent::Result((status, result)) => { + debug!( + "[{:?}] [inner nav2pose] Result: {:?}", + handle.request.agent.index(), + result + ); + match status { + GoalStatusCode::Succeeded => { + return Ok(InnerNavigationSuccess { handle }) + } + GoalStatusCode::Aborted => { + return Err(InnerNavigationError { + handle: Some(handle.clone()), + kind: InnerNavigationErrorKind::GoalAbortedError, + }) + } + GoalStatusCode::Cancelled => { + return Err(InnerNavigationError { + handle: Some(handle.clone()), + kind: InnerNavigationErrorKind::GoalCancelledError, + }); + } + _ => {} + } + } + } + } + Err(InnerNavigationError { + handle: Some(handle.clone()), + kind: InnerNavigationErrorKind::UnknownError, + }) + }) + .then(|res| async move { + res.unwrap_or(Err(InnerNavigationError { + handle: Some(nav_handle.clone()), + kind: InnerNavigationErrorKind::UnknownError, + })) + }) +} + +// If navigation was aborted, retry +// If navigation was cancelled (not cancelling), publish cancellation to outer workflow +fn process_navigation_result( + Blocking { + request: result, .. + }: Blocking, + mut commands: Commands, + mut cancelling_inner: Query<&mut CancellingInnerNavigation>, +) -> Result { + match result { + Ok(_) => return Err(result), + Err(ref err) => match err.kind { + InnerNavigationErrorKind::GoalAbortedError => { + let Some(ref handle) = err.handle else { + return Err(result); + }; + let target = &handle.request; + let target_pose = target.target_pose.clone(); + + debug!("[{:?}] Goal aborted. Retrying", target.agent.index()); + return Ok(InnerNavigationRequest { + agent: target.agent, + safe_zone_id: target.safe_zone_id.clone(), + target_pose, + }); + } + InnerNavigationErrorKind::GoalCancelledError => { + // Only mark cancellation success for external cancellation + // and not for replan attempts + if let Some(agent) = err.handle.as_ref().map(|h| h.request.agent) { + if let Ok(mut cancelling) = cancelling_inner.get_mut(agent) { + info!( + "[{:?}] Goal cancelled. Marking cancellation as success.", + agent.index() + ); + cancelling.success = true; + } + } + } + _ => {} + }, + } + return Err(result); +} + +fn cleanup_goal_client( + Blocking { + request: result, .. + }: Blocking, + mut inner_nav_clients: Query<&mut InnerNavigationClient>, +) { + let handle = match result { + Ok(res) => res.handle, + Err(err) => { + let Some(req) = err.handle else { + return; + }; + req + } + }; + + // Clear inner goal client + if let Ok(mut inner_nav_client) = inner_nav_clients.get_mut(handle.request.agent) { + inner_nav_client.reset_goal(); + } else { + warn!( + "[{:?}] InnerNavigationClient not found!", + handle.request.agent.index() + ); + } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/lib.rs b/nav2_integration/rmf_nav2_traffic/src/lib.rs new file mode 100644 index 0000000..cc99de4 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/lib.rs @@ -0,0 +1,220 @@ +/* + * Copyright (C) 2026 Open Source Robotics Foundation + * + * 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. + * +*/ + +use bevy::prelude::*; +use crossflow::CrossflowPlugin; +use futures::Future; +use rclrs::{ + ActionClientState, ActionIDL, ActionServerState, ClientState, Context, CreateBasicExecutor, + ExecutorCommands, IntoNodeServiceCallback, IntoPrimitiveOptions, MessageIDL, NodeState, + PublisherState, RclrsError, RequestedGoal, RequestedGoalClient, ServiceIDL, ServiceState, + SpinOptions, Subscription, TerminatedGoal, +}; +use std::{ + env::Args, + fmt::Debug, + sync::{Arc, Mutex}, + thread, +}; + +pub mod agent; +pub use agent::*; + +pub mod destination; +pub use destination::*; + +pub mod inner_navigation_client; +pub use inner_navigation_client::*; + +pub mod navigation_server; +pub use navigation_server::*; + +pub mod safe_zone; +pub use safe_zone::*; + +pub mod testing; +pub use testing::*; + +#[derive(Default)] +pub struct Nav2TrafficPlugin {} + +impl Plugin for Nav2TrafficPlugin { + fn build(&self, app: &mut App) { + app.add_plugins((CrossflowPlugin::default(), RclrsPlugin::default())) + .init_resource::() + .add_plugins(( + DestinationGoalPublisherPlugin::default(), + SafeZoneSubscriptionPlugin::default(), + InnerNavigationClientPlugin::default(), + NavigationServerPlugin::default(), + Nav2AgentPlugin::default(), + )); + + // Spawn agents last + let agent_names = vec!["robot0".to_string(), "robot1".to_string()]; + for name in agent_names { + app.world_mut().spawn(Nav2Agent::new(name)); + } + } +} + +#[derive(Resource, Deref)] +pub struct RclrsNode(Arc); + +impl FromWorld for RclrsNode { + fn from_world(world: &mut World) -> Self { + let executor_commands = world.resource::(); + let node_name = "nav_traffic_node".to_string(); + let node = executor_commands.create_node(&node_name).unwrap(); + RclrsNode(node.clone()) + } +} + +#[derive(Resource, Deref)] +pub struct RclrsExecutorCommands(Arc); + +#[derive(Default)] +pub(crate) struct RclrsPlugin {} + +impl Plugin for RclrsPlugin { + fn build(&self, app: &mut App) { + let mut executor = Context::default_from_env().unwrap().create_basic_executor(); + app.insert_resource(RclrsExecutorCommands(Arc::clone(executor.commands()))); + + thread::spawn(move || { + let r = executor.spin(SpinOptions::default()); + for err in r { + error!("An error occurred in rclrs: {err}"); + } + }); + } +} + +// Template for creating ROS 2 subscribers +pub struct RosSubscription { + _subscriber: Arc>, + data: Arc>>, +} + +impl RosSubscription { + pub fn new(node: &Arc, topic: String) -> Self { + let data = Arc::new(Mutex::new(None)); + let data_clone: Arc>> = Arc::clone(&data); + + let subscriber = node + .create_subscription( + topic.clone().reliable().transient_local().keep_all(), + move |msg: T| { + debug!("Received a message on [{}]: {:?}", topic, msg); + *data_clone.lock().unwrap() = Some(msg.clone()); + + // TODO(@xiyuoh) allow customized qos + }, + ) + .unwrap(); + + Self { + _subscriber: Arc::new(subscriber), + data, + } + } + + pub fn data_callback(&self) -> Option { + self.data.lock().unwrap().as_ref().cloned() + } +} + +// Template for creating ROS 2 publishers +pub struct RosPublisher { + publisher: Arc>, +} + +impl RosPublisher { + pub fn new(node: &Arc, topic: String) -> Self { + let publisher = node.create_publisher(&topic).unwrap(); + + Self { publisher } + } + + pub fn new_transient_local(node: &Arc, topic: String) -> Self { + let publisher = node.create_publisher(topic.reliable().transient_local().keep_all()).unwrap(); + + Self { publisher } + } + + pub fn publish(&self, msg: T) -> Result<(), RclrsError> { + self.publisher.publish(msg) + } +} + +// Template for creating ROS 2 service clients +pub struct RosServiceClient { + client: Arc>, +} + +impl RosServiceClient { + pub fn new(node: &Arc, service_name: String) -> Self { + let client = node.create_client::(&service_name).unwrap(); + + Self { client } + } +} + +// Template for creating ROS 2 action clients +pub struct RosActionClient { + action_client: Arc>, + action_name: String, +} + +impl RosActionClient { + pub fn new(node: &Arc, action_name: String) -> Self { + let action_client = node.create_action_client::(&action_name).unwrap(); + + Self { + action_client, + action_name, + } + } + + pub fn request_goal(&self, goal: T::Goal) -> RequestedGoalClient { + self.action_client.request_goal(goal) + } +} + +// Template for creating ROS 2 action servers +pub struct RosActionServer { + action_server: Arc>, + action_name: String, +} + +impl RosActionServer { + pub fn new( + node: &Arc, + action_name: String, + callback: impl FnMut(RequestedGoal) -> Task + Send + Sync + 'static, + ) -> Self + where + Task: Future + Send + Sync + 'static, + { + let action_server = node.create_action_server(&action_name, callback).unwrap(); + + Self { + action_server, + action_name, + } + } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/main.rs b/nav2_integration/rmf_nav2_traffic/src/main.rs new file mode 100644 index 0000000..0cab0b5 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/main.rs @@ -0,0 +1,13 @@ +use bevy::prelude::*; +use nav2_traffic::*; + +fn main() { + let mut app = App::new(); + app.add_plugins(DefaultPlugins); + // .set(WindowPlugin { + // primary_window: None, + // ..default() + // })); + app.add_plugins(Nav2TrafficPlugin::default()); + app.run(); +} diff --git a/nav2_integration/rmf_nav2_traffic/src/navigation_server.rs b/nav2_integration/rmf_nav2_traffic/src/navigation_server.rs new file mode 100644 index 0000000..ea5a409 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/navigation_server.rs @@ -0,0 +1,498 @@ +use crate::{ + destination::DestinationGoalPublisher, + inner_navigation_client::{ + CancelInnerForAgent, CancellingInnerNavigation, InnerNavigationClient, + InnerNavigationFeedback, + }, + Nav2Agent, RclrsNode, RosActionServer, RosPublisher, +}; +use bevy::prelude::*; +use crossbeam::channel::{unbounded, Receiver, Sender}; +use crossflow::{prelude::*, service::Service}; +use rclrs::*; +use { + geometry_msgs::msg::PoseStamped, + nav2_msgs::action::{NavigateToPose, NavigateToPose_Feedback, NavigateToPose_Result}, + rmf_prototype_msgs::msg::{ + DestinationConstraints, DestinationGoal, PlanId, Region, TargetOrientation, TargetRegion, + }, + unique_identifier_msgs::msg::UUID as RosUuid, +}; +use std::{sync::Arc, time::Duration}; +use tokio::sync::{ + mpsc::{error::SendError, unbounded_channel, UnboundedReceiver, UnboundedSender}, + Mutex, +}; +use uuid::Uuid; + +#[derive(Component)] +pub struct NavigateToPoseServer { + pub action_server: Arc>, + pub request_receiver: Receiver, + pub request_sender: Sender, +} + +#[derive(Default)] +pub struct NavigationServerPlugin {} + +impl Plugin for NavigationServerPlugin { + fn build(&self, app: &mut App) { + // TODO(@xiyuoh) have a systematic approach to setting schedules for systems + app.add_systems(PreUpdate, request_publish_feedback_service) + .add_systems(PostUpdate, cleanup_navigation) + .add_event::() + .add_observer(create_navigation_server) + .add_observer(on_inner_navigation_feedback); + + let navigation_services = NavigationServices::from_app(app); + app.insert_resource(navigation_services); + } +} + +fn create_navigation_server( + trigger: Trigger, + mut commands: Commands, + agents: Query<(&Nav2Agent, &DestinationGoalPublisher)>, + node: Res, +) { + let agent_entity = trigger.target(); + let Ok((agent_name, destination_publisher)) = agents + .get(agent_entity) + .map(|(agent, publisher)| (agent.name.clone(), publisher)) + else { + return; + }; + let (tx, rx) = unbounded::(); + let (tx_for_closure, publisher_for_closure) = + (tx.clone(), destination_publisher.publisher.clone()); + let action_name = agent_name + "/navigate_to_pose"; + // Set up action server for incoming navigation goals + let action_server = RosActionServer::::new(&node, action_name, move |handle| { + let (feedback_sender, feedback_receiver) = unbounded_channel::(); + let (cancel_sender, cancel_receiver) = unbounded_channel::(); + let pose = &handle.goal().pose; + info!("Received a new NavigationRequest to {:?}!", pose); + + // Throw sender into workflow + let nav_request = NavigationRequest::new(agent_entity.clone(), pose.clone()); + let _ = tx_for_closure.send(CurrentNavigationRequest { + request: nav_request, + feedback_sender, + cancel_receiver, + }); + let send_cancel = move || { + cancel_sender.send(CancelInnerForAgent { + agent: agent_entity.clone(), + }) + }; + + nav_to_pose_action( + handle, + feedback_receiver, + send_cancel, + publisher_for_closure.clone(), + NavigateToPoseActionSettings::default(), + ) + }); + + commands.entity(agent_entity).insert(NavigateToPoseServer { + action_server: Arc::new(action_server), + request_receiver: rx, + request_sender: tx, + }); +} + +fn request_publish_feedback_service( + mut commands: Commands, + mut navigation_servers: Query<&NavigateToPoseServer>, + navigation_services: Res, +) { + for server in navigation_servers.iter_mut() { + while let Ok(request) = server.request_receiver.try_recv() { + commands + .request( + request.request.clone(), + navigation_services.publish_feedback, + ) + .detach(); + commands.entity(request.request.agent).insert(request); + } + } +} + +#[derive(Resource)] +pub struct NavigationServices { + publish_feedback: Service, +} + +impl NavigationServices { + pub fn from_app(app: &mut App) -> Self { + let monitor_inner_navigation_clients_service = + app.spawn_continuous_service(Update, monitor_inner_navigation_clients); + let monitor_inner_navigation_feedback_service = + app.spawn_continuous_service(Update, monitor_inner_navigation_feedback); + let publish_navigation_feedback_service = app.spawn_service(publish_navigation_feedback); + + let publish_feedback = app.world_mut().spawn_workflow(|scope, builder| { + // Create nodes + let monitor_inner_navigation_clients = + builder.create_node(monitor_inner_navigation_clients_service); + let monitor_inner_navigation_feedback = + builder.create_node(monitor_inner_navigation_feedback_service); + let publish_navigation_feedback = + builder.create_node(publish_navigation_feedback_service); + + let (fork_clone_input, fork_clone) = builder.create_fork_clone(); + + // Continuous service to manage incoming navigation requests and + // respond to orders when the entire nav is completed + builder.connect(scope.start, fork_clone_input); + let cloned = fork_clone.clone_output(builder); + builder.connect(cloned, monitor_inner_navigation_clients.input); + + // Stream out inner navigation feedback buffer + let cloned = fork_clone.clone_output(builder); + builder.connect(cloned, monitor_inner_navigation_feedback.input); + let feedback_buffer = + builder.create_buffer::(BufferSettings::keep_last(10)); + builder.connect( + monitor_inner_navigation_feedback.streams, + feedback_buffer.input_slot(), + ); + + // Publish feedback + let access = builder + .create_buffer_access::>( + feedback_buffer, + ); + builder.connect(monitor_inner_navigation_clients.streams, access.input); + builder.connect(access.output, publish_navigation_feedback.input); + + // Connect only monitor_inner_navigation_clients to terminate + builder.connect(monitor_inner_navigation_clients.output, scope.terminate); + }); + + Self { publish_feedback } + } +} + +async fn nav_to_pose_action( + handle: RequestedGoal, + mut receiver: UnboundedReceiver, + send_cancel: impl Fn() -> Result<(), SendError>, + destination_publisher: Arc>, + NavigateToPoseActionSettings { + period, + cancel_refusal_limit, + continue_after_cancelling, + }: NavigateToPoseActionSettings, +) -> TerminatedGoal { + let goal_order = &handle.goal().pose; + let destination_goal = pose_stamped_to_destination_goal(goal_order); + let Ok(_) = destination_publisher.publish(destination_goal) else { + return handle.reject(); + }; + + let result = NavigateToPose_Result::default(); + + let executing = match handle.accept().begin() { + BeginAcceptedGoal::Execute(executing) => executing, + BeginAcceptedGoal::Cancel(cancelling) => return cancelling.cancelled_with(result), + }; + + let mut cancel_requests = 0; + let cancelling = loop { + match executing.unless_cancel_requested(receiver.recv()).await { + Ok(Some(next)) => { + executing.publish_feedback(next); + } + Ok(None) => { + // Navigation for this PlanId completed + debug!("NavigationRequest completed!"); + return executing.succeeded_with(result); + } + Err(_) => { + // Cancellation requested + debug!("NavigationRequest cancelling!"); + let cancelling = executing.begin_cancelling(); + break cancelling; + } + } + }; + + debug!("NavigationRequest cancelled!"); + let _ = send_cancel(); + return cancelling.succeeded_with(result); +} + +fn pose_stamped_to_destination_goal(pose: &PoseStamped) -> DestinationGoal { + let (x, y, q) = ( + pose.pose.position.x as f32, + pose.pose.position.y as f32, + pose.pose.orientation.clone(), + ); + let quat = Quat::from_xyzw(q.x as f32, q.y as f32, q.z as f32, q.w as f32); + let (yaw, _pitch, _roll) = quat.to_euler(EulerRot::ZXY); + + // Consider this a single-point region + let region = Region { + points: vec![x, y], + hint: Region::HINT_POINT, + }; + let target_orientation = TargetOrientation { + orientation_radians: yaw, + spread_radians: 0.0, + tolerance_radians: 0.0, + }; + let target_region = TargetRegion { + tolerance: 0.5, + region, + orientations: vec![target_orientation], + }; + + // Populate either regions or nodes, not both + let constraints = DestinationConstraints { + regions: vec![target_region], + nodes: vec![], + }; + + DestinationGoal { + one_of: vec![constraints], + cost_bias: vec![], + session: new_uuid(), + } +} + +fn new_uuid() -> RosUuid { + let random_uuid = Uuid::new_v4(); + let bytes: [u8; 16] = *random_uuid.as_bytes(); + RosUuid { uuid: bytes } +} + +fn dist(a: (f64, f64), b: (f64, f64)) -> f64 { + ((a.0 - b.0).powi(2) + (a.1 - b.1).powi(2)).sqrt() +} + +#[derive(Clone)] +pub struct NavigationRequest { + pub agent: Entity, + pub plan_id: PlanId, + pub target: PoseStamped, + pub threshold: f64, +} + +impl NavigationRequest { + pub fn new(agent: Entity, target: PoseStamped) -> Self { + Self { + agent, + plan_id: PlanId { + destination_session: new_uuid(), + plan_version: 0, + }, + target, + threshold: 0.5, + } + } + + pub fn threshold(&mut self, threshold: f64) -> &mut Self { + self.threshold = threshold; + self + } + + pub fn plan_id(&mut self, plan_id: PlanId) -> &mut Self { + self.plan_id = plan_id; + self + } + + pub fn destination_reached(&self, pose: &AgentPose) -> bool { + let current_pos = &pose.pose().pose.position; + let target_pos = &self.target.pose.position; + if dist((current_pos.x, current_pos.y), (target_pos.x, target_pos.y)) < self.threshold { + return true; + } + false + } +} + +#[derive(Component)] +pub struct CurrentNavigationRequest { + request: NavigationRequest, + feedback_sender: UnboundedSender, + cancel_receiver: UnboundedReceiver, +} + +#[derive(Clone, Debug, Component)] +pub struct AgentPose(pub PoseStamped); + +impl AgentPose { + pub fn pose(&self) -> &PoseStamped { + &self.0 + } + + pub fn pose_mut(&mut self) -> &mut PoseStamped { + &mut self.0 + } +} + +#[derive(Event, Clone)] +pub struct NavigationCompleted { + pub agent: Entity, + pub plan_id: PlanId, +} + +fn on_inner_navigation_feedback( + trigger: Trigger, + mut inner_nav_feedback: EventWriter, +) { + let event = trigger.event(); + inner_nav_feedback.write(InnerNavigationFeedback::new( + event.agent, + event.feedback.clone(), + )); +} + +fn monitor_inner_navigation_feedback( + srv: ContinuousService>, + mut orders: ContinuousQuery>, + mut inner_nav_feedback: EventReader, +) { + let Some(mut orders) = orders.get_mut(&srv.key) else { + return; + }; + if orders.is_empty() { + return; + } + + for feedback in inner_nav_feedback.read() { + orders.for_each(|order| { + if feedback.agent == order.request().agent { + order.streams().send(feedback.clone()) + } + }); + } +} + +fn monitor_inner_navigation_clients( + srv: ContinuousService>, + mut orders: ContinuousQuery>, + mut agents: Query<( + &InnerNavigationClient, + &AgentPose, + &mut CurrentNavigationRequest, + Option<&CancellingInnerNavigation>, + )>, + mut cancel_inner_for_agent: EventWriter, + mut nav_completed: EventWriter, +) { + let Some(mut orders) = orders.get_mut(&srv.key) else { + return; + }; + if orders.is_empty() { + return; + } + + orders.for_each(|order| { + let request = order.request(); + order.streams().send(request.clone()); + + if let Ok((client, pose, mut current_nav_request, cancelling_inner)) = + agents.get_mut(request.agent) + { + // If reached destination, complete order + if client.active_goal.is_none() && request.destination_reached(pose) { + info!( + "[{:?}] Destination reached, marking NavigationRequest as completed", + request.agent.index() + ); + nav_completed.write(NavigationCompleted { + agent: request.agent, + plan_id: request.plan_id.clone(), + }); + order.respond(()); + return; + } + // If inner cancellation is complete, complete order + if cancelling_inner.is_some_and(|cancelling| cancelling.success) { + info!( + "[{:?}] Inner navigation cancelled, marking NavigationRequest as completed", + request.agent.index() + ); + nav_completed.write(NavigationCompleted { + agent: request.agent, + plan_id: request.plan_id.clone(), + }); + order.respond(()); + return; + } + + // If cancellation requested, write inner cancellation event + if let Ok(cancel) = current_nav_request.cancel_receiver.try_recv() { + cancel_inner_for_agent.write(cancel); + } + } + }); +} + +fn publish_navigation_feedback( + Blocking { + request: (_, key), + id, + .. + }: Blocking<(NavigationRequest, BufferKey)>, + mut commands: Commands, + mut access: BufferAccessMut, + current_nav_request: Query<&CurrentNavigationRequest>, +) { + let Ok(feedback_vec) = access + .get_mut(id, &key) + .map(|mut res| res.drain(..).collect::>()) + else { + return; + }; + + for feedback in feedback_vec.iter() { + // Update AgentPose + commands + .entity(feedback.agent) + .insert(AgentPose(feedback.feedback.current_pose.clone())); + + if let Ok(current_nav_request) = current_nav_request.get(feedback.agent) { + let _ = current_nav_request + .feedback_sender + .send(feedback.feedback.clone()); + } + } +} + +fn cleanup_navigation( + mut commands: Commands, + mut nav_completed: EventReader, + current_nav_requests: Query<&CurrentNavigationRequest>, +) { + for event in nav_completed.read() { + if current_nav_requests.get(event.agent).is_ok_and(|req| { + req.request.agent == event.agent && req.request.plan_id == event.plan_id + }) { + commands + .entity(event.agent) + .remove::() + .remove::(); + } + } +} + +struct NavigateToPoseActionSettings { + period: Duration, + cancel_refusal_limit: usize, + continue_after_cancelling: bool, +} + +impl Default for NavigateToPoseActionSettings { + fn default() -> Self { + Self { + period: Duration::from_micros(10), + cancel_refusal_limit: 1, + continue_after_cancelling: false, + } + } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/safe_zone.rs b/nav2_integration/rmf_nav2_traffic/src/safe_zone.rs new file mode 100644 index 0000000..2faa1d3 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/safe_zone.rs @@ -0,0 +1,281 @@ +use crate::{ + inner_navigation_client::InnerNavigationTarget, navigation_server::CurrentNavigationRequest, + Nav2Agent, RclrsNode, RosPublisher, RosSubscription, +}; +use bevy::prelude::*; +use { + nav2_msgs::msg::Costmap, + rmf_prototype_msgs::msg::{Progress, Region, SafeZone}, +}; +use std::sync::Arc; + +#[derive(Component)] +pub struct SafeZoneSubscription { + pub subscriber: Arc>, +} + +#[derive(Component)] +pub struct CostmapPublisher { + pub publisher: Arc>, +} + +#[derive(Component)] +pub struct ProgressPublisher { + pub publisher: Arc>, +} + +#[derive(Component, Debug, Clone, Default, Deref)] +pub struct CurrentSafeZone(pub Option); + +impl CurrentSafeZone { + pub fn update(&mut self, value: SafeZone) { + self.0 = Some(value); + } + + pub fn clear(&mut self) { + self.0 = None; + } + + pub fn matches(&self, other: &SafeZone) -> bool { + self.as_ref().is_some_and(|sz| sz.id == other.id) + } + + pub fn distancesq_to_target(&self, other: &SafeZone) -> f64 { + let Some(safe_zone) = self.0.clone() else { + // TODO(arjoc): Clean up lifetimes + return f64::INFINITY; + }; + + let Some((sx, sy)) = Self::get_point(&safe_zone) else { + return f64::INFINITY; + }; + + let Some((dx, dy)) = Self::get_point(other) else { + return f64::INFINITY; + }; + + (sx - dx).powi(2) + (sy - dy).powi(2) + } + + fn get_point(safe_zone: &SafeZone) -> Option<(f64, f64)> { + let Some(region) = safe_zone.incremental_target.regions.first() else { + return None; + }; + match region.region.hint { + Region::HINT_POINT => { + if region.region.points.len() != 2 { + None + } else { + Some(( + region.region.points[0].into(), + region.region.points[1].into(), + )) + } + } + _ => None, + } + } +} + +#[derive(Default)] +pub struct SafeZoneSubscriptionPlugin {} + +impl Plugin for SafeZoneSubscriptionPlugin { + fn build(&self, app: &mut App) { + app.add_systems(PreUpdate, update_incremental_target) + .add_observer(create_safe_zone_subscriber) + .add_observer(create_costmap_publisher) + .add_observer(create_progress_publisher); + } +} + +fn create_safe_zone_subscriber( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/plan/safe_zone"; + let subscription = Arc::new(RosSubscription::::new(&node, topic.clone())); + commands.entity(e).insert(( + SafeZoneSubscription { + subscriber: Arc::clone(&subscription), + }, + CurrentSafeZone::default(), + )); +} + +fn create_costmap_publisher( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + // TODO(@xiyuoh) review this topic name + let topic = agent_name + "/inner/global_costmap/plan/costmap"; + let publisher = Arc::new(RosPublisher::::new(&node, topic)); + commands.entity(e).insert(CostmapPublisher { + publisher: Arc::clone(&publisher), + }); +} + +fn create_progress_publisher( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/plan/progress"; + let publisher = Arc::new(RosPublisher::::new(&node, topic)); + commands.entity(e).insert(ProgressPublisher { + publisher: Arc::clone(&publisher), + }); +} + +fn update_incremental_target( + mut nav_target: EventWriter, + mut subscriptions: Query< + ( + Entity, + &SafeZoneSubscription, + &CostmapPublisher, + &ProgressPublisher, + &mut CurrentSafeZone, + &Nav2Agent, + ), + // Only respond to a SafeZone message if there is an active NavigationRequest + // for this agent + With, + >, +) { + for (e, safe_zone_sub, costmap_pub, progress_pub, mut current_safe_zone, agent) in + subscriptions.iter_mut() + { + let Some(safe_zone) = safe_zone_sub.subscriber.data_callback() else { + continue; + }; + //if current_safe_zone.matches(&safe_zone) { + // continue; + //} + + // Call updateCosts() before setting new inner nav target + let Ok(_) = costmap_pub.publisher.publish(safe_zone.costmap.clone()) else { + error!("Failed to publish costmap for agent [{}]", agent.name); + continue; + }; + + // Validate safe zone msg + if !is_valid(&safe_zone) { + continue; + } + + let Some((target_x, target_y, target_yaw)) = next_target(&safe_zone) else { + continue; + }; + + // Publish progress + let Ok(_) = progress_pub.publisher.publish(Progress { + progress: safe_zone.target_progress, + reached_waypoint: safe_zone.last_waypoint, + target_waypoint: safe_zone.target_waypoint[0], // TODO(@xiyuoh) review + reached_keys: vec![], // TODO(@xiyuoh) + plan_id: safe_zone.id.plan_id.clone(), + }) else { + error!("Failed to publish progress for agent [{}]", agent.name); + continue; + }; + + if current_safe_zone.distancesq_to_target(&safe_zone) < 0.5 { + continue; + } + + *current_safe_zone = CurrentSafeZone(Some(safe_zone.clone())); + + nav_target.write(InnerNavigationTarget::new( + e, + safe_zone.id, + target_x as f64, + target_y as f64, + target_yaw as f64, + )); + } +} + +fn is_valid(safe_zone: &SafeZone) -> bool { + if safe_zone.target_waypoint.is_empty() { + error!("Received a SafeZone message with empty target_waypoint"); + return false; + } + if safe_zone.incremental_target.regions.is_empty() + && safe_zone.incremental_target.nodes.is_empty() + { + error!("Received a SafeZone message with empty incremental_target"); + return false; + } + + true +} + +fn next_target(safe_zone: &SafeZone) -> Option<(f32, f32, f32)> { + // TODO(@xiyuoh) more sophisticated point selection taking into account + // all factors (region hints, orientations, etc.) + + let constraints = &safe_zone.incremental_target; + let mut xy: Option<(f32, f32)> = None; + let mut yaw: Option = None; + + // Assume either regions or nodes will be populated, not both. + for target_region in constraints.regions.iter() { + let tolerance = target_region.tolerance; + let region = &target_region.region; + let points = ®ion.points; + + match region.hint { + Region::HINT_POINT => { + // There should only be exactly 2 elements forming (x, y) + if points.len() != 2 { + continue; + } + // TODO(@xiyuoh) + xy = Some((points[0], points[1])); + } + Region::HINT_AXIS_ALIGNED_RECTANGLE => { + // + } + Region::HINT_RECTANGLE => { + // + } + Region::HINT_CONVEX_POLYGON => { + // + } + Region::HINT_POLYGON | Region::HINT_UNSPECIFIED => { + // + } + _ => { + // + } + } + + for target_ori in target_region.orientations.iter() { + yaw = Some(target_ori.orientation_radians); + // TODO(@xiyuoh) some processing using spread and tolerance + } + } + for target_node in constraints.nodes.iter() { + // + } + + xy.zip(yaw).map(|((x, y), yaw)| (x, y, yaw)) +} diff --git a/nav2_integration/rmf_nav2_traffic/src/testing/destination_server.rs b/nav2_integration/rmf_nav2_traffic/src/testing/destination_server.rs new file mode 100644 index 0000000..e95b5e8 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/testing/destination_server.rs @@ -0,0 +1,67 @@ +use crate::{Nav2Agent, RclrsNode, RosSubscription}; +use bevy::prelude::*; +use rmf_prototype_msgs::msg::DestinationGoal; +use std::sync::Arc; + +#[derive(Event)] +pub struct RequestPlan(pub Entity); + +#[derive(Component)] +pub struct DestinationGoalSubscription { + pub subscriber: Arc>, + pub last_msg: Option, +} + +#[derive(Default)] +pub struct MockDestinationServerPlugin {} + +impl Plugin for MockDestinationServerPlugin { + fn build(&self, app: &mut App) { + app.add_event::() + .add_systems(PreUpdate, receive_destination_goal) + .add_observer(create_destination_goal_subscription); + } +} + +fn create_destination_goal_subscription( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/destination/goal"; + let subscriber = Arc::new(RosSubscription::::new( + &node, + topic.clone(), + )); + commands.entity(e).insert(DestinationGoalSubscription { + subscriber: Arc::clone(&subscriber), + last_msg: None, + }); +} + +fn receive_destination_goal( + mut commands: Commands, + mut subscriptions: Query<(Entity, &mut DestinationGoalSubscription)>, +) { + for (e, mut destination_goal_sub) in subscriptions.iter_mut() { + let Some(destination_goal) = destination_goal_sub.subscriber.data_callback() else { + continue; + }; + if destination_goal_sub + .last_msg + .as_ref() + .is_some_and(|msg| *msg == destination_goal) + { + continue; + } + destination_goal_sub.last_msg = Some(destination_goal); + + // Received new destination goal, trigger a new request + commands.trigger(RequestPlan(e)); + } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/testing/mapf_bridge.rs b/nav2_integration/rmf_nav2_traffic/src/testing/mapf_bridge.rs new file mode 100644 index 0000000..62c8945 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/testing/mapf_bridge.rs @@ -0,0 +1,333 @@ +use crate::{ + testing::{RequestPlan, SafeZoneReceived}, + AmclPose, CurrentSafeZone, Nav2Agent, NavigationCompleted, RclrsNode, RosSubscription, +}; +use bevy::prelude::*; +use crossflow::{prelude::*, service::Service}; +use reqwest::blocking::Client; +use { + nav2_msgs::msg::Costmap, + rmf_prototype_msgs::msg::{ + DestinationConstraints, PlanId, Region, SafeZone, SafeZoneId, TargetOrientation, + TargetRegion, + }, + unique_identifier_msgs::msg::UUID as RosUuid, +}; +use rosidl_runtime_rs::BoundedSequence; +use serde::{Deserialize, Serialize}; +use std::{collections::HashSet, sync::Arc}; +use uuid::Uuid; + +#[derive(Clone, Debug)] +pub struct AgentRequest { + agent: Entity, + request: AgentPoseRequest, +} + +#[derive(Resource)] +pub struct MapfPostClient { + client: Client, + url: String, +} + +// --- API Request/Response Structs from mapf_post --- +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct AgentPoseRequest { + pub agent_id: usize, + pub x: f32, + pub y: f32, + pub angle: f32, // Added angle for Isometry2 +} + +#[derive(Debug, Clone, Serialize, Deserialize)] +pub struct AgentAllocationResponse { + pub agent_id: usize, + pub cell_size: f32, + pub allocated_free_space: Vec<(f32, f32)>, + pub next_goal: (f32, f32), + pub remaining_traj: Vec<(f32, f32)>, +} + +#[derive(Component)] +pub struct CostmapSubscription { + pub subscriber: Arc>, +} + +#[derive(Default)] +pub struct MapfBridgePlugin {} + +impl Plugin for MapfBridgePlugin { + fn build(&self, app: &mut App) { + app.insert_resource(MapfPostClient { + client: Client::new(), + url: "http://127.0.0.1:3000/update_pose".into(), + }) + .add_observer(on_request_new_plan) + .add_observer(create_costmap_subscriber); + + let allocation_services = MapfAllocationServices::from_app(app); + app.insert_resource(allocation_services); + } +} + +fn create_costmap_subscriber( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/inner/global_costmap/costmap_raw"; + let subscription = Arc::new(RosSubscription::::new(&node, topic.clone())); + commands.entity(e).insert(CostmapSubscription { + subscriber: Arc::clone(&subscription), + }); +} + +#[derive(Resource)] +pub struct MapfAllocationServices { + allocation: Service, +} + +impl MapfAllocationServices { + pub fn from_app(app: &mut App) -> Self { + let request_mapf_plan_service = app.spawn_continuous_service(Update, request_mapf_plan); + let convert_to_safe_zone_service = app.spawn_service(mapf_plan_to_safe_zone); + let update_safe_zone_service = app.spawn_service(update_safe_zone); + + let allocation = app.world_mut().spawn_workflow(|scope, builder| { + let request = builder + .chain(scope.start) + .then_node(request_mapf_plan_service); + + let convert_to_safe_zone = builder.create_node(convert_to_safe_zone_service); + let update_safe_zone = builder.create_node(update_safe_zone_service); + + builder.connect(request.streams, convert_to_safe_zone.input); + + let (convert_fork_result_input, convert_fork_result) = builder.create_fork_result(); + builder.connect(convert_to_safe_zone.output, convert_fork_result_input); + builder.connect(convert_fork_result.ok, update_safe_zone.input); + + builder.connect(request.output, scope.terminate); + }); + + Self { allocation } + } +} + +fn request_mapf_plan( + srv: ContinuousService>, + mut orders: ContinuousQuery>, + mut nav_completed: EventReader, + agent_poses: Query<(&Nav2Agent, &AmclPose)>, + mapf_post_client: Res, +) { + let Some(mut orders) = orders.get_mut(&srv.key) else { + return; + }; + if orders.is_empty() { + return; + } + let client = mapf_post_client.client.clone(); + + // TODO(@xiyuoh) validate using the plan id in this NavigationCompleted event + let completed_agents: HashSet = nav_completed.read().map(|event| event.agent).collect(); + orders.for_each(|order| { + let request = order.request(); + + // If overall navigation has completed, end workflow + if completed_agents.contains(&request) { + info!( + "Agent {:?} has completed navigation! Ending workflow", + request + ); + order.respond(()); + return; + } + + // Create AgentRequest using the current AmclPose + let Ok((agent, amcl_pose)) = agent_poses.get(*request) else { + return; + }; + let pose = amcl_pose.0.pose.pose.clone(); + let agent_request = AgentRequest { + agent: *request, + request: AgentPoseRequest { + agent_id: agent.id as usize, + x: pose.position.x as f32, + y: pose.position.y as f32, + angle: 0.0, + }, + }; + + debug!( + "Sending POST request payload to {}...", + mapf_post_client.url + ); + + if let Ok(response) = client + .post(mapf_post_client.url.clone()) + .json(&agent_request.request) + .send() + { + if response.status().is_success() { + if let Ok(server_response) = response.json::() { + debug!("Response received from mapf_post: {:?}", server_response); + order + .streams() + .send((agent_request.clone(), server_response)); + } + } + } + }); +} + +fn mapf_plan_to_safe_zone( + Blocking { request, .. }: Blocking<(AgentRequest, AgentAllocationResponse)>, + costmap_sub: Query<(&Nav2Agent, &CostmapSubscription)>, +) -> Result<(AgentRequest, SafeZone), ()> { + let Ok((agent, subscription)) = costmap_sub.get(request.0.agent) else { + return Err(()); + }; + + let Some(latest_costmap) = subscription.subscriber.data_callback() else { + return Err(()); + }; + + let allocation = request.1; + if allocation.agent_id as i32 != agent.id { + return Err(()); + } + + let mut costmap = latest_costmap.clone(); + let mut costmap_data = latest_costmap.data.clone(); + let mut safe_indices = HashSet::with_capacity(allocation.allocated_free_space.len()); + let metadata = latest_costmap.metadata; + let costmap_origin_x = metadata.origin.position.x; + let costmap_origin_y = metadata.origin.position.y; + + let costmap_res = metadata.resolution as f64; + let half_cell = (allocation.cell_size / 2.0) as f64; + + // Assign allocated free space to the costmap with a bounding box + for &(world_x, world_y) in &allocation.allocated_free_space { + let world_min_x = world_x as f64 - half_cell; + let world_max_x = world_x as f64 + half_cell; + let world_min_y = world_y as f64 - half_cell; + let world_max_y = world_y as f64 + half_cell; + + let start_cell_x = ((world_min_x - costmap_origin_x) / costmap_res).floor() as i32; + let end_cell_x = ((world_max_x - costmap_origin_x) / costmap_res).floor() as i32; + let start_cell_y = ((world_min_y - costmap_origin_y) / costmap_res).floor() as i32; + let end_cell_y = ((world_max_y - costmap_origin_y) / costmap_res).floor() as i32; + + let min_x = start_cell_x.max(0).min(metadata.size_x as i32 - 1); + let max_x = end_cell_x.max(0).min(metadata.size_x as i32 - 1); + let min_y = start_cell_y.max(0).min(metadata.size_y as i32 - 1); + let max_y = end_cell_y.max(0).min(metadata.size_y as i32 - 1); + + for cell_y in min_y..=max_y { + for cell_x in min_x..=max_x { + let index = (cell_y * metadata.size_x as i32 + cell_x) as usize; + safe_indices.insert(index); + } + } + } + + const LETHAL_OBSTACLE: u8 = 254; + const FREE_SPACE: u8 = 0; + // Mark any non-free space as LETHAL_OBSTACLE + for index in 0..costmap_data.len() { + if safe_indices.contains(&index) { + costmap_data[index] = FREE_SPACE; + } else { + costmap_data[index] = LETHAL_OBSTACLE; + } + } + costmap.data = costmap_data; + + let safe_zone = SafeZone { + incremental_target: DestinationConstraints { + regions: vec![TargetRegion { + tolerance: 0.0, + region: Region { + points: vec![allocation.next_goal.0, allocation.next_goal.1], + hint: Region::HINT_POINT, + }, + orientations: vec![TargetOrientation { + orientation_radians: 0.0, // TODO(@xiyuoh) + ..default() + }], + }], + nodes: vec![], + }, + costmap, + target_waypoint: BoundedSequence::::new(1), // TODO(@xiyuoh) + last_waypoint: 0, // TODO(@xiyuoh) + target_progress: 0.0, // TODO(@xiyuoh) + // SafeZoneId to be populated downstream + ..default() + }; + + Ok((request.0, safe_zone)) +} + +fn update_safe_zone( + Blocking { request, .. }: Blocking<(AgentRequest, SafeZone)>, + mut commands: Commands, + mut agents: Query<(&mut Nav2Agent, &CurrentSafeZone)>, +) { + let Ok((mut agent, current_safe_zone)) = agents.get_mut(request.0.agent) else { + return; + }; + + // If SafeZone is the same, do not publish + if let Some(current_safe_zone) = ¤t_safe_zone.0 { + if current_safe_zone.incremental_target == request.1.incremental_target + && current_safe_zone.costmap.data == request.1.costmap.data + { + return; + } + } + + // Increment SafeZoneId for both agent and to-be-published msg here + let safe_zone_id = agent.last_safe_zone_id.get_or_insert(SafeZoneId { + plan_id: PlanId { + destination_session: new_uuid(), + plan_version: 0, + }, + safe_zone_version: 0, + }); + safe_zone_id.safe_zone_version = safe_zone_id.safe_zone_version + 1; + + let mut safe_zone = request.1.clone(); + safe_zone.id = safe_zone_id.clone(); + + // Trigger a SafeZoneReceived event instead of directly publishing it; we + // allow all publishing to be consolidated in the observer + commands.trigger(SafeZoneReceived { + agent: request.0.agent, + safe_zone, + }); +} + +fn on_request_new_plan( + trigger: Trigger, + mut commands: Commands, + allocation_services: Res, +) { + let e = trigger.event().0; + let _ = commands + .request(e, allocation_services.allocation.clone()) + .detach(); +} + +fn new_uuid() -> RosUuid { + let random_uuid = Uuid::new_v4(); + let bytes: [u8; 16] = *random_uuid.as_bytes(); + RosUuid { uuid: bytes } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/testing/mod.rs b/nav2_integration/rmf_nav2_traffic/src/testing/mod.rs new file mode 100644 index 0000000..2a25153 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/testing/mod.rs @@ -0,0 +1,23 @@ +use bevy::prelude::*; + +pub mod destination_server; +pub use destination_server::*; + +pub mod mapf_bridge; +pub use mapf_bridge::*; + +pub mod safe_zone; +pub use safe_zone::*; + +#[derive(Default)] +pub struct TestingPlugin {} + +impl Plugin for TestingPlugin { + fn build(&self, app: &mut App) { + app.add_plugins(( + MockSafeZonePlugin::default(), + MockDestinationServerPlugin::default(), + MapfBridgePlugin::default(), + )); + } +} diff --git a/nav2_integration/rmf_nav2_traffic/src/testing/safe_zone.rs b/nav2_integration/rmf_nav2_traffic/src/testing/safe_zone.rs new file mode 100644 index 0000000..4c43176 --- /dev/null +++ b/nav2_integration/rmf_nav2_traffic/src/testing/safe_zone.rs @@ -0,0 +1,54 @@ +use crate::{Nav2Agent, RclrsNode, RosPublisher}; +use bevy::prelude::*; +use rmf_prototype_msgs::msg::SafeZone; +use std::sync::Arc; + +#[derive(Component)] +pub struct SafeZonePublisher { + pub publisher: Arc>, +} + +#[derive(Debug, Clone, Event)] +pub struct SafeZoneReceived { + pub agent: Entity, + pub safe_zone: SafeZone, +} + +#[derive(Default)] +pub struct MockSafeZonePlugin {} + +impl Plugin for MockSafeZonePlugin { + fn build(&self, app: &mut App) { + app.add_event::() + .add_observer(create_safe_zone_publisher) + .add_observer(publish_safe_zone); + } +} + +fn create_safe_zone_publisher( + trigger: Trigger, + mut commands: Commands, + agents: Query<&Nav2Agent>, + node: Res, +) { + let e = trigger.target(); + let Ok(agent_name) = agents.get(e).map(|agent| agent.name.clone()) else { + return; + }; + let topic = agent_name + "/plan/safe_zone"; + let publisher = Arc::new(RosPublisher::::new(&node, topic.clone())); + commands.entity(e).insert(SafeZonePublisher { + publisher: Arc::clone(&publisher), + }); +} + +fn publish_safe_zone( + trigger: Trigger, + safe_zone_publisher: Query<&SafeZonePublisher>, +) { + let Ok(publisher) = safe_zone_publisher.get(trigger.event().agent) else { + return; + }; + let safe_zone = trigger.event().safe_zone.clone(); + let _ = publisher.publisher.publish(safe_zone); +} diff --git a/nav2_integration/sp_demo_nav2_bringup/CHANGELOG.rst b/nav2_integration/sp_demo_nav2_bringup/CHANGELOG.rst new file mode 100644 index 0000000..e69de29 diff --git a/nav2_integration/sp_demo_nav2_bringup/CMakeLists.txt b/nav2_integration/sp_demo_nav2_bringup/CMakeLists.txt new file mode 100644 index 0000000..1ade325 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.5) +project(sp_demo_nav2_bringup) + +find_package(ament_cmake REQUIRED) +find_package(nav2_common REQUIRED) +find_package(navigation2 REQUIRED) + +nav2_package() + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY maps DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY params DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/nav2_integration/sp_demo_nav2_bringup/README.md b/nav2_integration/sp_demo_nav2_bringup/README.md new file mode 100644 index 0000000..da45591 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/README.md @@ -0,0 +1,44 @@ +# nav2_bringup + +The `nav2_bringup` package is an example bringup system for Nav2 applications. + +This is a very flexible example for nav2 bringup that can be modified for different maps/robots/hardware/worlds/etc. It is our expectation for an application specific robot system that you're mirroring `nav2_bringup` package and modifying it for your specific maps/robots/bringup needs. This is an applied and working demonstration for the default system bringup with many options that can be easily modified. + +Usual robot stacks will have a `_nav` package with config/bringup files and this is that for the general case to base a specific robot system off of. + +Dynamically composed bringup (based on [ROS2 Composition](https://docs.ros.org/en/galactic/Tutorials/Composition.html)) is optional for users. It can be used to compose all Nav2 nodes in a single process instead of launching these nodes separately, which is useful for embedded systems users that need to make optimizations due to harsh resource constraints. Dynamically composed bringup is used by default, but can be disabled by using the launch argument `use_composition:=False`. + +* Some discussions about performance improvement of composed bringup could be found here: https://discourse.ros.org/t/nav2-composition/22175. + +To use, please see the Nav2 [Getting Started Page](https://docs.nav2.org/getting_started/index.html) on our documentation website. Additional [tutorials will help you](https://docs.nav2.org/tutorials/index.html) go from an initial setup in simulation to testing on a hardware robot, using SLAM, and more. + +Note: +* gazebo should be started with both libgazebo_ros_init.so and libgazebo_ros_factory.so to work correctly. +* spawn_entity node could not remap /tf and /tf_static to tf and tf_static in the launch file yet, used only for multi-robot situations. Instead it should be done as remapping argument /tf:=tf /tf_static:=tf_static under ros2 tag in each plugin which publishs transforms in the SDF file. It is essential to differentiate the tf's of the different robot. + +## Launch + +### Multi-robot Simulation + +This is how to launch multi-robot simulation with simple command line. Please see the Nav2 documentation for further augments. + +#### Cloned + +This allows to bring up multiple robots, cloning a single robot N times at different positions in the map. The parameter are loaded from `nav2_multirobot_params_all.yaml` file by default. +The multiple robots that consists of name and initial pose in YAML format will be set on the command-line. The format for each robot is `robot_name={x: 0.0, y: 0.0, yaw: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}`. + +Please refer to below examples. + +```shell +ros2 launch nav2_bringup cloned_multi_tb3_simulation_launch.py robots:="robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}" +``` + +#### Unique + +There are two robots including name and intitial pose are hard-coded in the launch script. Two separated unique robots are required params file (`nav2_multirobot_params_1.yaml`, `nav2_multirobot_params_2.yaml`) for each robot to bring up. + +If you want to bringup more than two robots, you should modify the `unique_multi_tb3_simulation_launch.py` script. + +```shell +ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py +``` diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/bringup_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/bringup_launch.py new file mode 100644 index 0000000..eee19f6 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/bringup_launch.py @@ -0,0 +1,224 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + GroupAction, + IncludeLaunchDescription, + SetEnvironmentVariable, +) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import Node +from launch_ros.actions import PushROSNamespace +from launch_ros.descriptions import ParameterFile +from nav2_common.launch import ReplaceString, RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + launch_dir = os.path.join(bringup_dir, 'launch') + + # Create the launch configuration variables + namespace = LaunchConfiguration('namespace') + use_namespace = LaunchConfiguration('use_namespace') + slam = LaunchConfiguration('slam') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + use_composition = LaunchConfiguration('use_composition') + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + use_localization = LaunchConfiguration('use_localization') + + # Map fully qualified names to relative ones so the node's namespace can be prepended. + # In case of the transforms (tf), currently, there doesn't seem to be a better alternative + # https://github.com/ros/geometry2/issues/32 + # https://github.com/ros/robot_state_publisher/pull/30 + # TODO(orduno) Substitute with `PushNodeRemapping` + # https://github.com/ros2/launch_ros/issues/56 + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + # Only it applys when `use_namespace` is True. + # '' keyword shall be replaced by 'namespace' launch argument + # in config file 'nav2_multirobot_params.yaml' as a default & example. + # User defined config file should contain '' keyword for the replacements. + params_file = ReplaceString( + source_file=params_file, + replacements={'': ('/', namespace)}, + condition=IfCondition(use_namespace), + ) + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='false', + description='Whether to apply a namespace to the navigation stack', + ) + + declare_slam_cmd = DeclareLaunchArgument( + 'slam', default_value='False', description='Whether run a SLAM' + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', default_value='', description='Full path to map yaml file to load' + ) + + declare_use_localization_cmd = DeclareLaunchArgument( + 'use_localization', default_value='True', + description='Whether to enable localization or not' + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='True', + description='Whether to use composed bringup', + ) + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', description='log level' + ) + + # Specify the actions + bringup_cmd_group = GroupAction( + [ + PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace), + Node( + condition=IfCondition(use_composition), + name='nav2_container', + package='rclcpp_components', + executable='component_container_isolated', + parameters=[configured_params, {'autostart': autostart}], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + output='screen', + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'slam_launch.py') + ), + condition=IfCondition(PythonExpression([slam, ' and ', use_localization])), + launch_arguments={ + 'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'use_respawn': use_respawn, + 'params_file': params_file, + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'localization_launch.py') + ), + condition=IfCondition(PythonExpression(['not ', slam, ' and ', use_localization])), + launch_arguments={ + 'namespace': namespace, + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container', + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'navigation_launch.py') + ), + launch_arguments={ + 'namespace': namespace, + 'use_sim_time': use_sim_time, + 'autostart': autostart, + 'params_file': params_file, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + 'container_name': 'nav2_container', + }.items(), + ), + ] + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_slam_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + ld.add_action(declare_use_localization_cmd) + + # Add the actions to launch all of the navigation nodes + ld.add_action(bringup_cmd_group) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py new file mode 100644 index 0000000..665531b --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py @@ -0,0 +1,260 @@ +# Copyright (c) 2023 LG Electronics. +# Copyright (c) 2024 Open Navigation LLC +# +# 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. + + +import os +from pathlib import Path +import tempfile + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + AppendEnvironmentVariable, + DeclareLaunchArgument, + ExecuteProcess, + GroupAction, + IncludeLaunchDescription, + LogInfo, + OpaqueFunction, + RegisterEventHandler, +) +from launch.conditions import IfCondition +from launch.event_handlers import OnShutdown +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, TextSubstitution +from launch_ros.actions import Node +from nav2_common.launch import ParseMultiRobotPose + + +def generate_launch_description(): + """ + Bring up the multi-robots with given launch arguments. + + Launch arguments consist of robot name(which is namespace) and pose for initialization. + Keep general yaml format for pose information. + ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}' + ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}; + robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}' + """ + # Get the launch directory + bringup_dir = get_package_share_directory('sp_demo_nav2_bringup') + launch_dir = os.path.join(bringup_dir, 'launch') + sim_dir = get_package_share_directory('nav2_minimal_tb3_sim') + + # Simulation settings + world = LaunchConfiguration('world') + + # On this example all robots are launched with the same settings + map_yaml_file = LaunchConfiguration('map') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + rviz_config_file = LaunchConfiguration('rviz_config') + use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') + use_rviz = LaunchConfiguration('use_rviz') + log_settings = LaunchConfiguration('log_settings', default='true') + + # Declare the launch arguments + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value=os.path.join(get_package_share_directory('nav2_minimal_tb4_sim'), 'worlds', 'warehouse.sdf'), + description='Full path to world file to load', + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value=os.path.join(bringup_dir, 'maps', 'warehouse.yaml'), + description='Full path to map file to load', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join( + bringup_dir, 'params', 'nav2_multirobot_params_all.yaml' + ), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the stacks', + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_namespaced_view.rviz'), + description='Full path to the RVIZ config file to use.', + ) + + declare_use_robot_state_pub_cmd = DeclareLaunchArgument( + 'use_robot_state_pub', + default_value='True', + description='Whether to start the robot state publisher', + ) + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) + + # Start Gazebo with plugin providing the robot spawning service + world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf') + world_sdf_xacro = ExecuteProcess( + cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world]) + start_gazebo_cmd = ExecuteProcess( + cmd=['gz', 'sim', '-r', '-s', world_sdf], + output='screen', + ) + + remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown( + on_shutdown=[ + OpaqueFunction(function=lambda _: os.remove(world_sdf)) + ])) + + robots_list = ParseMultiRobotPose('robots').value() + + # Define commands for launching the navigation instances + bringup_cmd_group = [] + for robot_name in robots_list: + init_pose = robots_list[robot_name] + namespace = robot_name + '/inner' + group = GroupAction( + [ + LogInfo( + msg=[ + 'Launching namespace=', + robot_name, + ' init_pose=', + str(init_pose), + ] + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_dir, 'rviz_launch.py') + ), + condition=IfCondition(use_rviz), + launch_arguments={ + 'namespace': TextSubstitution(text=namespace), + 'use_namespace': 'True', + 'rviz_config': rviz_config_file, + 'robot_name': TextSubstitution(text=robot_name), + }.items(), + ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py') + ), + launch_arguments={ + 'namespace': namespace, + 'use_namespace': 'True', + 'map': map_yaml_file, + 'use_sim_time': 'True', + 'params_file': params_file, + 'autostart': autostart, + 'use_rviz': 'False', + 'use_simulator': 'False', + 'headless': 'False', + 'use_robot_state_pub': use_robot_state_pub, + 'x_pose': TextSubstitution(text=str(init_pose['x'])), + 'y_pose': TextSubstitution(text=str(init_pose['y'])), + 'z_pose': TextSubstitution(text=str(init_pose['z'])), + 'roll': TextSubstitution(text=str(init_pose['roll'])), + 'pitch': TextSubstitution(text=str(init_pose['pitch'])), + 'yaw': TextSubstitution(text=str(init_pose['yaw'])), + 'robot_name': TextSubstitution(text=robot_name), + }.items(), + ), + ] + ) + + bringup_cmd_group.append(group) + + set_env_vars_resources = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')) + set_env_vars_resources2 = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + str(Path(os.path.join(sim_dir)).parent.resolve())) + + # Create the launch description and populate + ld = LaunchDescription() + ld.add_action(set_env_vars_resources) + ld.add_action(set_env_vars_resources2) + + # Declare the launch options + ld.add_action(declare_world_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_use_rviz_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_robot_state_pub_cmd) + + #ld.add_action(Node( + # package='spatio_temporal_partition_server', + # executable='server' + # )); + # initial localization node + for robot_name in robots_list: + init_pose = robots_list[robot_name] + namespace = robot_name + '/inner' + ld.add_action(Node( + package='demo_world', + executable='set_init', + arguments=[str(init_pose['x']), str(init_pose['y']), str(init_pose['yaw'])], + namespace=namespace + )) + # ld.add_action(Node( + # package="demo_world", + # executable="robot_client", + # namespace=namespace + # )) + ld.add_action(Node( + package="demo_world", + executable="path_vis", + namespace=namespace + )) + + # Add the actions to start gazebo, robots and simulations + ld.add_action(world_sdf_xacro) + ld.add_action(start_gazebo_cmd) + ld.add_action(remove_temp_sdf_file) + + ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))])) + + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['map yaml: ', map_yaml_file]) + ) + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['params yaml: ', params_file]) + ) + ld.add_action( + LogInfo( + condition=IfCondition(log_settings), + msg=['rviz config file: ', rviz_config_file], + ) + ) + ld.add_action( + LogInfo( + condition=IfCondition(log_settings), + msg=['using robot state pub: ', use_robot_state_pub], + ) + ) + ld.add_action( + LogInfo(condition=IfCondition(log_settings), msg=['autostart: ', autostart]) + ) + + for cmd in bringup_cmd_group: + ld.add_action(cmd) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/localization_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/localization_launch.py new file mode 100644 index 0000000..42afb5c --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/localization_launch.py @@ -0,0 +1,258 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.actions import SetEnvironmentVariable +from launch.conditions import IfCondition +from launch.substitutions import EqualsSubstitution +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch.substitutions import NotEqualsSubstitution +from launch_ros.actions import LoadComposableNodes, SetParameter +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode, ParameterFile +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + + namespace = LaunchConfiguration('namespace') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + lifecycle_nodes = ['map_server', 'amcl'] + + # Map fully qualified names to relative ones so the node's namespace can be prepended. + # In case of the transforms (tf), currently, there doesn't seem to be a better alternative + # https://github.com/ros/geometry2/issues/32 + # https://github.com/ros/robot_state_publisher/pull/30 + # TODO(orduno) Substitute with `PushNodeRemapping` + # https://github.com/ros2/launch_ros/issues/56 + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', default_value='', description='Full path to map yaml file to load' + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='False', + description='Use composed bringup if True', + ) + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', description='log level' + ) + + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + SetParameter('use_sim_time', use_sim_time), + Node( + condition=IfCondition( + EqualsSubstitution(LaunchConfiguration('map'), '') + ), + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('map'), '') + ), + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params, {'yaml_filename': map_yaml_file}], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_amcl', + executable='amcl', + name='amcl', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_localization', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ], + ) + # LoadComposableNode for map server twice depending if we should use the + # value of map from a CLI or launch default or user defined value in the + # yaml configuration file. They are separated since the conditions + # currently only work on the LoadComposableNodes commands and not on the + # ComposableNode node function itself + load_composable_nodes = GroupAction( + condition=IfCondition(use_composition), + actions=[ + SetParameter('use_sim_time', use_sim_time), + LoadComposableNodes( + target_container=container_name_full, + condition=IfCondition( + EqualsSubstitution(LaunchConfiguration('map'), '') + ), + composable_node_descriptions=[ + ComposableNode( + package='nav2_map_server', + plugin='nav2_map_server::MapServer', + name='map_server', + parameters=[configured_params], + remappings=remappings, + ), + ], + ), + LoadComposableNodes( + target_container=container_name_full, + condition=IfCondition( + NotEqualsSubstitution(LaunchConfiguration('map'), '') + ), + composable_node_descriptions=[ + ComposableNode( + package='nav2_map_server', + plugin='nav2_map_server::MapServer', + name='map_server', + parameters=[ + configured_params, + {'yaml_filename': map_yaml_file}, + ], + remappings=remappings, + ), + ], + ), + LoadComposableNodes( + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_amcl', + plugin='nav2_amcl::AmclNode', + name='amcl', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_localization', + parameters=[ + {'autostart': autostart, 'node_names': lifecycle_nodes} + ], + ), + ], + ), + ], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + + # Add the actions to launch all of the localiztion nodes + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/navigation_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/navigation_launch.py new file mode 100644 index 0000000..33c0547 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/navigation_launch.py @@ -0,0 +1,360 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import LoadComposableNodes, SetParameter +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode, ParameterFile +from nav2_common.launch import RewrittenYaml + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + + namespace = LaunchConfiguration('namespace') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + params_file = LaunchConfiguration('params_file') + use_composition = LaunchConfiguration('use_composition') + container_name = LaunchConfiguration('container_name') + container_name_full = (namespace, '/', container_name) + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + lifecycle_nodes = [ + 'controller_server', + 'smoother_server', + 'planner_server', + 'route_server', + 'behavior_server', + 'velocity_smoother', + 'collision_monitor', + 'bt_navigator', + 'waypoint_follower', + 'docking_server', + ] + + # Map fully qualified names to relative ones so the node's namespace can be prepended. + # In case of the transforms (tf), currently, there doesn't seem to be a better alternative + # https://github.com/ros/geometry2/issues/32 + # https://github.com/ros/robot_state_publisher/pull/30 + # TODO(orduno) Substitute with `PushNodeRemapping` + # https://github.com/ros2/launch_ros/issues/56 + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + # Create our own temporary YAML files that include substitutions + param_substitutions = {'autostart': autostart} + + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites=param_substitutions, + convert_types=True, + ), + allow_substs=True, + ) + + stdout_linebuf_envvar = SetEnvironmentVariable( + 'RCUTILS_LOGGING_BUFFERED_STREAM', '1' + ) + + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='False', + description='Use composed bringup if True', + ) + + declare_container_name_cmd = DeclareLaunchArgument( + 'container_name', + default_value='nav2_container', + description='the name of conatiner that nodes will load in if use composition', + ) + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', description='log level' + ) + + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', use_composition])), + actions=[ + SetParameter('use_sim_time', use_sim_time), + Node( + package='nav2_controller', + executable='controller_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), + Node( + package='nav2_smoother', + executable='smoother_server', + name='smoother_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_route', + executable='route_server', + name='route_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_behaviors', + executable='behavior_server', + name='behavior_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), + Node( + package='nav2_bt_navigator', + executable='bt_navigator', + name='bt_navigator', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_waypoint_follower', + executable='waypoint_follower', + name='waypoint_follower', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_velocity_smoother', + executable='velocity_smoother', + name='velocity_smoother', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav')], + ), + Node( + package='nav2_collision_monitor', + executable='collision_monitor', + name='collision_monitor', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='opennav_docking', + executable='opennav_docking', + name='docking_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + parameters=[configured_params], + arguments=['--ros-args', '--log-level', log_level], + remappings=remappings, + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ], + ) + + load_composable_nodes = GroupAction( + condition=IfCondition(use_composition), + actions=[ + SetParameter('use_sim_time', use_sim_time), + LoadComposableNodes( + target_container=container_name_full, + composable_node_descriptions=[ + ComposableNode( + package='nav2_controller', + plugin='nav2_controller::ControllerServer', + name='controller_server', + parameters=[configured_params], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), + ComposableNode( + package='nav2_smoother', + plugin='nav2_smoother::SmootherServer', + name='smoother_server', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_planner', + plugin='nav2_planner::PlannerServer', + name='planner_server', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_route', + plugin='nav2_route::RouteServer', + name='route_server', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_behaviors', + plugin='behavior_server::BehaviorServer', + name='behavior_server', + parameters=[configured_params], + remappings=remappings + [('cmd_vel', 'cmd_vel_nav')], + ), + ComposableNode( + package='nav2_bt_navigator', + plugin='nav2_bt_navigator::BtNavigator', + name='bt_navigator', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_waypoint_follower', + plugin='nav2_waypoint_follower::WaypointFollower', + name='waypoint_follower', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_velocity_smoother', + plugin='nav2_velocity_smoother::VelocitySmoother', + name='velocity_smoother', + parameters=[configured_params], + remappings=remappings + + [('cmd_vel', 'cmd_vel_nav')], + ), + ComposableNode( + package='nav2_collision_monitor', + plugin='nav2_collision_monitor::CollisionMonitor', + name='collision_monitor', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='opennav_docking', + plugin='opennav_docking::DockingServer', + name='docking_server', + parameters=[configured_params], + remappings=remappings, + ), + ComposableNode( + package='nav2_lifecycle_manager', + plugin='nav2_lifecycle_manager::LifecycleManager', + name='lifecycle_manager_navigation', + parameters=[ + {'autostart': autostart, 'node_names': lifecycle_nodes} + ], + ), + ], + ), + ], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Set environment variables + ld.add_action(stdout_linebuf_envvar) + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + ld.add_action(declare_container_name_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + # Add the actions to launch all of the navigation nodes + ld.add_action(load_nodes) + ld.add_action(load_composable_nodes) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/rviz_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/rviz_launch.py new file mode 100644 index 0000000..a0aee64 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/rviz_launch.py @@ -0,0 +1,140 @@ +# Copyright (c) 2018 Intel Corporation +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler +from launch.conditions import IfCondition, UnlessCondition +from launch.event_handlers import OnProcessExit +from launch.events import Shutdown +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from nav2_common.launch import ReplaceString + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + + # Create the launch configuration variables + namespace = LaunchConfiguration('namespace') + robot_name = LaunchConfiguration('robot_name', default='robot0') + use_namespace = LaunchConfiguration('use_namespace') + rviz_config_file = LaunchConfiguration('rviz_config') + use_sim_time = LaunchConfiguration('use_sim_time') + + # Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', + default_value='navigation', + description=( + 'Top-level namespace. The value will be used to replace the ' + ' keyword on the rviz config file.' + ), + ) + + declare_robot_name_cmd = DeclareLaunchArgument( + 'robot_name', + default_value='robot0', + description='Robot name to be used for replacements in the rviz config file.', + ) + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='false', + description='Whether to apply a namespace to the navigation stack', + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'), + description='Full path to the RVIZ config file to use', + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true') + + # Launch rviz + start_rviz_cmd = Node( + condition=UnlessCondition(use_namespace), + package='rviz2', + executable='rviz2', + arguments=['-d', rviz_config_file], + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + ) + + namespaced_rviz_config_file = ReplaceString( + source_file=rviz_config_file, + replacements={'': ('/', namespace), '': robot_name}, + ) + + start_namespaced_rviz_cmd = Node( + condition=IfCondition(use_namespace), + package='rviz2', + executable='rviz2', + namespace=namespace, + arguments=['-d', namespaced_rviz_config_file], + parameters=[{'use_sim_time': use_sim_time}], + output='screen', + remappings=[ + ('/map', 'map'), + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('/goal_pose', 'goal_pose'), + ('/clicked_point', 'clicked_point'), + ('/initialpose', 'initialpose'), + ], + ) + + exit_event_handler = RegisterEventHandler( + condition=UnlessCondition(use_namespace), + event_handler=OnProcessExit( + target_action=start_rviz_cmd, + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')), + ), + ) + + exit_event_handler_namespaced = RegisterEventHandler( + condition=IfCondition(use_namespace), + event_handler=OnProcessExit( + target_action=start_namespaced_rviz_cmd, + on_exit=EmitEvent(event=Shutdown(reason='rviz exited')), + ), + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_robot_name_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_sim_time_cmd) + + # Add any conditioned actions + ld.add_action(start_rviz_cmd) + ld.add_action(start_namespaced_rviz_cmd) + + # Add other nodes and processes we need + ld.add_action(exit_event_handler) + ld.add_action(exit_event_handler_namespaced) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/slam_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/slam_launch.py new file mode 100644 index 0000000..f9294b7 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/slam_launch.py @@ -0,0 +1,161 @@ +# Copyright (c) 2020 Samsung Research Russia +# +# 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. + +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription +from launch.conditions import IfCondition, UnlessCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node, SetParameter, SetRemap +from launch_ros.descriptions import ParameterFile +from nav2_common.launch import HasNodeParams, RewrittenYaml + + +def generate_launch_description(): + # Input parameters declaration + namespace = LaunchConfiguration('namespace') + params_file = LaunchConfiguration('params_file') + use_sim_time = LaunchConfiguration('use_sim_time') + autostart = LaunchConfiguration('autostart') + use_respawn = LaunchConfiguration('use_respawn') + log_level = LaunchConfiguration('log_level') + + # Variables + lifecycle_nodes = ['map_saver'] + + # Getting directories and launch-files + bringup_dir = get_package_share_directory('nav2_bringup') + slam_toolbox_dir = get_package_share_directory('slam_toolbox') + slam_launch_file = os.path.join(slam_toolbox_dir, 'launch', 'online_sync_launch.py') + + # Create our own temporary YAML files that include substitutions + configured_params = ParameterFile( + RewrittenYaml( + source_file=params_file, + root_key=namespace, + param_rewrites={}, + convert_types=True, + ), + allow_substs=True, + ) + + # Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='True', + description='Use simulation (Gazebo) clock if true', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='True', + description='Automatically startup the nav2 stack', + ) + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) + + declare_log_level_cmd = DeclareLaunchArgument( + 'log_level', default_value='info', description='log level' + ) + + # Nodes launching commands + start_map_server = GroupAction( + actions=[ + SetParameter('use_sim_time', use_sim_time), + Node( + package='nav2_map_server', + executable='map_saver_server', + output='screen', + respawn=use_respawn, + respawn_delay=2.0, + arguments=['--ros-args', '--log-level', log_level], + parameters=[configured_params], + ), + Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_slam', + output='screen', + arguments=['--ros-args', '--log-level', log_level], + parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}], + ), + ] + ) + + # If the provided param file doesn't have slam_toolbox params, we must remove the 'params_file' + # LaunchConfiguration, or it will be passed automatically to slam_toolbox and will not load + # the default file + has_slam_toolbox_params = HasNodeParams( + source_file=params_file, node_name='slam_toolbox' + ) + + start_slam_toolbox_cmd = GroupAction( + + actions=[ + # Remapping required to have a slam session subscribe & publish in optional namespaces + SetRemap(src='/scan', dst='scan'), + SetRemap(src='/tf', dst='tf'), + SetRemap(src='/tf_static', dst='tf_static'), + SetRemap(src='/map', dst='map'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(slam_launch_file), + launch_arguments={'use_sim_time': use_sim_time}.items(), + condition=UnlessCondition(has_slam_toolbox_params), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(slam_launch_file), + launch_arguments={'use_sim_time': use_sim_time, + 'slam_params_file': params_file}.items(), + condition=IfCondition(has_slam_toolbox_params), + ) + ] + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_respawn_cmd) + ld.add_action(declare_log_level_cmd) + + # Running Map Saver Server + ld.add_action(start_map_server) + + # Running SLAM Toolbox (Only one of them will be run) + ld.add_action(start_slam_toolbox_cmd) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/launch/tb3_simulation_launch.py b/nav2_integration/sp_demo_nav2_bringup/launch/tb3_simulation_launch.py new file mode 100644 index 0000000..db1964f --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/launch/tb3_simulation_launch.py @@ -0,0 +1,287 @@ +# Copyright (C) 2023 Open Source Robotics Foundation +# +# 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. + +"""This is all-in-one launch script intended for use by nav2 developers.""" + +import os +import tempfile + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, + OpaqueFunction, + RegisterEventHandler, +) +from launch.conditions import IfCondition +from launch.event_handlers import OnShutdown +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PythonExpression + +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('nav2_bringup') + launch_dir = os.path.join(bringup_dir, 'launch') + sim_dir = get_package_share_directory('nav2_minimal_tb3_sim') + + # Create the launch configuration variables + slam = LaunchConfiguration('slam') + namespace = LaunchConfiguration('namespace') + use_namespace = LaunchConfiguration('use_namespace') + map_yaml_file = LaunchConfiguration('map') + use_sim_time = LaunchConfiguration('use_sim_time') + params_file = LaunchConfiguration('params_file') + autostart = LaunchConfiguration('autostart') + use_composition = LaunchConfiguration('use_composition') + use_respawn = LaunchConfiguration('use_respawn') + + # Launch configuration variables specific to simulation + rviz_config_file = LaunchConfiguration('rviz_config_file') + use_simulator = LaunchConfiguration('use_simulator') + use_robot_state_pub = LaunchConfiguration('use_robot_state_pub') + use_rviz = LaunchConfiguration('use_rviz') + headless = LaunchConfiguration('headless') + world = LaunchConfiguration('world') + pose = { + 'x': LaunchConfiguration('x_pose', default='-2.00'), + 'y': LaunchConfiguration('y_pose', default='-0.50'), + 'z': LaunchConfiguration('z_pose', default='0.01'), + 'R': LaunchConfiguration('roll', default='0.00'), + 'P': LaunchConfiguration('pitch', default='0.00'), + 'Y': LaunchConfiguration('yaw', default='0.00'), + } + robot_name = LaunchConfiguration('robot_name') + robot_sdf = LaunchConfiguration('robot_sdf') + + remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')] + + # Declare the launch arguments + declare_namespace_cmd = DeclareLaunchArgument( + 'namespace', default_value='', description='Top-level namespace' + ) + + declare_use_namespace_cmd = DeclareLaunchArgument( + 'use_namespace', + default_value='false', + description='Whether to apply a namespace to the navigation stack', + ) + + declare_slam_cmd = DeclareLaunchArgument( + 'slam', default_value='False', description='Whether run a SLAM' + ) + + declare_map_yaml_cmd = DeclareLaunchArgument( + 'map', + default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'), + ) + + declare_use_sim_time_cmd = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true', + ) + + declare_params_file_cmd = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + ) + + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', + default_value='true', + description='Automatically startup the nav2 stack', + ) + + declare_use_composition_cmd = DeclareLaunchArgument( + 'use_composition', + default_value='True', + description='Whether to use composed bringup', + ) + + declare_use_respawn_cmd = DeclareLaunchArgument( + 'use_respawn', + default_value='False', + description='Whether to respawn if a node crashes. Applied when composition is disabled.', + ) + + declare_rviz_config_file_cmd = DeclareLaunchArgument( + 'rviz_config_file', + default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'), + description='Full path to the RVIZ config file to use', + ) + + declare_use_simulator_cmd = DeclareLaunchArgument( + 'use_simulator', + default_value='True', + description='Whether to start the simulator', + ) + + declare_use_robot_state_pub_cmd = DeclareLaunchArgument( + 'use_robot_state_pub', + default_value='True', + description='Whether to start the robot state publisher', + ) + + declare_use_rviz_cmd = DeclareLaunchArgument( + 'use_rviz', default_value='True', description='Whether to start RVIZ' + ) + + declare_simulator_cmd = DeclareLaunchArgument( + 'headless', default_value='True', description='Whether to execute gzclient)' + ) + + declare_world_cmd = DeclareLaunchArgument( + 'world', + default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'), + description='Full path to world model file to load', + ) + + declare_robot_name_cmd = DeclareLaunchArgument( + 'robot_name', default_value='turtlebot3_waffle', description='name of the robot' + ) + + declare_robot_sdf_cmd = DeclareLaunchArgument( + 'robot_sdf', + default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf.xacro'), + description='Full path to robot sdf file to spawn the robot in gazebo', + ) + + urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf') + with open(urdf, 'r') as infp: + robot_description = infp.read() + + start_robot_state_publisher_cmd = Node( + condition=IfCondition(use_robot_state_pub), + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + namespace=namespace, + output='screen', + parameters=[ + {'use_sim_time': use_sim_time, 'robot_description': robot_description} + ], + remappings=remappings, + ) + + rviz_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')), + condition=IfCondition(use_rviz), + launch_arguments={ + 'namespace': namespace, + 'use_namespace': use_namespace, + 'use_sim_time': use_sim_time, + 'rviz_config': rviz_config_file, + }.items(), + ) + + bringup_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')), + launch_arguments={ + 'namespace': namespace, + 'use_namespace': use_namespace, + 'slam': slam, + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': params_file, + 'autostart': autostart, + 'use_composition': use_composition, + 'use_respawn': use_respawn, + }.items(), + ) + # The SDF file for the world is a xacro file because we wanted to + # conditionally load the SceneBroadcaster plugin based on wheter we're + # running in headless mode. But currently, the Gazebo command line doesn't + # take SDF strings for worlds, so the output of xacro needs to be saved into + # a temporary file and passed to Gazebo. + world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf') + world_sdf_xacro = ExecuteProcess( + cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world]) + gazebo_server = ExecuteProcess( + cmd=['gz', 'sim', '-r', '-s', world_sdf], + output='screen', + condition=IfCondition(use_simulator) + ) + + remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown( + on_shutdown=[ + OpaqueFunction(function=lambda _: os.remove(world_sdf)) + ])) + + gazebo_client = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py') + ), + condition=IfCondition(PythonExpression( + [use_simulator, ' and not ', headless])), + launch_arguments={'gz_args': ['-v4 -g ']}.items(), + ) + + gz_robot = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')), + launch_arguments={'namespace': namespace, + 'use_sim_time': use_sim_time, + 'robot_name': robot_name, + 'robot_sdf': robot_sdf, + 'x_pose': pose['x'], + 'y_pose': pose['y'], + 'z_pose': pose['z'], + 'roll': pose['R'], + 'pitch': pose['P'], + 'yaw': pose['Y']}.items()) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_namespace_cmd) + ld.add_action(declare_use_namespace_cmd) + ld.add_action(declare_slam_cmd) + ld.add_action(declare_map_yaml_cmd) + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_composition_cmd) + + ld.add_action(declare_rviz_config_file_cmd) + ld.add_action(declare_use_simulator_cmd) + ld.add_action(declare_use_robot_state_pub_cmd) + ld.add_action(declare_use_rviz_cmd) + ld.add_action(declare_simulator_cmd) + ld.add_action(declare_world_cmd) + ld.add_action(declare_robot_name_cmd) + ld.add_action(declare_robot_sdf_cmd) + ld.add_action(declare_use_respawn_cmd) + + ld.add_action(world_sdf_xacro) + ld.add_action(remove_temp_sdf_file) + ld.add_action(gz_robot) + ld.add_action(gazebo_server) + ld.add_action(gazebo_client) + + # Add the actions to launch all of the navigation nodes + ld.add_action(start_robot_state_publisher_cmd) + ld.add_action(rviz_cmd) + ld.add_action(bringup_cmd) + + return ld diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/depot.pgm b/nav2_integration/sp_demo_nav2_bringup/maps/depot.pgm new file mode 100644 index 0000000..dc686c7 Binary files /dev/null and b/nav2_integration/sp_demo_nav2_bringup/maps/depot.pgm differ diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/depot.yaml b/nav2_integration/sp_demo_nav2_bringup/maps/depot.yaml new file mode 100644 index 0000000..8c7486b --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/maps/depot.yaml @@ -0,0 +1,7 @@ +image: depot.pgm +mode: trinary +resolution: 0.05 +origin: [-7.14, -7.83, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.pgm b/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.pgm new file mode 100644 index 0000000..10700a1 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: Map_generator.cpp 0.050 m/pix +384 384 +255 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\ No newline at end of file diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.yaml b/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.yaml new file mode 100644 index 0000000..676b700 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/maps/tb3_sandbox.yaml @@ -0,0 +1,6 @@ +image: tb3_sandbox.pgm +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.pgm b/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.pgm new file mode 100644 index 0000000..7ba0226 Binary files /dev/null and b/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.pgm differ diff --git a/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.yaml b/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.yaml new file mode 100644 index 0000000..46eb197 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/maps/warehouse.yaml @@ -0,0 +1,7 @@ +image: warehouse.pgm +mode: trinary +resolution: 0.03 +origin: [-15.1, -25, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.1 diff --git a/nav2_integration/sp_demo_nav2_bringup/package.xml b/nav2_integration/sp_demo_nav2_bringup/package.xml new file mode 100644 index 0000000..3042239 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/package.xml @@ -0,0 +1,42 @@ + + + + sp_demo_nav2_bringup + 1.3.10 + Bringup scripts and configurations for the Nav2 stack + Michael Jeronimo + Steve Macenski + Carlos Orduno + Apache-2.0 + + ament_cmake + + demo_world + nav2_common + navigation2 + launch_ros + + demo_world + diff_drive_controller + joint_state_broadcaster + launch_ros + navigation2 + nav2_common + ros_gz_bridge + ros_gz_sim + slam_toolbox + xacro + nav2_minimal_tb4_sim + nav2_minimal_tb3_sim + + ament_lint_common + ament_lint_auto + ament_cmake_gtest + ament_cmake_pytest + launch + launch_testing + + + ament_cmake + + diff --git a/nav2_integration/sp_demo_nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_integration/sp_demo_nav2_bringup/params/nav2_multirobot_params_all.yaml new file mode 100644 index 0000000..cbece86 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/params/nav2_multirobot_params_all.yaml @@ -0,0 +1,380 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +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 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.1 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + # '' keyword shall be replaced with 'namespace' where user defined. + # It doesn't need to start with '/' + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer", "spatio_temporal_partition"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + # '' keyword shall be replaced with 'namespace' where user defined. + # It doesn't need to start with '/' + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + spatio_temporal_partition: + plugin: "rmf::SpatioTemporalPartitionLayer" + enabled: True + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + costmap_update_timeout: 1.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "/scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_link" + fixed_frame: "odom" + dock_backwards: false + dock_prestaging_tolerance: 0.5 + + # Types of docks + dock_plugins: ['simple_charging_dock'] + simple_charging_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + docks: ['home_dock'] # Input your docks here + home_dock: + type: 'simple_charging_dock' + frame: map + pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 diff --git a/nav2_integration/sp_demo_nav2_bringup/params/nav2_params.yaml b/nav2_integration/sp_demo_nav2_bringup/params/nav2_params.yaml new file mode 100644 index 0000000..7ec070e --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/params/nav2_params.yaml @@ -0,0 +1,469 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +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 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + use_realtime_priority: false + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + ax_max: 3.0 + ax_min: -3.0 + ay_max: 3.0 + ay_min: -3.0 + az_max: 3.5 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 1.7 + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: [ + "ConstraintCritic", "CostCritic", "GoalCritic", + "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", + "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + near_collision_cost: 253 + critical_cost: 300.0 + consider_footprint: false + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.70 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.7 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +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 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +route_server: + ros__parameters: + # The graph_filepath does not need to be specified since it going to be set by defaults in launch. + # If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s). + # file & provide full path to map below. If graph config or launch default is provided, it is used + # graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson + boundary_radius_to_achieve_node: 1.0 + radius_to_achieve_node: 2.0 + smooth_corners: true + operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"] + ReroutingService: + plugin: "nav2_route::ReroutingService" + AdjustSpeedLimit: + plugin: "nav2_route::AdjustSpeedLimit" + CollisionMonitor: + plugin: "nav2_route::CollisionMonitor" + max_collision_dist: 3.0 + edge_cost_functions: ["DistanceScorer", "CostmapScorer"] + DistanceScorer: + plugin: "nav2_route::DistanceScorer" + CostmapScorer: + plugin: "nav2_route::CostmapScorer" + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.5, 0.0, 2.0] + min_velocity: [-0.5, 0.0, -2.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_link" + fixed_frame: "odom" + dock_backwards: false + dock_prestaging_tolerance: 0.5 + + # Types of docks + dock_plugins: ['simple_charging_dock'] + simple_charging_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + # The following example illustrates configuring dock instances. + # docks: ['home_dock'] # Input your docks here + # home_dock: + # type: 'simple_charging_dock' + # frame: map + # pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 + use_collision_detection: true + costmap_topic: "local_costmap/costmap_raw" + footprint_topic: "local_costmap/published_footprint" + transform_tolerance: 0.1 + projection_time: 5.0 + simulation_step: 0.1 + dock_collision_threshold: 0.3 + +loopback_simulator: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + map_frame_id: "map" + scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link' + update_duration: 0.02 + scan_range_min: 0.05 + scan_range_max: 30.0 + scan_angle_min: -3.1415 + scan_angle_max: 3.1415 + scan_angle_increment: 0.02617 + scan_use_inf: true diff --git a/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_default_view.rviz b/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_default_view.rviz new file mode 100644 index 0000000..c8dd376 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_default_view.rviz @@ -0,0 +1,603 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 287 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.3333333432674408 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 + - Class: nav2_rviz_plugins/Selector + Name: Selector + - Class: nav2_rviz_plugins/Docking + Name: Docking +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + base_scan: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: + Value: true + imu_link: + Value: true + odom: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Downsampled Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 125; 125; 125 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Controller + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RealsenseCamera + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/image_raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: RealsenseDepthImage + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: false + Name: Realsense + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -0.0008007669821381569 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 54 + Target Frame: + Value: TopDownOrtho (rviz_default_plugins) + X: -5.409999847412109 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Docking: + collapsed: false + Height: 893 + Hide Left Dock: false + Hide Right Dock: false + Navigation 2: + collapsed: false + QMainWindow State: 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+ RealsenseCamera: + collapsed: false + Selection: + collapsed: false + Selector: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1610 + X: 1091 + Y: 222 diff --git a/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_namespaced_view.rviz new file mode 100644 index 0000000..ba509a2 --- /dev/null +++ b/nav2_integration/sp_demo_nav2_bringup/rviz/nav2_namespaced_view.rviz @@ -0,0 +1,494 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 195 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Planner1/Global Costmap1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 102 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: robot_description + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + base_scan: + Value: true + camera_depth_frame: + Value: true + camera_depth_optical_frame: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: + Value: true + imu_link: + Value: true + map: + Value: true + odom: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_footprint: + base_link: + base_scan: + {} + camera_link: + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_rgb_frame: + camera_rgb_optical_frame: + {} + caster_back_left_link: + {} + caster_back_right_link: + {} + imu_link: + {} + wheel_left_link: + {} + wheel_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: plan + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: local_costmap/published_footprint + Value: true + Enabled: true + Name: Controller + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: waypoints + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: visual_path_marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RMF Path Markers + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: //path_markers + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: initialpose + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.5707999467849731 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 80.62301635742188 + Target Frame: + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1004 + Hide Left Dock: false + Hide Right Dock: true + Navigation 2: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1916 + X: 0 + Y: 54 diff --git a/nav2_integration/spatio_temporal_partition_layer/CMakeLists.txt b/nav2_integration/spatio_temporal_partition_layer/CMakeLists.txt new file mode 100644 index 0000000..5ef0808 --- /dev/null +++ b/nav2_integration/spatio_temporal_partition_layer/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 3.8) +project(spatio_temporal_partition_layer) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +set(lib_name ${PROJECT_NAME}_core) + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav2_costmap_2d REQUIRED) +find_package(nav2_msgs REQUIRED) +find_package(pluginlib REQUIRED) +find_package(CURL REQUIRED) +#find_package(curlpp REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +set(dep_pkgs + rclcpp + nav2_costmap_2d + pluginlib) + +# === Build === + +add_library(${lib_name} SHARED + src/spatio_temporal_layer.cpp) +include_directories(include) + +# === Installation === + +install(TARGETS ${lib_name} + DESTINATION lib) + +# === Ament work === + +# pluginlib_export_plugin_description_file() installs gradient_layer.xml +# file into "share" directory and sets ament indexes for it. +# This allows the plugin to be discovered as a plugin of required type. +pluginlib_export_plugin_description_file(nav2_costmap_2d spatio_temporal_partition.xml) +target_link_libraries(${lib_name} PUBLIC + nav2_costmap_2d::filters + nav2_costmap_2d::layers + nav2_costmap_2d::nav2_costmap_2d_client + nav2_costmap_2d::nav2_costmap_2d_core + pluginlib::pluginlib + rclcpp::rclcpp + CURL::libcurl +) +ament_package() diff --git a/nav2_integration/spatio_temporal_partition_layer/include/spatio_temporal_partition_layer/spatio_temporal_partition_layer.hpp b/nav2_integration/spatio_temporal_partition_layer/include/spatio_temporal_partition_layer/spatio_temporal_partition_layer.hpp new file mode 100644 index 0000000..a9fc628 --- /dev/null +++ b/nav2_integration/spatio_temporal_partition_layer/include/spatio_temporal_partition_layer/spatio_temporal_partition_layer.hpp @@ -0,0 +1,99 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * Copyright (c) 2020, Samsung R&D Institute Russia + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Arjo Chakravarty + *********************************************************************/ +#ifndef SPATIO_TEMPORAL_LAYER_HPP_ +#define SPATIO_TEMPORAL_LAYER_HPP_ + +#include "geometry_msgs/msg/point.hpp" +#include "geometry_msgs/msg/pose_array.hpp" +#include "nav2_msgs/msg/costmap.hpp" +#include "rclcpp/rclcpp.hpp" +#include "nav2_costmap_2d/layer.hpp" +#include "nav2_costmap_2d/layered_costmap.hpp" + +namespace rmf +{ + +class SpatioTemporalPartitionLayer : public nav2_costmap_2d::Layer +{ +public: + SpatioTemporalPartitionLayer(); + virtual void onInitialize(); + virtual void updateBounds( + double robot_x, double robot_y, double robot_yaw, double * min_x, + double * min_y, + double * max_x, + double * max_y); + virtual void updateCosts( + nav2_costmap_2d::Costmap2D & master_grid, + int min_i, int min_j, int max_i, int max_j); + + virtual void reset() + { + return; + } + + virtual void onFootprintChanged(); + + virtual bool isClearable() {return false;} + +private: + double last_min_x_, last_min_y_, last_max_x_, last_max_y_; + + // Indicates that the entire gradient should be recalculated next time. + bool need_recalculation_; + + // Size of gradient in cells + int GRADIENT_SIZE = 20; + // Step of increasing cost per one cell in gradient + int GRADIENT_FACTOR = 10; + + std::string current_robot_; + + double robot_x_, robot_y_; + bool pose_recvd_ = false; + + std::mutex mutex_; + nav2_msgs::msg::Costmap::SharedPtr costmap_msg_; + rclcpp::Subscription::SharedPtr costmap_sub_; + + void costmap_cb(nav2_msgs::msg::Costmap::SharedPtr msg); +}; + +} // namespace rmf + +#endif // SPATIO_TEMPORAL_LAYER_HPP_ diff --git a/nav2_integration/spatio_temporal_partition_layer/package.xml b/nav2_integration/spatio_temporal_partition_layer/package.xml new file mode 100644 index 0000000..252d46f --- /dev/null +++ b/nav2_integration/spatio_temporal_partition_layer/package.xml @@ -0,0 +1,22 @@ + + + + spatio_temporal_partition_layer + 0.0.0 + TODO: Package description + arjoc + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + nav2_msgs + + + ament_cmake + + + + diff --git a/nav2_integration/spatio_temporal_partition_layer/spatio_temporal_partition.xml b/nav2_integration/spatio_temporal_partition_layer/spatio_temporal_partition.xml new file mode 100644 index 0000000..80e3e5d --- /dev/null +++ b/nav2_integration/spatio_temporal_partition_layer/spatio_temporal_partition.xml @@ -0,0 +1,7 @@ + + + This is an example plugin which puts repeating costs gradients to costmap + + diff --git a/nav2_integration/spatio_temporal_partition_layer/src/spatio_temporal_layer.cpp b/nav2_integration/spatio_temporal_partition_layer/src/spatio_temporal_layer.cpp new file mode 100644 index 0000000..3c18b1e --- /dev/null +++ b/nav2_integration/spatio_temporal_partition_layer/src/spatio_temporal_layer.cpp @@ -0,0 +1,301 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * Copyright (c) 2020, Samsung R&D Institute Russia + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + * Alexey Merzlyakov + * + * Reference tutorial: + * https://navigation.ros.org/tutorials/docs/writing_new_costmap2d_plugin.html + *********************************************************************/ +#include "geometry_msgs/msg/pose_array.hpp" +#include "spatio_temporal_partition_layer/spatio_temporal_partition_layer.hpp" + +#include "nav2_costmap_2d/costmap_math.hpp" +#include "nav2_costmap_2d/footprint.hpp" +#include "rclcpp/parameter_events_filter.hpp" +#include "rclcpp/logging.hpp" +#include +#include +#include +#include +#include +#include + +using nav2_costmap_2d::LETHAL_OBSTACLE; +using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE; +using nav2_costmap_2d::NO_INFORMATION; +using nav2_costmap_2d::FREE_SPACE; + +using json = nlohmann::json; + +namespace rmf +{ + +void strip_trailing_slash(std::string& str) { + if (!str.empty() && str.back() == '/') { + str.pop_back(); + } +} + +int extract_robot_id(std::string& name) { + int robot_id; + if (sscanf(name.c_str(), "/robot%d/", &robot_id) == 1) { + // Successfully extracted robot_id + } + else { + throw std::exception(); + } + return robot_id; +} + +SpatioTemporalPartitionLayer::SpatioTemporalPartitionLayer() +: last_min_x_(-std::numeric_limits::max()), + last_min_y_(-std::numeric_limits::max()), + last_max_x_(std::numeric_limits::max()), + last_max_y_(std::numeric_limits::max()) +{ +} + +// This method is called at the end of plugin initialization. +// It contains ROS parameter(s) declaration and initialization +// of need_recalculation_ variable. +void +SpatioTemporalPartitionLayer::onInitialize() +{ + auto node = node_.lock(); + declareParameter("enabled", rclcpp::ParameterValue(true)); + node->get_parameter(name_ + "." + "enabled", enabled_); + costmap_sub_ = node->create_subscription("plan/costmap", 10, + std::bind(&SpatioTemporalPartitionLayer::costmap_cb, this, std::placeholders::_1)); + + need_recalculation_ = false; + current_ = true; + RCLCPP_ERROR(logger_, "Initializing grid"); + current_robot_ = node->get_namespace(); + strip_trailing_slash(current_robot_); +} + +// The method is called to ask the plugin: which area of costmap it needs to update. +// Inside this method window bounds are re-calculated if need_recalculation_ is true +// and updated independently on its value. +void +SpatioTemporalPartitionLayer::updateBounds( + double robot_x, double robot_y, double /*robot_yaw*/, double * min_x, + double * min_y, double * max_x, double * max_y) +{ + robot_x_ = robot_x; + robot_y_ = robot_y; + pose_recvd_ = true; + if (need_recalculation_) { + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + // For some reason when I make these -::max() it does not + // work with Costmap2D::worldToMapEnforceBounds(), so I'm using + // -::max() instead. + *min_x = -std::numeric_limits::max(); + *min_y = -std::numeric_limits::max(); + *max_x = std::numeric_limits::max(); + *max_y = std::numeric_limits::max(); + need_recalculation_ = false; + } else { + double tmp_min_x = last_min_x_; + double tmp_min_y = last_min_y_; + double tmp_max_x = last_max_x_; + double tmp_max_y = last_max_y_; + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + *min_x = std::min(tmp_min_x, *min_x); + *min_y = std::min(tmp_min_y, *min_y); + *max_x = std::max(tmp_max_x, *max_x); + *max_y = std::max(tmp_max_y, *max_y); + } +} + +void SpatioTemporalPartitionLayer::costmap_cb(nav2_msgs::msg::Costmap::SharedPtr msg) { + std::lock_guard lock(mutex_); + costmap_msg_ = msg; +} + +// Callback function to write curl response to a string +size_t WriteCallback(void* contents, size_t size, size_t nmemb, std::string* userp) { + userp->append((char*)contents, size * nmemb); + return size * nmemb; +} + +std::string get_base_uri() +{ + const char* env = std::getenv("SP_SERVER_BASE"); + + if (env == nullptr) { + return "http://127.0.0.1:3000"; + } + + return env; +} + +// Function to perform a CURL POST request with a JSON body +std::string curl_post_request(const std::string& url, const json& jsonData) { + CURL* curl; + CURLcode res; + std::string readBuffer; + struct curl_slist* headers = NULL; + + std::string jsonStr = jsonData.dump(); + + curl = curl_easy_init(); + if (curl) { + headers = curl_slist_append(headers, "Content-Type: application/json"); + curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers); + + curl_easy_setopt(curl, CURLOPT_URL, url.c_str()); + curl_easy_setopt(curl, CURLOPT_POSTFIELDS, jsonStr.c_str()); + curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, WriteCallback); + curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer); + res = curl_easy_perform(curl); + curl_easy_cleanup(curl); + curl_slist_free_all(headers); + + if (res != CURLE_OK) { + fprintf(stderr, "curl_easy_perform() failed: %s\n", curl_easy_strerror(res)); + } + } + return readBuffer; +} + +std::optional retrieve_currently_allocated_space(const std::string base_server, float x, float y, std::size_t agent_id) +{ + + std::string url = base_server + "/update_pose"; + + // Create a JSON object to send + json postData; + postData["agent_id"] = agent_id; + postData["x"] = x; + postData["y"] = y; + postData["angle"] = 0.0; + + std::string response = curl_post_request(url, postData); + + if (!response.empty()) { + return json::parse(response); + } else { + std::cout << "Response from " << url << " was empty." << std::endl; + return std::nullopt; + } +} + + +// The method is called when footprint was changed. +// Here it just resets need_recalculation_ variable. +void +SpatioTemporalPartitionLayer::onFootprintChanged() +{ + need_recalculation_ = true; + + RCLCPP_DEBUG(rclcpp::get_logger( + "nav2_costmap_2d"), "GradientLayer::onFootprintChanged(): num footprint points: %lu", + layered_costmap_->getFootprint().size()); +} + +// The method is called when costmap recalculation is required. +// It updates the costmap within its window bounds. +// Inside this method the costmap gradient is generated and is writing directly +// to the resulting costmap master_grid without any merging with previous layers. +void +SpatioTemporalPartitionLayer::updateCosts( + nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, + int max_i, + int max_j) +{ + if (!enabled_) { + return; + } + if (!pose_recvd_) { + RCLCPP_ERROR(logger_, "No pose received"); + return; + } + + std::lock_guard lock(mutex_); + if (!costmap_msg_) { + RCLCPP_WARN(logger_, "No costmap message received yet"); + return; + } + + if (costmap_msg_->data.empty()) { + RCLCPP_WARN(logger_, "Costmap data is empty"); + return; + } + + const auto & costmap = costmap_msg_->metadata; + for (int j = min_j; j < max_j; ++j) { + for (int i = min_i; i < max_i; ++i) { + + double world_x, world_y; + master_grid.mapToWorld(i, j, world_x, world_y); + int costmap_i = std::floor((world_x - costmap.origin.position.x) / costmap.resolution); + int costmap_j = std::floor((world_y - costmap.origin.position.y) / costmap.resolution); + + if (costmap_i >= 0 && costmap_i < static_cast(costmap.size_x) && + costmap_j >= 0 && costmap_j < static_cast(costmap.size_y)) + { + unsigned int costmap_idx = costmap_j * costmap.size_x + costmap_i; + if (costmap_idx >= costmap_msg_->data.size()) { + RCLCPP_WARN(logger_, "Costmap index %u out of bounds (data size: %zu)", + costmap_idx, costmap_msg_->data.size()); + continue; + } + + uint8_t costmap_cost = costmap_msg_->data[costmap_idx]; + if (costmap_cost == nav2_costmap_2d::NO_INFORMATION) { + continue; + } + uint8_t old_cost = master_grid.getCost(i, j); + if (old_cost == nav2_costmap_2d::NO_INFORMATION || old_cost < costmap_cost) { + master_grid.setCost(i, j, costmap_cost); + } + } + } + } +} + +} // namespace rmf + +#include "pluginlib/class_list_macros.hpp" +PLUGINLIB_EXPORT_CLASS(rmf::SpatioTemporalPartitionLayer, nav2_costmap_2d::Layer)