Selector plugin for selecting the planner and the controller (#4091)

* initial commit Signed-off-by: PRP <[email protected]> * now dynamic reconfigurability also be achieved Signed-off-by: PRP <[email protected]> * updating the changes Signed-off-by: PRP <[email protected]> * fixing the mistake Signed-off-by: PRP <[email protected]> * adding default values for the selector Signed-off-by: PRP <[email protected]> * updating the plugin description Signed-off-by: PRP <[email protected]> * setting default in combox and removing after selected Signed-off-by: PRP <[email protected]> * minor Signed-off-by: PRP <[email protected]> * adding goal checker and smoother selectors to the plugins Signed-off-by: PRP <[email protected]> * updating all the relevant BTs Signed-off-by: PRP <[email protected]> * updating to 2x2 version Signed-off-by: PRP <[email protected]> * updating the bringup too Signed-off-by: PRP <[email protected]> * fixing the race condition Signed-off-by: PRP <[email protected]> * adding progress checker to the selector plugin Signed-off-by: PRP <[email protected]> * fixing CI Signed-off-by: PRP <[email protected]> * updating the cache version Signed-off-by: PRP <[email protected]> --------- Signed-off-by: PRP <[email protected]>
ros-navigation · Feb 9, 2024 · 70dc1f9 · 70dc1f9
1 parent 0cdabca
commit 70dc1f9
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Showing 26 changed files with 421 additions and 27 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v19\
+              - "<< parameters.key >>-v20\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v19\
+              - "<< parameters.key >>-v20\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v19\
+            key: "<< parameters.key >>-v20\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -20,9 +20,11 @@ Panels:
     Expanded:
       - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
+    Splitter Ratio: 0.3333333432674408
   - Class: nav2_rviz_plugins/Navigation 2
     Name: Navigation 2
+  - Class: nav2_rviz_plugins/Selector
+    Name: Selector
 Visualization Manager:
   Class: ""
   Displays:

diff --git a/nav2_bt_navigator/behavior_trees/follow_point.xml b/nav2_bt_navigator/behavior_trees/follow_point.xml
@@ -5,16 +5,18 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
         <Sequence>
           <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
           </GoalUpdater>
          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
         </Sequence>
       </RateController>
       <KeepRunningUntilFailure>
-        <FollowPath path="{truncated_path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
       </KeepRunningUntilFailure>
     </PipelineSequence>
   </BehaviorTree>

diff --git a/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -7,6 +7,8 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="2.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
             <Fallback>
@@ -19,13 +21,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -7,11 +7,13 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="0.333">
           <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
             <ReactiveSequence>
               <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
-              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             </ReactiveSequence>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
@@ -20,7 +22,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -8,17 +8,19 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>

diff --git a/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -9,9 +9,11 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
@@ -25,7 +27,7 @@
             </RetryUntilSuccessful>
           </PathLongerOnApproach>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
           </RecoveryNode>
         </ReactiveSequence>

diff --git a/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -8,6 +8,8 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence>
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0" name="RateControllerComputePathToPose">
           <RecoveryNode number_of_retries="1" name="RecoveryComputePathToPose">
             <Fallback name="FallbackComputePathToPose">
@@ -17,13 +19,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <DistanceController distance="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </DistanceController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <GoalUpdatedController>
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </GoalUpdatedController>
-      <FollowPath path="{path}"  controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
@@ -4,6 +4,8 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
         <Fallback>
           <ReactiveSequence>
@@ -12,10 +14,10 @@
             </Inverter>
             <IsPathValid path="{path}"/>
           </ReactiveSequence>
-          <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
         </Fallback>
       </RateController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </SpeedController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </RateController>
-      <FollowPath path="{path}"  controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -87,7 +87,9 @@ BtNavigator::BtNavigator(rclcpp::NodeOptions options)
     "nav2_assisted_teleop_cancel_bt_node",
     "nav2_back_up_cancel_bt_node",
     "nav2_drive_on_heading_cancel_bt_node",
-    "nav2_is_battery_charging_condition_bt_node"
+    "nav2_is_battery_charging_condition_bt_node",
+    "nav2_progress_checker_selector_bt_node",
+    "nav2_smoother_selector_bt_node"
   };
 
   declare_parameter_if_not_declared(

diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
@@ -38,6 +38,7 @@ set(nav2_rviz_plugins_headers_to_moc
   include/nav2_rviz_plugins/goal_common.hpp
   include/nav2_rviz_plugins/goal_tool.hpp
   include/nav2_rviz_plugins/nav2_panel.hpp
+  include/nav2_rviz_plugins/selector.hpp
   include/nav2_rviz_plugins/particle_cloud_display/flat_weighted_arrows_array.hpp
   include/nav2_rviz_plugins/particle_cloud_display/particle_cloud_display.hpp
 )
@@ -51,6 +52,7 @@ set(library_name ${PROJECT_NAME})
 add_library(${library_name} SHARED
   src/goal_tool.cpp
   src/nav2_panel.cpp
+  src/selector.cpp
   src/particle_cloud_display/flat_weighted_arrows_array.cpp
   src/particle_cloud_display/particle_cloud_display.cpp
   ${nav2_rviz_plugins_headers_to_moc}