Shim Controller: Added parameter rotate_to_heading_once to align a robot only at the very beginning

[ikhann]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Differential Robot, Gazebo)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

• Added a new dynamic parameter called rotate_to_heading_once.
  If the parameter is set to True, then Shim aligns the robot's heading with the path only once at the very beginning.

• Added a method bool RotationShimController::isGoalChanged(const nav_msgs::msg::Path & path)
  This function checks whether the goal in the provided path has changed compared to the current path stored in the controller.
  Returns true if the current path is empty (no poses stored) or if the goal pose (last pose in the path) differs from the goal pose of the provided path.

Description of documentation updates required from your changes

Example:

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    controller_plugins: ["FollowPath"]
    FollowPath:
      plugin: "nav2_rotation_shim_controller::RotationShimController"
      primary_controller: "dwb_core::DWBLocalPlanner"
      angular_dist_threshold: 0.785
      angular_disengage_threshold: 0.25
      rotate_to_heading_once: True
      forward_sampling_distance: 0.5
      rotate_to_heading_angular_vel: 1.8
      max_angular_accel: 3.2
      simulate_ahead_time: 1.0

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

LGTM, we just need the updates to the configuration guide for Rotation Shim Controller to describe the parameter in the docs, and the migration guide entry to introduce the added feature for folks upgrading from previous distributions.

[SteveMacenski]

However, you need to fix the linting issues and DCO sign offs that are missing on this PR that CI has pointed out.

[ikhann]

However, you need to fix the linting issues and DCO sign offs that are missing on this PR that CI has pointed out.

Thanks! I'll fix the linting issues and other stuff shortly.

[SteveMacenski]

@ikhann still a few linting errors if you look at the ament_cpplint and ament_uncrustify jobs

[ikhann]

@ikhann still a few linting errors if you look at the ament_cpplint and ament_uncrustify jobs

Everything should be good now.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
..._shim_controller/nav2_rotation_shim_controller.hpp	100.00% <ø> (ø)
...m_controller/src/nav2_rotation_shim_controller.cpp	95.20% <100.00%> (-1.65%)	⬇️

... and 2 files with indirect coverage changes

[SteveMacenski]

Great thanks!