Select behavior Tree in NavigateToPoseAction (ros-navigation#1784)

* Select BT in NavigateToPose action Signed-off-by: Francisco Martin Rico <[email protected]> * Change to unique_ptr. Default bt_xml to a valid file Signed-off-by: Francisco Martin Rico <[email protected]> * Return tree to stack Signed-off-by: Francisco Martin Rico <[email protected]> * Removed default_bt_xml_filename default value Signed-off-by: Francisco Martin Rico <[email protected]> * Failing fast, early and loud when BT is not valid Signed-off-by: Francisco Martin Rico <[email protected]> * Return inmediately after terminate Signed-off-by: Francisco Martin Rico <[email protected]>
savalena · Jun 12, 2020 · 31db461 · 31db461
1 parent be166f3
commit 31db461
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Showing 7 changed files with 16 additions and 16 deletions.
diff --git a/nav2_bringup/bringup/launch/bringup_launch.py b/nav2_bringup/bringup/launch/bringup_launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
-    bt_xml_file = LaunchConfiguration('bt_xml_file')
+    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
     autostart = LaunchConfiguration('autostart')
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
@@ -73,7 +73,7 @@ def generate_launch_description():
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_bt_xml_cmd = DeclareLaunchArgument(
-        'bt_xml_file',
+        'default_bt_xml_filename',
         default_value=os.path.join(
             get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
@@ -114,7 +114,7 @@ def generate_launch_description():
                               'use_sim_time': use_sim_time,
                               'autostart': autostart,
                               'params_file': params_file,
-                              'bt_xml_file': bt_xml_file,
+                              'default_bt_xml_filename': default_bt_xml_filename,
                               'use_lifecycle_mgr': 'false',
                               'map_subscribe_transient_local': 'true'}.items()),
     ])

diff --git a/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
@@ -49,7 +49,7 @@ def generate_launch_description():
     # On this example all robots are launched with the same settings
     map_yaml_file = LaunchConfiguration('map')
 
-    bt_xml_file = LaunchConfiguration('bt_xml_file')
+    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
     autostart = LaunchConfiguration('autostart')
     rviz_config_file = LaunchConfiguration('rviz_config')
     use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
@@ -83,7 +83,7 @@ def generate_launch_description():
         description='Full path to the ROS2 parameters file to use for robot2 launched nodes')
 
     declare_bt_xml_cmd = DeclareLaunchArgument(
-        'bt_xml_file',
+        'default_bt_xml_filename',
         default_value=os.path.join(
             get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
@@ -152,7 +152,7 @@ def generate_launch_description():
                                   'map': map_yaml_file,
                                   'use_sim_time': 'True',
                                   'params_file': params_file,
-                                  'bt_xml_file': bt_xml_file,
+                                  'default_bt_xml_filename': default_bt_xml_filename,
                                   'autostart': autostart,
                                   'use_rviz': 'False',
                                   'use_simulator': 'False',
@@ -170,7 +170,7 @@ def generate_launch_description():
                 msg=[robot['name'], ' params yaml: ', params_file]),
             LogInfo(
                 condition=IfCondition(log_settings),
-                msg=[robot['name'], ' behavior tree xml: ', bt_xml_file]),
+                msg=[robot['name'], ' behavior tree xml: ', default_bt_xml_filename]),
             LogInfo(
                 condition=IfCondition(log_settings),
                 msg=[robot['name'], ' rviz config file: ', rviz_config_file]),

diff --git a/nav2_bringup/bringup/launch/navigation_launch.py b/nav2_bringup/bringup/launch/navigation_launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time')
     autostart = LaunchConfiguration('autostart')
     params_file = LaunchConfiguration('params_file')
-    bt_xml_file = LaunchConfiguration('bt_xml_file')
+    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
     map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
 
     lifecycle_nodes = ['controller_server',
@@ -52,7 +52,7 @@ def generate_launch_description():
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
         'use_sim_time': use_sim_time,
-        'bt_xml_filename': bt_xml_file,
+        'default_bt_xml_filename': default_bt_xml_filename,
         'autostart': autostart,
         'map_subscribe_transient_local': map_subscribe_transient_local}
 
@@ -84,7 +84,7 @@ def generate_launch_description():
             description='Full path to the ROS2 parameters file to use'),
 
         DeclareLaunchArgument(
-            'bt_xml_file',
+            'default_bt_xml_filename',
             default_value=os.path.join(
                 get_package_share_directory('nav2_bt_navigator'),
                 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),

diff --git a/nav2_bringup/bringup/launch/tb3_simulation_launch.py b/nav2_bringup/bringup/launch/tb3_simulation_launch.py
@@ -38,7 +38,7 @@ def generate_launch_description():
     map_yaml_file = LaunchConfiguration('map')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
-    bt_xml_file = LaunchConfiguration('bt_xml_file')
+    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
     autostart = LaunchConfiguration('autostart')
 
     # Launch configuration variables specific to simulation
@@ -90,7 +90,7 @@ def generate_launch_description():
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_bt_xml_cmd = DeclareLaunchArgument(
-        'bt_xml_file',
+        'default_bt_xml_filename',
         default_value=os.path.join(
             get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
@@ -173,7 +173,7 @@ def generate_launch_description():
                           'map': map_yaml_file,
                           'use_sim_time': use_sim_time,
                           'params_file': params_file,
-                          'bt_xml_file': bt_xml_file,
+                          'default_bt_xml_filename': default_bt_xml_filename,
                           'autostart': autostart}.items())
 
     # Create the launch description and populate

diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -51,7 +51,7 @@ bt_navigator:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
     - nav2_follow_path_action_bt_node

diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -51,7 +51,7 @@ bt_navigator:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
     - nav2_follow_path_action_bt_node

diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -51,7 +51,7 @@ bt_navigator:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
     - nav2_follow_path_action_bt_node