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Move isStopped, isPathValid, and isPoseOccupied from condition nodes to action nodes (#885)
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
1 parent 99b4776 commit 2a291d7

11 files changed

Lines changed: 50 additions & 42 deletions

‎behavior_trees/overview/detailed_behavior_tree_walkthrough.rst‎

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@@ -65,7 +65,7 @@ BTs are primarily defined in XML. The tree shown above is represented in XML as
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</Inverter>
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<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
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<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
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<IsPathValid path="{remaining_path}"/>
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<ValidatePath path="{remaining_path}"/>
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</ReactiveSequence>
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
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</Fallback>
@@ -172,7 +172,7 @@ The XML of this subtree is as follows:
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</Inverter>
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<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
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<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
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<IsPathValid path="{remaining_path}"/>
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<ValidatePath path="{remaining_path}"/>
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</ReactiveSequence>
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
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</Fallback>

‎behavior_trees/trees/nav_through_poses_recovery.rst‎

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@@ -56,7 +56,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
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</Inverter>
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<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
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<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
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<IsPathValid path="{remaining_path}"/>
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<ValidatePath path="{remaining_path}"/>
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</ReactiveSequence>
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<ReactiveSequence>
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<RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7" input_waypoint_statuses="{waypoint_statuses}" output_waypoint_statuses="{waypoint_statuses}"/>

‎behavior_trees/trees/nav_to_pose_recovery.rst‎

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@@ -52,7 +52,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
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</Inverter>
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<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
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<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
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<IsPathValid path="{remaining_path}"/>
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<ValidatePath path="{remaining_path}"/>
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</ReactiveSequence>
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
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</Fallback>

‎behavior_trees/trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.rst‎

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@@ -48,7 +48,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
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</Inverter>
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<IsGoalNearby path="{path}" proximity_threshold="4.0" max_robot_pose_search_dist="1.5"/>
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<TruncatePathLocal input_path="{path}" output_path="{remaining_path}" distance_forward="-1" distance_backward="0.0" />
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<IsPathValid path="{remaining_path}"/>
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<ValidatePath path="{remaining_path}"/>
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</ReactiveSequence>
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<ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
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</Fallback>

‎behavior_trees/trees/navigate_on_route_graph_w_recovery.rst‎

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@@ -7,7 +7,7 @@ This behavior tree implements a different style of navigation than the other ver
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Rather than using a freespace planner ``ComputePathToPose`` to plan a complete path to the goal, this behavior tree instead uses the Route Server to find a route to the goal through a pre-defined navigation graph.
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This can be useful for navigating in large-scale environments where real-time planning in freespace for a long distance is not computationally feasible, where a map of the entire space is not possible to plan within, or where deterministic behavior and limited navigation zones/lanes/routes are demanded.
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This tree computes a route through the environment using the ``ComputeRoute`` node which is executed on initialization and when either the goal is updated due to preemption (``GlobalUpdatedGoal``) or the current route path is invalid due to collision (``isPathValid``).
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This tree computes a route through the environment using the ``ComputeRoute`` node which is executed on initialization and when either the goal is updated due to preemption (``GlobalUpdatedGoal``) or the current route path is invalid due to collision (``ValidatePath``).
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After which, if the robot's starting pose is too far from the first route node in the graph solution, it will use freespace planning to connect the robot's current pose to the first node in the route.
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This is called the ``first mile`` and is computed using the ``ComputePathToPose`` node.
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This may be removed if navigation only on the graph is required and you know that the robot will always be located on or near the graph.
@@ -35,7 +35,7 @@ For a detailed description of the role of the selector nodes, recovery behaviors
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<Inverter>
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<GlobalUpdatedGoal/>
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</Inverter>
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<IsPathValid path="{path}"/> <!-- Base it on the complete connected 'path', not simply the 'route_path' -->
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<ValidatePath path="{path}"/> <!-- Base it on the complete connected 'path', not simply the 'route_path' -->
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</ReactiveSequence>
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<Sequence name="ComputeAndSmoothRoute">
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<!-- Compute the route -->

configuration/packages/bt-plugins/conditions/IsPoseOccupied.rst renamed to configuration/packages/bt-plugins/actions/CheckPoseOccupancy.rst

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@@ -1,9 +1,9 @@
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.. _bt_is_pose_occupied_condition:
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.. _bt_check_pose_occupancy_action:
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IsPoseOccupied
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==============
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CheckPoseOccupancy
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==================
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Checks to see if the pose is occupied. If it is occupied, the condition returns SUCCESS, otherwise
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Checks to see if the pose is occupied. If it is occupied, it returns SUCCESS, otherwise
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it returns FAILURE.
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Input Ports
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.. code-block:: xml
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<IsPoseOccupied server_timeout="10" pose="{goal}"/>
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<CheckPoseOccupancy server_timeout="10" pose="{goal}"/>

configuration/packages/bt-plugins/conditions/IsStopped.rst renamed to configuration/packages/bt-plugins/actions/CheckStopStatus.rst

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@@ -1,7 +1,7 @@
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.. _bt_is_stopped_condition:
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.. _bt_check_stop_status_action:
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IsStopped
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=========
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CheckStopStatus
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===============
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BT node that tracks robot odometry and returns SUCCESS if robot is considered stopped for long enough,
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RUNNING if stopped but not for long enough and FAILURE otherwise
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.. code-block:: xml
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<IsStopped velocity_threshold="0.01" duration_stopped="1000"/>
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<CheckStopStatus velocity_threshold="0.01" duration_stopped="1000"/>

configuration/packages/bt-plugins/conditions/IsPathValid.rst renamed to configuration/packages/bt-plugins/actions/ValidatePath.rst

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@@ -1,10 +1,10 @@
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.. _bt_is_path_valid_condition:
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.. _bt_validate_path_action:
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IsPathValid
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===========
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ValidatePath
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============
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Checks to see if the global path is valid. If there is an
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obstacle along the path, the condition returns FAILURE, otherwise
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obstacle along the path, it returns FAILURE, otherwise
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it returns SUCCESS. Optionally checks specific costmap layers and
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can use a custom footprint for validation.
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.. code-block:: xml
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<IsPathValid
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<ValidatePath
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server_timeout="10"
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path="{path}"
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max_cost="100"
@@ -128,7 +128,7 @@ With custom footprint:
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.. code-block:: xml
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<IsPathValid
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<ValidatePath
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path="{path}"
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footprint="[[0.5,0.5],[0.5,-0.5],[-0.5,-0.5],[-0.5,0.5]]"
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collision_poses="{collision_poses}" />
@@ -137,7 +137,7 @@ Checking a specific costmap layer:
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.. code-block:: xml
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<IsPathValid
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<ValidatePath
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path="{path}"
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layer_name="obstacle_layer"
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check_full_path="true"

‎configuration/packages/configuring-bt-xml.rst‎

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@@ -67,6 +67,9 @@ Action Plugins
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bt-plugins/actions/ToggleCollisionMonitor.rst
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bt-plugins/actions/FollowObject.rst
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bt-plugins/actions/CancelFollowObject.rst
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bt-plugins/actions/ValidatePath.rst
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bt-plugins/actions/CheckPoseOccupancy.rst
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bt-plugins/actions/CheckStopStatus.rst
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Condition Plugins
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*****************
@@ -82,11 +85,8 @@ Condition Plugins
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bt-plugins/conditions/InitialPoseReceived.rst
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bt-plugins/conditions/IsGoalNearby.rst
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bt-plugins/conditions/IsStuck.rst
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bt-plugins/conditions/IsStopped.rst
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bt-plugins/conditions/TimeExpired.rst
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bt-plugins/conditions/IsBatteryLow.rst
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bt-plugins/conditions/IsPathValid.rst
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bt-plugins/conditions/IsPoseOccupied.rst
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bt-plugins/conditions/IsWithinPathTrackingBounds.rst
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bt-plugins/conditions/PathExpiringTimer.rst
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bt-plugins/conditions/AreErrorCodesPresent.rst

‎migration/Kilted.rst‎

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@@ -833,3 +833,14 @@ Refactored Inflation layer powered by OpenMP
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The new implementation replaces the previous queue-based cell iteration with a Felzenszwalb-Huttenlocher distance transform algorithm.
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When OpenMP is not available at compile time, the layer falls back to single-threaded operation.
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Move isStopped, isPathValid, and isPoseOccupied from condition nodes to action nodes
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------------------------------------------------------------------------------------
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In `PR 5991 <https://github.com/ros-navigation/navigation2/pull/5991>`_, the following nodes were moved from condition nodes to action nodes and renamed:
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- `IsStopped` is now `CheckStopStatus`
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- `IsPathValid` is now `ValidatePath`
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- `IsPoseOccupied` is now `CheckPoseOccupancy`
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This change was made because these behavior tree nodes may return RUNNING or require more time to complete, making them unsuitable for behavior tree that are expected to be ticked at 100 Hz.

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