Skip to content

Commit bd5a99e

Browse files
SteveMacenskiSteveMacenski
authored
adding BT node docs for route server (#671)
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
1 parent ab055ef commit bd5a99e

4 files changed

Lines changed: 352 additions & 0 deletions

File tree

‎configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst‎

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,39 @@
1+
.. _bt_cancel_compute_and_track_route:
2+
3+
CancelComputeAndTrackRoute
4+
==========================
5+
6+
Used to cancel the compute and track route action that is part of the behavior server. The server address can be remapped using the ``server_name`` input port.
7+
8+
Input Ports
9+
-----------
10+
11+
:service_name:
12+
13+
====== =======
14+
Type Default
15+
------ -------
16+
string N/A
17+
====== =======
18+
19+
Description
20+
Service name, if not using default of ``compute_and_track_route`` due to remapping.
21+
22+
23+
:server_timeout:
24+
25+
====== =======
26+
Type Default
27+
------ -------
28+
double 10
29+
====== =======
30+
31+
Description
32+
Server timeout (ms).
33+
34+
Example
35+
-------
36+
37+
.. code-block:: xml
38+
39+
<CancelComputeAndTrackRoute server_name="compute_and_track_route" server_timeout="10"/>

‎configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst‎

Lines changed: 144 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,144 @@
1+
.. _bt_compute_and_track_route_action:
2+
3+
ComputeAndTrackRoute
4+
====================
5+
6+
Invokes the ComputeAndTrackRoute ROS 2 action server, which is implemented by the nav2_route_ module.
7+
The server address can be remapped using the ``server_name`` input port.
8+
9+
.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route
10+
11+
Input Ports
12+
-----------
13+
:start:
14+
15+
===================================== =======
16+
Type Default
17+
------------------------------------- -------
18+
geometry_msgs::msg::PoseStamped N/A
19+
===================================== =======
20+
21+
Description
22+
Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}".
23+
24+
:goal:
25+
26+
===================================== =======
27+
Type Default
28+
------------------------------------- -------
29+
geometry_msgs::msg::PoseStamped N/A
30+
===================================== =======
31+
32+
Description
33+
Goal pose. Takes in a blackboard variable, e.g. "{goal}".
34+
35+
:start_id:
36+
37+
===================================== =======
38+
Type Default
39+
------------------------------------- -------
40+
int N/A
41+
===================================== =======
42+
43+
Description
44+
Start node ID to use.
45+
46+
:goal_id:
47+
48+
===================================== =======
49+
Type Default
50+
------------------------------------- -------
51+
int N/A
52+
===================================== =======
53+
54+
Description
55+
Goal node ID to use.
56+
57+
:use_start:
58+
59+
============== =======
60+
Type Default
61+
-------------- -------
62+
bool false
63+
============== =======
64+
65+
Description
66+
Whether to use the start or use TF to obtain the robot's start pose.
67+
68+
:use_poses:
69+
70+
============== =======
71+
Type Default
72+
-------------- -------
73+
bool false
74+
============== =======
75+
76+
Description
77+
Whether to use the start and goal poses or start and goal node IDs.
78+
79+
:server_name:
80+
81+
============== =======
82+
Type Default
83+
-------------- -------
84+
string N/A
85+
============== =======
86+
87+
Description
88+
Action server name.
89+
90+
91+
:server_timeout:
92+
93+
============== =======
94+
Type Default
95+
-------------- -------
96+
double 10
97+
============== =======
98+
99+
Description
100+
Action server timeout (ms).
101+
102+
Output Ports
103+
------------
104+
105+
:execution_time:
106+
107+
================================= =======
108+
Type Default
109+
--------------------------------- -------
110+
builtin_interfaces::msg::Duration N/A
111+
================================= =======
112+
113+
Description
114+
Time it took to compute the route.
115+
116+
:error_code_id:
117+
118+
============== =======
119+
Type Default
120+
-------------- -------
121+
uint16 N/A
122+
============== =======
123+
124+
Description
125+
Compute route error code. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes.
126+
127+
:error_msg:
128+
129+
============== =======
130+
Type Default
131+
-------------- -------
132+
string N/A
133+
============== =======
134+
135+
Description
136+
Compute route error message. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes.
137+
138+
Example
139+
-------
140+
141+
.. code-block:: xml
142+
143+
<ComputeAndTrackRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}" server_name="ComputeAndTrackRoute" server_timeout="10"
144+
error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>

‎configuration/packages/bt-plugins/actions/ComputeRoute.rst‎

Lines changed: 166 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,166 @@
1+
.. _bt_compute_route_action:
2+
3+
ComputeRoute
4+
============
5+
6+
Invokes the ComputeRoute ROS 2 action server, which is implemented by the nav2_route_ module.
7+
The server address can be remapped using the ``server_name`` input port.
8+
9+
.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route
10+
11+
Input Ports
12+
-----------
13+
:start:
14+
15+
===================================== =======
16+
Type Default
17+
------------------------------------- -------
18+
geometry_msgs::msg::PoseStamped N/A
19+
===================================== =======
20+
21+
Description
22+
Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}".
23+
24+
:goal:
25+
26+
===================================== =======
27+
Type Default
28+
------------------------------------- -------
29+
geometry_msgs::msg::PoseStamped N/A
30+
===================================== =======
31+
32+
Description
33+
Goal pose. Takes in a blackboard variable, e.g. "{goal}".
34+
35+
:start_id:
36+
37+
===================================== =======
38+
Type Default
39+
------------------------------------- -------
40+
int N/A
41+
===================================== =======
42+
43+
Description
44+
Start node ID to use.
45+
46+
:goal_id:
47+
48+
===================================== =======
49+
Type Default
50+
------------------------------------- -------
51+
int N/A
52+
===================================== =======
53+
54+
Description
55+
Goal node ID to use.
56+
57+
:use_start:
58+
59+
============== =======
60+
Type Default
61+
-------------- -------
62+
bool false
63+
============== =======
64+
65+
Description
66+
Whether to use the start or use TF to obtain the robot's start pose.
67+
68+
:use_poses:
69+
70+
============== =======
71+
Type Default
72+
-------------- -------
73+
bool false
74+
============== =======
75+
76+
Description
77+
Whether to use the start and goal poses or start and goal node IDs.
78+
79+
:server_name:
80+
81+
============== =======
82+
Type Default
83+
-------------- -------
84+
string N/A
85+
============== =======
86+
87+
Description
88+
Action server name.
89+
90+
91+
:server_timeout:
92+
93+
============== =======
94+
Type Default
95+
-------------- -------
96+
double 10
97+
============== =======
98+
99+
Description
100+
Action server timeout (ms).
101+
102+
Output Ports
103+
------------
104+
105+
:route:
106+
107+
========================== =======
108+
Type Default
109+
-------------------------- -------
110+
nav2_msgs::msg::Route N/A
111+
========================== =======
112+
113+
Description
114+
Route created by action server. Takes in a blackboard variable, e.g. "{route}".
115+
116+
:path:
117+
118+
========================== =======
119+
Type Default
120+
-------------------------- -------
121+
nav_msgs::msg::Path N/A
122+
========================== =======
123+
124+
Description
125+
Path created by action server. Takes in a blackboard variable, e.g. "{path}".
126+
127+
:planning_time:
128+
129+
================================= =======
130+
Type Default
131+
--------------------------------- -------
132+
builtin_interfaces::msg::Duration N/A
133+
================================= =======
134+
135+
Description
136+
Time it took to compute the route.
137+
138+
:error_code_id:
139+
140+
============== =======
141+
Type Default
142+
-------------- -------
143+
uint16 N/A
144+
============== =======
145+
146+
Description
147+
Compute route error code. See ``ComputeRoute`` action message for the enumerated set of error codes.
148+
149+
:error_msg:
150+
151+
============== =======
152+
Type Default
153+
-------------- -------
154+
string N/A
155+
============== =======
156+
157+
Description
158+
Compute route error message. See ``ComputeRoute`` action message for the enumerated set of error codes.
159+
160+
Example
161+
-------
162+
163+
.. code-block:: xml
164+
165+
<ComputeRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}" path="{path}" server_name="ComputeRoute" server_timeout="10"
166+
error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>

‎configuration/packages/configuring-bt-xml.rst‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,8 @@ Action Plugins
2525
bt-plugins/actions/DriveOnHeading.rst
2626
bt-plugins/actions/AssistedTeleop.rst
2727
bt-plugins/actions/ComputePathToPose.rst
28+
bt-plugins/actions/ComputeRoute.rst
29+
bt-plugins/actions/ComputeAndTrackRoute.rst
2830
bt-plugins/actions/FollowPath.rst
2931
bt-plugins/actions/NavigateToPose.rst
3032
bt-plugins/actions/ClearEntireCostmap.rst
@@ -50,6 +52,7 @@ Action Plugins
5052
bt-plugins/actions/CancelWait.rst
5153
bt-plugins/actions/CancelDriveOnHeading.rst
5254
bt-plugins/actions/CancelAssistedTeleop.rst
55+
bt-plugins/actions/CancelComputeAndTrackRoute.rst
5356
bt-plugins/actions/Smooth.rst
5457
bt-plugins/actions/GetPoseFromPath.rst
5558
bt-plugins/actions/DockRobot.rst

0 commit comments

Comments
 (0)