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Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals #656

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Merged
SteveMacenski merged 2 commits into from
Mar 17, 2025
Merged

Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals #656

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cfd4c77
Migrate bt_plugins to use nav_msg goals.
leander-dsouza Mar 16, 2025
8cbca6a
Edited kilted migration guide to include nav_msg goals.
leander-dsouza Mar 16, 2025
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst
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Expand Up @@ -23,11 +23,11 @@ Input Ports

:goals:

===================================== =======
Type Default
------------------------------------- -------
geometry_msgs::msg::PoseStampedArray N/A
===================================== =======
==================== =======
Type Default
-------------------- -------
nav_msgs::msg::Goals N/A
==================== =======

Description
Goal poses. Takes in a blackboard variable, e.g. "{goals}".
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst
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Expand Up @@ -12,11 +12,11 @@ Input Ports

:goals:

==================================== =======
Type Default
------------------------------------ -------
geometry_msgs::msg::PoseStampedArray N/A
==================================== =======
==================== =======
Type Default
-------------------- -------
nav_msgs::msg::Goals N/A
==================== =======

Description
Goal poses. Takes in a blackboard variable, e.g. "{goals}".
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst
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Expand Up @@ -22,11 +22,11 @@ Input Ports

:input_goals:

==================================== =======
Type Default
------------------------------------ -------
geometry_msgs::msg::PoseStampedArray N/A
==================================== =======
==================== =======
Type Default
-------------------- -------
nav_msgs::msg::Goals N/A
==================== =======

Description
A vector of goals to check if in collision
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20 changes: 10 additions & 10 deletions configuration/packages/bt-plugins/actions/RemovePassedGoals.rst
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Expand Up @@ -33,11 +33,11 @@ Input Ports

:input_goals:

==================================== =======
Type Default
------------------------------------ -------
geometry_msgs::msg::PoseStampedArray N/A
==================================== =======
==================== =======
Type Default
-------------------- -------
nav_msgs::msg::Goals N/A
==================== =======

Description
A vector of goals to check if it passed any in the current iteration.
Expand All @@ -47,11 +47,11 @@ Output Ports

:output_goals:

==================================== =======
Type Default
------------------------------------ -------
geometry_msgs::msg::PoseStampedArray N/A
==================================== =======
==================== =======
Type Default
-------------------- -------
nav_msgs::msg::Goals N/A
==================== =======

Description
A vector of goals with goals removed in proximity to the robot
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst
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Expand Up @@ -25,11 +25,11 @@ Input Ports

:goals:

==================================== =========
Type Default
------------------------------------ ---------
geometry_msgs::msg::PoseStampedArray "{goals}"
==================================== =========
==================== =========
Type Default
-------------------- ---------
nav_msgs::msg::Goals "{goals}"
==================== =========

Description
Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/conditions/GoalUpdated.rst
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Expand Up @@ -22,11 +22,11 @@ Input Ports

:goals:

==================================== =========
Type Default
------------------------------------ ---------
geometry_msgs::msg::PoseStampedArray "{goals}"
==================================== =========
==================== =========
Type Default
-------------------- ---------
nav_msgs::msg::Goals "{goals}"
==================== =========

Description
Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst
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Expand Up @@ -21,11 +21,11 @@ Input Ports

:goals:

==================================== =========
Type Default
------------------------------------ ---------
geometry_msgs::msg::PoseStampedArray "{goals}"
==================================== =========
==================== =========
Type Default
-------------------- ---------
nav_msgs::msg::Goals "{goals}"
==================== =========

Description
Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
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24 changes: 12 additions & 12 deletions configuration/packages/bt-plugins/decorators/GoalUpdater.rst
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Expand Up @@ -46,11 +46,11 @@ Input Ports

:input_goals:

============================== =======
Type Default
------------------------------ -------
geometry_msgs/PoseStampedArray N/A
============================== =======
============== =======
Type Default
-------------- -------
nav_msgs/Goals N/A
============== =======

Description
The original goals poses
Expand All @@ -70,13 +70,13 @@ Output Ports
The resulting updated goal. If no goal received by subscription, it will be the input_goal

:output_goals:
============================== =======
Type Default
------------------------------ -------
geometry_msgs/PoseStampedArray N/A
============================== =======

============== =======
Type Default
-------------- -------
nav_msgs/Goals N/A
============== =======

Description
The resulting updated goals. If no goals received by subscription, it will be the input_goals

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10 changes: 5 additions & 5 deletions configuration/packages/bt-plugins/decorators/SpeedController.rst
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Expand Up @@ -68,11 +68,11 @@ Input Ports

:goals:

==================================== =========
Type Default
------------------------------------ ---------
geometry_msgs::msg::PoseStampedArray "{goals}"
==================================== =========
==================== =========
Type Default
-------------------- ---------
nav_msgs::msg::Goals "{goals}"
==================== =========

Description
Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.
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8 changes: 4 additions & 4 deletions migration/Jazzy.rst
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Expand Up @@ -302,12 +302,12 @@ Example for including ``cloned_multi_tb3_simulation_launch.py`` in another launc
launch_arguments={"robots": "robot1={x: 0.5, y: 0.5, yaw: 1.5707}"}.items(),
)

ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use nav_msgs/Goals instead of vector<PoseStamped>
************************************************************************************************************************

In `PR #262 <https://github.com/ros2/common_interfaces/pull/262>`_ a new message type `PoseStampedArray` was introduced to the `geometry_msgs` package.
In `PR #4791 <https://github.com/ros-navigation/navigation2/pull/4791>`_, most instances of `std::vector<geometry_msgs::msg::PoseStamped>` have been replaced with `geometry_msgs::msg::PoseStampedArray`. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `PoseStampedArray`.
Since `PoseStampedArray` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.poses` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.poses` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces.
In `PR #269 <https://github.com/ros2/common_interfaces/pull/269>`_ a new message type `Goals` was introduced to the `nav_msgs` package.
In `PR #4980 <https://github.com/ros-navigation/navigation2/pull/4980>`_, all collections of `PoseStamped` has been migrated to use the `nav_msgs::msg::Goals` message. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `nav_msgs/Goals`.
Since `nav_msgs/Goals` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.goals` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.goals` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces.

MPPI controller re-implemented using Eigen library and performance improved by 40-45%
*************************************************************************************
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