From 1bd6644e8b95e87db170d3867311b295bf9b74e4 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 9 Apr 2025 15:48:20 -0700 Subject: [PATCH] adding BT node docs for route server Signed-off-by: Steve Macenski --- .../actions/CancelComputeAndTrackRoute.rst | 39 ++++ .../actions/ComputeAndTrackRoute.rst | 144 +++++++++++++++ .../bt-plugins/actions/ComputeRoute.rst | 166 ++++++++++++++++++ configuration/packages/configuring-bt-xml.rst | 3 + 4 files changed, 352 insertions(+) create mode 100644 configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst create mode 100644 configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst create mode 100644 configuration/packages/bt-plugins/actions/ComputeRoute.rst diff --git a/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst b/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst new file mode 100644 index 0000000000..9781ddcbc3 --- /dev/null +++ b/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst @@ -0,0 +1,39 @@ +.. _bt_cancel_compute_and_track_route: + +CancelComputeAndTrackRoute +========================== + +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. + +Input Ports +----------- + +:service_name: + + ====== ======= + Type Default + ------ ------- + string N/A + ====== ======= + + Description + Service name, if not using default of ``compute_and_track_route`` due to remapping. + + +:server_timeout: + + ====== ======= + Type Default + ------ ------- + double 10 + ====== ======= + + Description + Server timeout (ms). + +Example +------- + +.. code-block:: xml + + diff --git a/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst b/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst new file mode 100644 index 0000000000..1f876e0d56 --- /dev/null +++ b/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst @@ -0,0 +1,144 @@ +.. _bt_compute_and_track_route_action: + +ComputeAndTrackRoute +==================== + +Invokes the ComputeAndTrackRoute ROS 2 action server, which is implemented by the nav2_route_ module. +The server address can be remapped using the ``server_name`` input port. + +.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route + +Input Ports +----------- +:start: + + ===================================== ======= + Type Default + ------------------------------------- ------- + geometry_msgs::msg::PoseStamped N/A + ===================================== ======= + + Description + Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}". + +:goal: + + ===================================== ======= + Type Default + ------------------------------------- ------- + geometry_msgs::msg::PoseStamped N/A + ===================================== ======= + + Description + Goal pose. Takes in a blackboard variable, e.g. "{goal}". + +:start_id: + + ===================================== ======= + Type Default + ------------------------------------- ------- + int N/A + ===================================== ======= + + Description + Start node ID to use. + +:goal_id: + + ===================================== ======= + Type Default + ------------------------------------- ------- + int N/A + ===================================== ======= + + Description + Goal node ID to use. + +:use_start: + + ============== ======= + Type Default + -------------- ------- + bool false + ============== ======= + + Description + Whether to use the start or use TF to obtain the robot's start pose. + +:use_poses: + + ============== ======= + Type Default + -------------- ------- + bool false + ============== ======= + + Description + Whether to use the start and goal poses or start and goal node IDs. + +:server_name: + + ============== ======= + Type Default + -------------- ------- + string N/A + ============== ======= + + Description + Action server name. + + +:server_timeout: + + ============== ======= + Type Default + -------------- ------- + double 10 + ============== ======= + + Description + Action server timeout (ms). + +Output Ports +------------ + +:execution_time: + + ================================= ======= + Type Default + --------------------------------- ------- + builtin_interfaces::msg::Duration N/A + ================================= ======= + + Description + Time it took to compute the route. + +:error_code_id: + + ============== ======= + Type Default + -------------- ------- + uint16 N/A + ============== ======= + + Description + Compute route error code. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes. + +:error_msg: + + ============== ======= + Type Default + -------------- ------- + string N/A + ============== ======= + + Description + Compute route error message. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes. + +Example +------- + +.. code-block:: xml + + diff --git a/configuration/packages/bt-plugins/actions/ComputeRoute.rst b/configuration/packages/bt-plugins/actions/ComputeRoute.rst new file mode 100644 index 0000000000..3ea8854995 --- /dev/null +++ b/configuration/packages/bt-plugins/actions/ComputeRoute.rst @@ -0,0 +1,166 @@ +.. _bt_compute_route_action: + +ComputeRoute +============ + +Invokes the ComputeRoute ROS 2 action server, which is implemented by the nav2_route_ module. +The server address can be remapped using the ``server_name`` input port. + +.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route + +Input Ports +----------- +:start: + + ===================================== ======= + Type Default + ------------------------------------- ------- + geometry_msgs::msg::PoseStamped N/A + ===================================== ======= + + Description + Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}". + +:goal: + + ===================================== ======= + Type Default + ------------------------------------- ------- + geometry_msgs::msg::PoseStamped N/A + ===================================== ======= + + Description + Goal pose. Takes in a blackboard variable, e.g. "{goal}". + +:start_id: + + ===================================== ======= + Type Default + ------------------------------------- ------- + int N/A + ===================================== ======= + + Description + Start node ID to use. + +:goal_id: + + ===================================== ======= + Type Default + ------------------------------------- ------- + int N/A + ===================================== ======= + + Description + Goal node ID to use. + +:use_start: + + ============== ======= + Type Default + -------------- ------- + bool false + ============== ======= + + Description + Whether to use the start or use TF to obtain the robot's start pose. + +:use_poses: + + ============== ======= + Type Default + -------------- ------- + bool false + ============== ======= + + Description + Whether to use the start and goal poses or start and goal node IDs. + +:server_name: + + ============== ======= + Type Default + -------------- ------- + string N/A + ============== ======= + + Description + Action server name. + + +:server_timeout: + + ============== ======= + Type Default + -------------- ------- + double 10 + ============== ======= + + Description + Action server timeout (ms). + +Output Ports +------------ + +:route: + + ========================== ======= + Type Default + -------------------------- ------- + nav2_msgs::msg::Route N/A + ========================== ======= + + Description + Route created by action server. Takes in a blackboard variable, e.g. "{route}". + +:path: + + ========================== ======= + Type Default + -------------------------- ------- + nav_msgs::msg::Path N/A + ========================== ======= + + Description + Path created by action server. Takes in a blackboard variable, e.g. "{path}". + +:planning_time: + + ================================= ======= + Type Default + --------------------------------- ------- + builtin_interfaces::msg::Duration N/A + ================================= ======= + + Description + Time it took to compute the route. + +:error_code_id: + + ============== ======= + Type Default + -------------- ------- + uint16 N/A + ============== ======= + + Description + Compute route error code. See ``ComputeRoute`` action message for the enumerated set of error codes. + +:error_msg: + + ============== ======= + Type Default + -------------- ------- + string N/A + ============== ======= + + Description + Compute route error message. See ``ComputeRoute`` action message for the enumerated set of error codes. + +Example +------- + +.. code-block:: xml + + diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst index 143d57b7dc..c6e5bc3db7 100644 --- a/configuration/packages/configuring-bt-xml.rst +++ b/configuration/packages/configuring-bt-xml.rst @@ -25,6 +25,8 @@ Action Plugins bt-plugins/actions/DriveOnHeading.rst bt-plugins/actions/AssistedTeleop.rst bt-plugins/actions/ComputePathToPose.rst + bt-plugins/actions/ComputeRoute.rst + bt-plugins/actions/ComputeAndTrackRoute.rst bt-plugins/actions/FollowPath.rst bt-plugins/actions/NavigateToPose.rst bt-plugins/actions/ClearEntireCostmap.rst @@ -50,6 +52,7 @@ Action Plugins bt-plugins/actions/CancelWait.rst bt-plugins/actions/CancelDriveOnHeading.rst bt-plugins/actions/CancelAssistedTeleop.rst + bt-plugins/actions/CancelComputeAndTrackRoute.rst bt-plugins/actions/Smooth.rst bt-plugins/actions/GetPoseFromPath.rst bt-plugins/actions/DockRobot.rst