standalone assisted teleop (ros-navigation#2904)

* standalone assisted teleop

* added in action message

* code review

* moved to behavior server

* added assisted teleop bt node

* revert

* added bt node for assisted teleop

* lint fix

* added cancel assisted teleop node

* code review

* working

* cleanup

* updated feeback

* code review

* update compute velocity

* cleanup

* lint fixes

* cleanup

* test fix

* starting to add tests for assisted teleop

* fixed tests

* undo

* fixed test

* is_recovery

* adjust abort result based on recovery or not

* code review

* added preempt velocity

* working preempt assisted teleop test

* completed assisted teleop tests

* code review

* undo

* code review

* remove sleep

* topic rename

* missing comma

* added comma :(

* added comma

Co-authored-by: Steve Macenski <[email protected]>

nav2_behavior_tree/CMakeLists.txt

@@ -69,6 +69,9 @@ list(APPEND plugin_libs nav2_spin_cancel_bt_node)
 add_library(nav2_back_up_cancel_bt_node SHARED plugins/action/back_up_cancel_node.cpp)
 list(APPEND plugin_libs nav2_back_up_cancel_bt_node)
 
+add_library(nav2_assisted_teleop_cancel_bt_node SHARED plugins/action/assisted_teleop_cancel_node.cpp)
+list(APPEND plugin_libs nav2_assisted_teleop_cancel_bt_node)
+
 add_library(nav2_drive_on_heading_cancel_bt_node SHARED plugins/action/drive_on_heading_cancel_node.cpp)
 list(APPEND plugin_libs nav2_drive_on_heading_cancel_bt_node)
 
@@ -90,6 +93,9 @@ list(APPEND plugin_libs nav2_spin_action_bt_node)
 add_library(nav2_wait_action_bt_node SHARED plugins/action/wait_action.cpp)
 list(APPEND plugin_libs nav2_wait_action_bt_node)
 
+add_library(nav2_assisted_teleop_action_bt_node SHARED plugins/action/assisted_teleop_action.cpp)
+list(APPEND plugin_libs nav2_assisted_teleop_action_bt_node)
+
 add_library(nav2_clear_costmap_service_bt_node SHARED plugins/action/clear_costmap_service.cpp)
 list(APPEND plugin_libs nav2_clear_costmap_service_bt_node)
 

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp

@@ -0,0 +1,70 @@
+// Copyright (c) 2022 Joshua Wallace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_
+
+#include <string>
+
+#include "nav2_behavior_tree/bt_action_node.hpp"
+#include "nav2_msgs/action/assisted_teleop.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::AssistedTeleop
+ */
+class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop>
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::nav2_msgs::action::AssistedTeleop
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param action_name Action name this node creates a client for
+   * @param conf BT node configuration
+   */
+  AssistedTeleopAction(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Function to perform some user-defined operation on tick
+   */
+  void on_tick() override;
+
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for running assisted teleop"),
+        BT::InputPort<bool>("is_recovery", false, "If true the recovery count will be incremented")
+      });
+  }
+
+private:
+  bool is_recovery_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_ACTION_HPP_

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.hpp

@@ -0,0 +1,59 @@
+// Copyright (c) 2022 Joshua Wallace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_CANCEL_NODE_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_CANCEL_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "nav2_msgs/action/assisted_teleop.hpp"
+
+#include "nav2_behavior_tree/bt_cancel_action_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp
+ */
+class AssistedTeleopCancel : public BtCancelActionNode<nav2_msgs::action::AssistedTeleop>
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::BackUpAction
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param action_name Action name this node creates a client for
+   * @param conf BT node configuration
+   */
+  AssistedTeleopCancel(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+      });
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__ASSISTED_TELEOP_CANCEL_NODE_HPP_

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -43,6 +43,11 @@
       <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
+    <Action ID="CancelAssistedTeleop">
+      <input_port name="service_name">Service name to cancel the assisted teleop behavior</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+    </Action>
+
     <Action ID="CancelWait">
       <input_port name="service_name">Service name to cancel the wait behavior</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
@@ -164,6 +169,13 @@
       <input_port name="server_timeout">Server timeout</input_port>
     </Action>
 
+    <Action ID="AssistedTeleop">
+      <input_port name="time_allowance">Allowed time for spinning</input_port>
+      <input_port name="is_recovery">If true recovery count will be incremented</input_port>
+      <input_port name="server_name">Service name</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+    </Action>
+
     <!-- ############################### CONDITION NODES ############################## -->
     <Condition ID="GoalReached">
         <input_port name="goal">Destination</input_port>

nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp

@@ -0,0 +1,62 @@
+// Copyright (c) 2022 Joshua Wallace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp"
+
+namespace nav2_behavior_tree
+{
+
+AssistedTeleopAction::AssistedTeleopAction(
+  const std::string & xml_tag_name,
+  const std::string & action_name,
+  const BT::NodeConfiguration & conf)
+: BtActionNode<nav2_msgs::action::AssistedTeleop>(xml_tag_name, action_name, conf)
+{
+  double time_allowance;
+  getInput("time_allowance", time_allowance);
+  getInput("is_recovery", is_recovery_);
+
+  // Populate the input message
+  goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
+}
+
+void AssistedTeleopAction::on_tick()
+{
+  if (is_recovery_) {
+    increment_recovery_count();
+  }
+}
+
+BT::NodeStatus AssistedTeleopAction::on_aborted()
+{
+  return is_recovery_ ? BT::NodeStatus::FAILURE : BT::NodeStatus::SUCCESS;
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  BT::NodeBuilder builder =
+    [](const std::string & name, const BT::NodeConfiguration & config)
+    {
+      return std::make_unique<nav2_behavior_tree::AssistedTeleopAction>(
+        name, "assisted_teleop", config);
+    };
+
+  factory.registerBuilder<nav2_behavior_tree::AssistedTeleopAction>("AssistedTeleop", builder);
+}

nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.cpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2022 Joshua Wallace
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "nav2_behavior_tree/plugins/action/assisted_teleop_cancel_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+AssistedTeleopCancel::AssistedTeleopCancel(
+  const std::string & xml_tag_name,
+  const std::string & action_name,
+  const BT::NodeConfiguration & conf)
+: BtCancelActionNode<nav2_msgs::action::AssistedTeleop>(xml_tag_name, action_name, conf)
+{
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  BT::NodeBuilder builder =
+    [](const std::string & name, const BT::NodeConfiguration & config)
+    {
+      return std::make_unique<nav2_behavior_tree::AssistedTeleopCancel>(
+        name, "assisted_teleop", config);
+    };
+
+  factory.registerBuilder<nav2_behavior_tree::AssistedTeleopCancel>(
+    "CancelAssistedTeleop", builder);
+}

nav2_behavior_tree/test/plugins/action/CMakeLists.txt

@@ -19,6 +19,10 @@ ament_add_gtest(test_action_wait_action test_wait_action.cpp)
 target_link_libraries(test_action_wait_action nav2_wait_action_bt_node)
 ament_target_dependencies(test_action_wait_action ${dependencies})
 
+ament_add_gtest(test_action_assisted_teleop_action test_assisted_teleop_action.cpp)
+target_link_libraries(test_action_assisted_teleop_action nav2_assisted_teleop_action_bt_node)
+ament_target_dependencies(test_action_assisted_teleop_action ${dependencies})
+
 ament_add_gtest(test_action_controller_cancel_action test_controller_cancel_node.cpp)
 target_link_libraries(test_action_controller_cancel_action nav2_controller_cancel_bt_node)
 ament_target_dependencies(test_action_controller_cancel_action ${dependencies})
@@ -36,6 +40,10 @@ ament_add_gtest(test_action_back_up_cancel_action test_back_up_cancel_node.cpp)
 target_link_libraries(test_action_back_up_cancel_action nav2_back_up_cancel_bt_node)
 ament_target_dependencies(test_action_back_up_cancel_action ${dependencies})
 
+ament_add_gtest(test_action_assisted_teleop_cancel_action test_assisted_teleop_cancel_node.cpp)
+target_link_libraries(test_action_assisted_teleop_cancel_action nav2_assisted_teleop_cancel_bt_node)
+ament_target_dependencies(test_action_assisted_teleop_cancel_action ${dependencies})
+
 ament_add_gtest(test_action_drive_on_heading_cancel_action test_drive_on_heading_cancel_node.cpp)
 target_link_libraries(test_action_drive_on_heading_cancel_action nav2_drive_on_heading_cancel_bt_node)
 ament_target_dependencies(test_action_drive_on_heading_cancel_action ${dependencies})