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Unverified Commit 28f6dedc authored by Michael Jeronimo's avatar Michael Jeronimo Committed by GitHub
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Remove the nav2_mission_executor directory (#837) 

This functionality will be removed from the nav2 repository and eventually
revived in a separate repository. The plan is to separate out the generic
Behavior Tree functionality first into a separate repo and then we can
build a mission execution system using this generic BT functionality,
also in a separate repo. Then, we will be able to span navigation,
grasping, and other kinds of tasks, all coordinated using BTs.
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nav2_mission_executor/CHANGELOG.rst deleted 100644 → 0
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nav2_mission_executor/CMakeLists.txt deleted 100644 → 0
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cmake_minimum_required(VERSION 3.5)
project(nav2_mission_executor)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(behaviortree_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
nav2_package()
include_directories(
include
)
set(executable_name mission_executor)
add_executable(${executable_name}
src/main.cpp
)
set(library_name ${executable_name}_core)
add_library(${library_name} SHARED
src/mission_executor.cpp
src/execute_mission_behavior_tree.cpp
)
set(dependencies
rclcpp
rclcpp_action
rclcpp_lifecycle
std_msgs
nav2_tasks
nav2_msgs
nav2_util
behaviortree_cpp
geometry_msgs
)
ament_target_dependencies(${executable_name}
${dependencies}
)
target_link_libraries(${executable_name} ${library_name})
ament_target_dependencies(${library_name}
${dependencies}
)
install(TARGETS ${executable_name} ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
add_subdirectory(test)
endif()
ament_export_include_directories(include)
ament_package()
nav2_mission_executor/README.md deleted 100644 → 0
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# Mission Executor
The Mission Executor module is a task server that coordinates other tasks. It can be used to direct the activities of multiple robots as well as other, non-navigation and non-robot tasks. This module would typically reside on a central orchestration computer and direct the operation of remote robots.
## Overview
The Mission Executor module is implemented using [Behavior Trees](https://en.wikipedia.org/wiki/Behavior_tree). As detailed in [Michele Colledanchils's doctoral thesis](https://www.diva-portal.org/smash/get/diva2:1078940/FULLTEXT01.pdf), Behavior Trees are a Control Architecture (CA) initially used in the video game industry to control non-player characters and now applied to the control of autonomous robots.
The Mission Executor task server receives a **MissionPlan** and returns whether the plan was successfully executed, failed, or was canceled. The ExecuteMissionTask is defined as follows:
```C++
namespace nav2_tasks {
using ExecuteMissionCommand = nav2_msgs::msg::MissionPlan;
using ExecuteMissionResult = std_msgs::msg::Empty;
using ExecuteMissionTaskClient = TaskClient<ExecuteMissionCommand, ExecuteMissionResult>;
using ExecuteMissionTaskServer = TaskServer<ExecuteMissionCommand, ExecuteMissionResult>;
} // namespace nav2_tasks
```
NOTE: An Empty message is used in the definition of the task client and server if there is no other data required.
The [mission plan message](https://github.com/ros-planning/navigation2/blob/master/nav2_msgs/msg/MissionPlan.msg) consists of a header and a mission plan string:
```
std_msgs/Header header
string mission_plan
```
The mission plan itself is an XML string that defines a Behavior Tree. For example, the following XML string specifies a sequence of three NavigateToPose actions:
```XML
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<SequenceStar name="root">
<NavigateToPose position="10;11;0.0" orientation="0.7071;0;0.7071;0"/>
<NavigateToPose position="20;21;0.0" orientation="0.7071;0;0.7071;0"/>
<NavigateToPose position="30;31;0.0" orientation="0.7071;0;0.7071;0"/>
</SequenceStar>
</BehaviorTree>
</root>
```
## Invoking the MissionExecutor
The MissionExecutor is an implementation of the ExecuteMissionTaskServer interface, so the corresponding ExecuteMissionTaskClient is used to communicate with the task server, like this:
```C++
// Demonstrate using a task client to invoke the MissionExecutor task
void invokeMission(rclcpp::Node::SharedPtr node, std::string mission_plan)
{
// Create a task client for this particular kind of task
auto task_client_ = std::make_unique<nav2_tasks::ExecuteMissionTaskClient>(node);
// Create the input and output
auto cmd = std::make_shared<nav2_tasks::ExecuteMissionCommand>();
auto result = std::make_shared<nav2_tasks::ExecuteMissionResult>();
// Set the mission_plan field to the XML input
cmd->mission_plan = mission_plan;
// Send this message to the task server
task_client_->sendCommand(cmd);
// Loop until the tasks is complete
for (;; ) {
// Get the status of the remote task server
TaskStatus status = task_client_->waitForResult(result, 100ms);
switch (status) {
case TaskStatus::SUCCEEDED:
printf("Task succeeded\n");
return;
case TaskStatus::FAILED:
printf("Task failed\n");
return;
case TaskStatus::CANCELED:
printf("Task cancelled\n");
return;
case TaskStatus::RUNNING:
// Continue waiting for task to complete
break;
default:
throw std::logic_error("Invalid status value");
}
}
}
```
## Open Issues
* **Schema definition and XML document validation** - Currently, there is no dynamic validation of incoming XML. The Behavior-Tree.CPP library is using tinyxml2, which doesn't have a validator. Instead, we can create a schema for the Mission Planning-level XML and use build-time validation of the XML input to ensure that it is well-formed and valid.
nav2_mission_executor/include/nav2_mission_executor/execute_mission_behavior_tree.hpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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_MISSION_EXECUTOR__EXECUTE_MISSION_BEHAVIOR_TREE_HPP_
#define NAV2_MISSION_EXECUTOR__EXECUTE_MISSION_BEHAVIOR_TREE_HPP_
#include "rclcpp/rclcpp.hpp"
#include "nav2_tasks/behavior_tree_engine.hpp"
namespace nav2_mission_executor
{
class ExecuteMissionBehaviorTree : public nav2_tasks::BehaviorTreeEngine
{
public:
ExecuteMissionBehaviorTree();
};
} // namespace nav2_mission_executor
#endif // NAV2_MISSION_EXECUTOR__EXECUTE_MISSION_BEHAVIOR_TREE_HPP_
nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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_MISSION_EXECUTOR__MISSION_EXECUTOR_HPP_
#define NAV2_MISSION_EXECUTOR__MISSION_EXECUTOR_HPP_
#include <memory>
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_msgs/action/execute_mission.hpp"
#include "nav2_util/simple_action_server.hpp"
namespace nav2_mission_executor
{
class MissionExecutor : public nav2_util::LifecycleNode
{
public:
MissionExecutor();
~MissionExecutor();
protected:
// Implement the lifecycle interface
nav2_util::CallbackReturn on_configure(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_activate(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_cleanup(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_shutdown(const rclcpp_lifecycle::State & state) override;
nav2_util::CallbackReturn on_error(const rclcpp_lifecycle::State & state) override;
using GoalHandle = rclcpp_action::ServerGoalHandle<nav2_msgs::action::ExecuteMission>;
using ActionServer = nav2_util::SimpleActionServer<nav2_msgs::action::ExecuteMission>;
// Out action server implements the ExecuteMission action
std::unique_ptr<ActionServer> action_server_;
// The action server callback
void executeMission(const std::shared_ptr<GoalHandle> goal_handle);
// A regular, non-spinning ROS node that we can use for the Behavior Tree
rclcpp::Node::SharedPtr client_node_;
};
} // namespace nav2_mission_executor
#endif // NAV2_MISSION_EXECUTOR__MISSION_EXECUTOR_HPP_
nav2_mission_executor/package.xml deleted 100644 → 0
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_mission_executor</name>
<version>0.1.5</version>
<description>TODO</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_action</build_depend>
<build_depend>rclcpp_lifecycle</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_msgs</build_depend>
<build_depend>nav2_util</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>behaviortree_cpp</build_depend>
<build_depend>nav2_common</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_action</exec_depend>
<exec_depend>rclcpp_lifecycle</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
<exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav2_util</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>behaviortree_cpp</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<test_depend>launch</test_depend>
<test_depend>launch_testing</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
nav2_mission_executor/src/execute_mission_behavior_tree.cpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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 "nav2_mission_executor/execute_mission_behavior_tree.hpp"
#include "nav2_tasks/navigate_to_pose_action.hpp"
using namespace std::chrono_literals;
namespace nav2_mission_executor
{
ExecuteMissionBehaviorTree::ExecuteMissionBehaviorTree()
{
// Register our custom action nodes so that they can be included in XML description
factory_.registerNodeType<nav2_tasks::NavigateToPoseAction>("NavigateToPose");
}
} // namespace nav2_mission_executor
nav2_mission_executor/src/main.cpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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 <memory>
#include "nav2_mission_executor/mission_executor.hpp"
#include "rclcpp/rclcpp.hpp"
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<nav2_mission_executor::MissionExecutor>();
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}
nav2_mission_executor/src/mission_executor.cpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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 "nav2_mission_executor/mission_executor.hpp"
#include <string>
#include <memory>
#include "nav2_mission_executor/execute_mission_behavior_tree.hpp"
namespace nav2_mission_executor
{
MissionExecutor::MissionExecutor()
: nav2_util::LifecycleNode("mission_executor", "", true)
{
RCLCPP_INFO(get_logger(), "Creating");
}
MissionExecutor::~MissionExecutor()
{
RCLCPP_INFO(get_logger(), "Destroying");
}
nav2_util::CallbackReturn
MissionExecutor::on_configure(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Configuring");
client_node_ = std::make_shared<rclcpp::Node>("mission_executor_client_node");
// Create the action server that we implement with our executeMission method
action_server_ = std::make_unique<ActionServer>(rclcpp_node_, "ExecuteMission",
std::bind(&MissionExecutor::executeMission, this, std::placeholders::_1));
return nav2_util::CallbackReturn::SUCCESS;
}
nav2_util::CallbackReturn
MissionExecutor::on_activate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Activating");
return nav2_util::CallbackReturn::SUCCESS;
}
nav2_util::CallbackReturn
MissionExecutor::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Deactivating");
return nav2_util::CallbackReturn::SUCCESS;
}
nav2_util::CallbackReturn
MissionExecutor::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Cleaning up");
client_node_.reset();
action_server_.reset();
return nav2_util::CallbackReturn::SUCCESS;
}
nav2_util::CallbackReturn
MissionExecutor::on_error(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_FATAL(get_logger(), "Lifecycle node entered error state");
return nav2_util::CallbackReturn::SUCCESS;
}
nav2_util::CallbackReturn
MissionExecutor::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
{
RCLCPP_INFO(get_logger(), "Shutting down");
return nav2_util::CallbackReturn::SUCCESS;
}
void
MissionExecutor::executeMission(const std::shared_ptr<GoalHandle> goal_handle)
{
// Initialize the goal and result
auto goal = goal_handle->get_goal();
auto result = std::make_shared<nav2_msgs::action::ExecuteMission::Result>();
// Get a convenient reference to the mission plan string
const std::string & xml_string = goal->mission_plan.mission_plan;
RCLCPP_INFO(get_logger(), "Executing mission plan: %s", xml_string.c_str());
// Create the blackboard that will be shared by all of the nodes in the tree
BT::Blackboard::Ptr blackboard = BT::Blackboard::create<BT::BlackboardLocal>();
// Set a couple values on the blackboard that all of the nodes require
blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_); // NOLINT
blackboard->set<std::chrono::milliseconds>("node_loop_timeout", // NOLINT
std::chrono::milliseconds(100));
// Create the Behavior Tree for this mission
ExecuteMissionBehaviorTree bt;
// Run the Behavior Tree
auto is_canceling = [goal_handle]() -> bool {return goal_handle->is_canceling();};
nav2_tasks::BtStatus rc = bt.run(blackboard, xml_string, is_canceling);
// Handle the result
switch (rc) {
case nav2_tasks::BtStatus::SUCCEEDED:
RCLCPP_INFO(get_logger(), "Mission succeeded");
goal_handle->succeed(result);
return;
case nav2_tasks::BtStatus::FAILED:
RCLCPP_ERROR(get_logger(), "Mission failed");
goal_handle->abort(result);
return;
case nav2_tasks::BtStatus::CANCELED:
RCLCPP_INFO(get_logger(), "Mission canceled");
goal_handle->canceled(result);
return;
default:
throw std::logic_error("Invalid status return from BT");
}
}
} // namespace nav2_mission_executor
nav2_mission_executor/test/CMakeLists.txt deleted 100644 → 0
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ament_add_gtest(test_mission_executor test_mission_executor.cpp)
ament_target_dependencies(test_mission_executor ${dependencies})
target_link_libraries(test_mission_executor ${library_name})
nav2_mission_executor/test/test_mission_executor.cpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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 <memory>
// #include "gtest/gtest.h"
#include "nav2_msgs/action/execute_mission.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
static const char xml_text[] =
R"(
<root main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<Sequence name="root">
<NavigateToPose position="1;2;0" orientation="0;0;0;1"/>
</Sequence>
</BehaviorTree>
</root>
)";
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("mission_executor_test_node");
auto action_client =
rclcpp_action::create_client<nav2_msgs::action::ExecuteMission>(node, "ExecuteMission");
action_client->wait_for_action_server();
// The goal contains the XML representation of the BT
auto goal = nav2_msgs::action::ExecuteMission::Goal();
goal.mission_plan.mission_plan = xml_text;
// Send the goal
auto future_goal_handle = action_client->async_send_goal(goal);
if (rclcpp::spin_until_future_complete(node, future_goal_handle) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "send goal call failed");
return 1;
}
auto goal_handle = future_goal_handle.get();
if (!goal_handle) {
RCLCPP_ERROR(node->get_logger(), "Goal was rejected by server");
return 1;
}
// Wait for the result
auto future_result = goal_handle->async_result();
if (rclcpp::spin_until_future_complete(node, future_result) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "get result call failed");
return 1;
}
auto wrapped_result = future_result.get();
int rc = 0;
switch (wrapped_result.code) {
case rclcpp_action::ResultCode::SUCCEEDED:
break;
case rclcpp_action::ResultCode::ABORTED:
case rclcpp_action::ResultCode::CANCELED:
default:
RCLCPP_ERROR(node->get_logger(), "Mission failed");
rc = 1;
break;
}
rclcpp::shutdown();
return rc;
}
nav2_msgs/CMakeLists.txt
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......@@ -14,7 +14,6 @@ nav2_package()
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Costmap.msg"
"msg/CostmapMetaData.msg"
"msg/MissionPlan.msg"
"msg/Path.msg"
"msg/VoxelGrid.msg"
"srv/GetCostmap.srv"
......@@ -23,7 +22,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"srv/ClearEntireCostmap.srv"
"action/BackUp.action"
"action/ComputePathToPose.action"
"action/ExecuteMission.action"
"action/FollowPath.action"
"action/NavigateToPose.action"
"action/Spin.action"
......
nav2_msgs/action/ExecuteMission.action deleted 100644 → 0
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#goal definition
nav2_msgs/MissionPlan mission_plan
---
#result definition
std_msgs/Empty result
---
#feedback
nav2_msgs/msg/MissionPlan.msg deleted 100644 → 0
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std_msgs/Header header
string mission_plan
nav2_tasks/include/nav2_tasks/execute_mission_action.hpp deleted 100644 → 0
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// Copyright (c) 2018 Intel Corporation
//
// 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_TASKS__EXECUTE_MISSION_ACTION_HPP_
#define NAV2_TASKS__EXECUTE_MISSION_ACTION_HPP_
#include "nav2_tasks/bt_action_node.hpp"
#include "nav2_tasks/execute_mission_task.hpp"
namespace nav2_tasks
{
using ExecuteMissionAction = BtActionNode<ExecuteMissionCommand, ExecuteMissionResult>;
} // namespace nav2_tasks
#endif // NAV2_TASKS__EXECUTE_MISSION_ACTION_HPP_
navigation2/package.xml
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......@@ -19,7 +19,6 @@
<exec_depend>nav2_dwb_controller</exec_depend>
<exec_depend>nav2_lifecycle_manager</exec_depend>
<exec_depend>nav2_map_server</exec_depend>
<exec_depend>nav2_mission_executor</exec_depend>
<exec_depend>nav2_motion_primitives</exec_depend>
<exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav2_navfn_planner</exec_depend>
......
tools/run_test_suite.bash
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......@@ -7,7 +7,7 @@ SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" # gets the direc
# Skip flaky tests. Nav2 system tests will be run later.
colcon test --packages-skip nav2_system_tests nav2_dynamic_params nav2_motion_primitives \
nav2_bt_navigator nav2_costmap_2d nav2_lifecycle_manager \
nav2_mission_executor nav2_tasks nav2_robot
nav2_tasks nav2_robot
# run the stable tests in nav2_dynamic_params
colcon test --packages-select nav2_dynamic_params --ctest-args --exclude-regex "test_dynamic_params_client"
......
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