From 465e4e1d70cf0bf4869c6297d7ad15ae7017bef5 Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Tue, 10 Sep 2019 14:33:26 -0700
Subject: [PATCH] removing nav2_msgs/path in favor of nav_msgs/Path which
inherently contains more information
---
.../nav2_behavior_tree/compute_path_to_pose_action.hpp | 3 ++-
.../include/nav2_behavior_tree/follow_path_action.hpp | 4 ++--
.../include/nav2_bt_navigator/bt_navigator.hpp | 4 ++--
nav2_bt_navigator/src/bt_navigator.cpp | 4 ++--
nav2_core/include/nav2_core/global_planner.hpp | 9 ++-------
nav2_core/include/nav2_core/recovery.hpp | 5 -----
.../include/dwb_controller/dwb_controller.hpp | 2 +-
.../dwb_controller/src/dwb_controller.cpp | 2 +-
.../nav_2d_utils/include/nav_2d_utils/conversions.hpp | 3 +--
nav2_dwb_controller/nav_2d_utils/src/conversions.cpp | 4 ++--
nav2_msgs/CMakeLists.txt | 4 ++--
nav2_msgs/action/ComputePathToPose.action | 2 +-
nav2_msgs/action/FollowPath.action | 2 +-
nav2_msgs/msg/Path.msg | 4 ----
nav2_msgs/package.xml | 1 +
nav2_navfn_planner/CMakeLists.txt | 1 +
nav2_system_tests/src/planning/planner_tester.hpp | 4 ++--
.../src/planning/test_planner_costmaps_node.cpp | 2 +-
.../src/planning/test_planner_random_node.cpp | 2 +-
19 files changed, 25 insertions(+), 37 deletions(-)
delete mode 100644 nav2_msgs/msg/Path.msg
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp
index c4c29ed0..32483fd4 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp
@@ -19,6 +19,7 @@
#include <string>
#include "nav2_msgs/action/compute_path_to_pose.hpp"
+#include "nav_msgs/msg/path.h"
#include "nav2_behavior_tree/bt_action_node.hpp"
namespace nav2_behavior_tree
@@ -39,7 +40,7 @@ public:
void on_success() override
{
- *(blackboard()->get<nav2_msgs::msg::Path::SharedPtr>("path")) = result_.result->path;
+ *(blackboard()->get<nav_msgs::msg::Path::SharedPtr>("path")) = result_.result->path;
if (first_time_) {
first_time_ = false;
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
index 923eddc8..c0e35a55 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp
@@ -39,7 +39,7 @@ public:
void on_tick() override
{
- goal_.path = *(blackboard()->get<nav2_msgs::msg::Path::SharedPtr>("path"));
+ goal_.path = *(blackboard()->get<nav_msgs::msg::Path::SharedPtr>("path"));
}
void on_loop_timeout() override
@@ -51,7 +51,7 @@ public:
// Grab the new goal and set the flag so that we send the new goal to
// the action server on the next loop iteration
- goal_.path = *(blackboard()->get<nav2_msgs::msg::Path::SharedPtr>("path"));
+ goal_.path = *(blackboard()->get<nav_msgs::msg::Path::SharedPtr>("path"));
goal_updated_ = true;
}
}
diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
index ee1abeff..a468f937 100644
--- a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -23,7 +23,7 @@
#include "nav2_behavior_tree/behavior_tree_engine.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_msgs/action/navigate_to_pose.hpp"
-#include "nav2_msgs/msg/path.hpp"
+#include "nav_msgs/msg/path.hpp"
#include "nav2_util/simple_action_server.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
@@ -67,7 +67,7 @@ protected:
std::shared_ptr<geometry_msgs::msg::PoseStamped> goal_;
// The path (on the blackboard) to be returned from ComputePath and sent to the FollowPath task
- std::shared_ptr<nav2_msgs::msg::Path> path_;
+ std::shared_ptr<nav_msgs::msg::Path> path_;
// The XML string that defines the Behavior Tree to create
std::string xml_string_;
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 7601a88b..e9751ee1 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -69,14 +69,14 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
// Create the path that will be returned from ComputePath and sent to FollowPath
goal_ = std::make_shared<geometry_msgs::msg::PoseStamped>();
- path_ = std::make_shared<nav2_msgs::msg::Path>();
+ path_ = std::make_shared<nav_msgs::msg::Path>();
// Create the blackboard that will be shared by all of the nodes in the tree
blackboard_ = BT::Blackboard::create<BT::BlackboardLocal>();
// Put items on the blackboard
blackboard_->set<geometry_msgs::msg::PoseStamped::SharedPtr>("goal", goal_); // NOLINT
- blackboard_->set<nav2_msgs::msg::Path::SharedPtr>("path", path_); // NOLINT
+ blackboard_->set<nav_msgs::msg::Path::SharedPtr>("path", path_); // NOLINT
blackboard_->set<rclcpp::Node::SharedPtr>("node", client_node_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("node_loop_timeout", std::chrono::milliseconds(10)); // NOLINT
blackboard_->set<bool>("path_updated", false); // NOLINT
diff --git a/nav2_core/include/nav2_core/global_planner.hpp b/nav2_core/include/nav2_core/global_planner.hpp
index 810433ef..92d28ea4 100644
--- a/nav2_core/include/nav2_core/global_planner.hpp
+++ b/nav2_core/include/nav2_core/global_planner.hpp
@@ -19,7 +19,7 @@
#include "rclcpp/rclcpp.h"
#include "nav2_costmap_2d/nav2_costmap_2d.hpp"
#include "tf2_ros/Buffer.h"
-#include "nav2_msgs/msg/path.h"
+#include "nav_msgs/msg/path.h"
#include "geometry_msgs/msg/pose_stamped.h"
namespace nav2_core
@@ -62,18 +62,13 @@ public:
*/
virtual void deactivate() = 0;
- /**
- * @brief Method to shutdown planner and any threads involved in execution.
- */
- virtual void shutdown() = 0;
-
/**
* @brief Method create the plan from a starting and ending goal.
* @param start The starting pose of the robot
* @param goal The goal pose of the robot
* @return The sequence of poses to get from start to goal, if any
*/
- virtual nav2_msgs::Path createPlan(
+ virtual nav_msgs::msg::Path createPlan(
const geometry_msgs::msg::PoseStamped & start,
const geometry_msgs::msg::PoseStamped & goal) = 0;
};
diff --git a/nav2_core/include/nav2_core/recovery.hpp b/nav2_core/include/nav2_core/recovery.hpp
index e097a026..1945b87d 100644
--- a/nav2_core/include/nav2_core/recovery.hpp
+++ b/nav2_core/include/nav2_core/recovery.hpp
@@ -58,11 +58,6 @@ public:
*/
virtual void deactivate() = 0;
- /**
- * @brief Method to shutdown recovery and any threads involved in execution.
- */
- virtual void shutdown() = 0;
-
/**
* @brief Method Execute recovery behavior
* @param name The name of this planner
diff --git a/nav2_dwb_controller/dwb_controller/include/dwb_controller/dwb_controller.hpp b/nav2_dwb_controller/dwb_controller/include/dwb_controller/dwb_controller.hpp
index 25fa4901..c67d86a0 100644
--- a/nav2_dwb_controller/dwb_controller/include/dwb_controller/dwb_controller.hpp
+++ b/nav2_dwb_controller/dwb_controller/include/dwb_controller/dwb_controller.hpp
@@ -56,7 +56,7 @@ protected:
// The action server callback
void followPath();
- void setPlannerPath(const nav2_msgs::msg::Path & path);
+ void setPlannerPath(const nav_msgs::msg::Path & path);
void computeAndPublishVelocity();
void updateGlobalPath();
void publishVelocity(const nav_2d_msgs::msg::Twist2DStamped & velocity);
diff --git a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
index 175a2b61..56ee2077 100644
--- a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
+++ b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
@@ -206,7 +206,7 @@ void DwbController::followPath()
action_server_->succeeded_current();
}
-void DwbController::setPlannerPath(const nav2_msgs::msg::Path & path)
+void DwbController::setPlannerPath(const nav_msgs::msg::Path & path)
{
auto path2d = nav_2d_utils::pathToPath2D(path);
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
index 5dcac8c3..618ef0e1 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
@@ -45,7 +45,6 @@
#include "nav_msgs/msg/path.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2/convert.h"
-#include "nav2_msgs/msg/path.hpp"
namespace nav_2d_utils
{
@@ -60,7 +59,7 @@ geometry_msgs::msg::PoseStamped pose2DToPoseStamped(
const geometry_msgs::msg::Pose2D & pose2d,
const std::string & frame, const rclcpp::Time & stamp);
nav_msgs::msg::Path posesToPath(const std::vector<geometry_msgs::msg::PoseStamped> & poses);
-nav_2d_msgs::msg::Path2D pathToPath2D(const nav2_msgs::msg::Path & path);
+nav_2d_msgs::msg::Path2D pathToPath2D(const nav_msgs::msg::Path & path);
nav_msgs::msg::Path poses2DToPath(
const std::vector<geometry_msgs::msg::Pose2D> & poses,
const std::string & frame, const rclcpp::Time & stamp);
diff --git a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
index 8a6da006..b21f05bf 100644
--- a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
+++ b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
@@ -130,12 +130,12 @@ nav_msgs::msg::Path posesToPath(const std::vector<geometry_msgs::msg::PoseStampe
return path;
}
-nav_2d_msgs::msg::Path2D pathToPath2D(const nav2_msgs::msg::Path & path)
+nav_2d_msgs::msg::Path2D pathToPath2D(const nav_msgs::msg::Path & path)
{
nav_2d_msgs::msg::Path2D path2d;
path2d.header = path.header;
for (auto & pose : path.poses) {
- path2d.poses.push_back(poseToPose2D(pose));
+ path2d.poses.push_back(poseToPose2D(pose.pose));
}
return path2d;
}
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
index 2061a6f6..6e07807d 100644
--- a/nav2_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -4,6 +4,7 @@ project(nav2_msgs)
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(builtin_interfaces REQUIRED)
+find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
@@ -14,7 +15,6 @@ nav2_package()
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Costmap.msg"
"msg/CostmapMetaData.msg"
- "msg/Path.msg"
"msg/VoxelGrid.msg"
"srv/GetCostmap.srv"
"srv/ClearCostmapExceptRegion.srv"
@@ -28,7 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"action/Spin.action"
"action/DummyRecovery.action"
"action/RandomCrawl.action"
- DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs
+ DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs
)
ament_export_dependencies(rosidl_default_runtime)
diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action
index 4af3b3da..0a6b62ee 100644
--- a/nav2_msgs/action/ComputePathToPose.action
+++ b/nav2_msgs/action/ComputePathToPose.action
@@ -2,6 +2,6 @@
geometry_msgs/PoseStamped pose
---
#result definition
-nav2_msgs/Path path
+nav_msgs/Path path
---
#feedback
diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action
index 33487826..b73cbf3a 100644
--- a/nav2_msgs/action/FollowPath.action
+++ b/nav2_msgs/action/FollowPath.action
@@ -1,5 +1,5 @@
#goal definition
-nav2_msgs/Path path
+nav_msgs/Path path
---
#result definition
std_msgs/Empty result
diff --git a/nav2_msgs/msg/Path.msg b/nav2_msgs/msg/Path.msg
deleted file mode 100644
index 5a096b91..00000000
--- a/nav2_msgs/msg/Path.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-std_msgs/Header header
-
-# An array of poses that represents a Path for a robot to follow
-geometry_msgs/Pose[] poses
\ No newline at end of file
diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml
index 1b3c725d..76217cce 100644
--- a/nav2_msgs/package.xml
+++ b/nav2_msgs/package.xml
@@ -18,6 +18,7 @@
<depend>rosidl_default_generators</depend>
<depend>geometry_msgs</depend>
<depend>action_msgs</depend>
+ <depend>nav_msgs</depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index 4949da40..8b7271ec 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_util REQUIRED)
+find_package(nav2_core REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
diff --git a/nav2_system_tests/src/planning/planner_tester.hpp b/nav2_system_tests/src/planning/planner_tester.hpp
index 5dfacacd..29be48d0 100644
--- a/nav2_system_tests/src/planning/planner_tester.hpp
+++ b/nav2_system_tests/src/planning/planner_tester.hpp
@@ -73,7 +73,7 @@ public:
bool createPath(
const geometry_msgs::msg::PoseStamped & goal,
- nav2_msgs::msg::Path & path)
+ nav_msgs::msg::Path & path)
{
geometry_msgs::msg::PoseStamped start;
if (!nav2_util::getCurrentPose(start, *tf_, "map", "base_link", 0.1)) {
@@ -115,7 +115,7 @@ class PlannerTester : public rclcpp::Node, public ::testing::Test
{
public:
using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped;
- using ComputePathToPoseResult = nav2_msgs::msg::Path;
+ using ComputePathToPoseResult = nav_msgs::msg::Path;
PlannerTester();
~PlannerTester();
diff --git a/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp b/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp
index 6d43a1c5..b12889a1 100644
--- a/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp
+++ b/nav2_system_tests/src/planning/test_planner_costmaps_node.cpp
@@ -26,7 +26,7 @@ using nav2_system_tests::PlannerTester;
using nav2_util::TestCostmap;
using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped;
-using ComputePathToPoseResult = nav2_msgs::msg::Path;
+using ComputePathToPoseResult = nav_msgs::msg::Path;
// rclcpp::init can only be called once per process, so this needs to be a global variable
class RclCppFixture
diff --git a/nav2_system_tests/src/planning/test_planner_random_node.cpp b/nav2_system_tests/src/planning/test_planner_random_node.cpp
index 51c60ac5..f37d6d81 100644
--- a/nav2_system_tests/src/planning/test_planner_random_node.cpp
+++ b/nav2_system_tests/src/planning/test_planner_random_node.cpp
@@ -26,7 +26,7 @@ using nav2_system_tests::PlannerTester;
using nav2_util::TestCostmap;
using ComputePathToPoseCommand = geometry_msgs::msg::PoseStamped;
-using ComputePathToPoseResult = nav2_msgs::msg::Path;
+using ComputePathToPoseResult = nav_msgs::msg::Path;
// rclcpp::init can only be called once per process, so this needs to be a global variable
class RclCppFixture
--
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