change planner name to planner property

nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp

@@ -38,7 +38,7 @@ public:
   void on_tick() override
   {
     getInput("goal", goal_.pose);
-    getInput("planner_name", goal_.planner_name);
+    getInput("planner_property", goal_.planner_property);
   }
 
   void on_success() override
@@ -57,7 +57,7 @@ public:
     return providedBasicPorts({
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
-        BT::InputPort<std::string>("planner_name", "")
+        BT::InputPort<std::string>("planner_property", "")
       });
   }
 

nav2_bringup/bringup/launch/nav2_localization_launch.py

@@ -41,12 +41,8 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [((namespace, '/tf'), '/tf'),
                   ((namespace, '/tf_static'), '/tf_static'),
-                  ('/scan', 'scan'),
                   ('/tf', 'tf'),
-                  ('/tf_static', 'tf_static'),
-                  ('/cmd_vel', 'cmd_vel'),
-                  ('/map', 'map'),
-                  ('/goal_pose', 'goal_pose')]
+                  ('/tf_static', 'tf_static')]
 
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {

nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py

@@ -50,7 +50,7 @@ def generate_launch_description():
 
     # On this example all robots are launched with the same settings
     map_yaml_file = LaunchConfiguration('map')
-    params_file = LaunchConfiguration('params_file')
+
     bt_xml_file = LaunchConfiguration('bt_xml_file')
     autostart = LaunchConfiguration('autostart')
     rviz_config_file = LaunchConfiguration('rviz_config')
@@ -74,10 +74,15 @@ def generate_launch_description():
         default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
         description='Full path to map file to load')
 
-    declare_params_file_cmd = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-        description='Full path to the ROS2 parameters file to use for all launched nodes')
+    declare_robot1_params_file_cmd = DeclareLaunchArgument(
+        'robot1_params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_1.yaml'),
+        description='Full path to the ROS2 parameters file to use for robot1 launched nodes')
+
+    declare_robot2_params_file_cmd = DeclareLaunchArgument(
+        'robot2_params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_multirobot_params_2.yaml'),
+        description='Full path to the ROS2 parameters file to use for robot2 launched nodes')
 
     declare_bt_xml_cmd = DeclareLaunchArgument(
         'bt_xml_file',
@@ -132,6 +137,8 @@ def generate_launch_description():
             source_file=rviz_config_file,
             replacements={'<robot_namespace>': ('/' + robot['name'])})
 
+        params_file = LaunchConfiguration(robot['name'] + '_params_file')
+
         group = GroupAction([
             # TODO(orduno)
             # Each `action.Node` within the `localization` and `navigation` launch
@@ -204,7 +211,8 @@ def generate_launch_description():
     ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
     ld.add_action(declare_map_yaml_cmd)
-    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_robot1_params_file_cmd)
+    ld.add_action(declare_robot2_params_file_cmd)
     ld.add_action(declare_bt_xml_cmd)
     ld.add_action(declare_use_rviz_cmd)
     ld.add_action(declare_autostart_cmd)

nav2_bringup/bringup/launch/nav2_navigation_launch.py

@@ -42,12 +42,8 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [((namespace, '/tf'), '/tf'),
                   ((namespace, '/tf_static'), '/tf_static'),
-                  ('/scan', 'scan'),
                   ('/tf', 'tf'),
-                  ('/tf_static', 'tf_static'),
-                  ('/cmd_vel', 'cmd_vel'),
-                  ('/map', 'map'),
-                  ('/goal_pose', 'goal_pose')]
+                  ('/tf_static', 'tf_static')]
 
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {

nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py

@@ -16,7 +16,7 @@
 
 import os
 
-from ament_index_python.packages import get_package_prefix, get_package_share_directory
+from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.actions import (DeclareLaunchArgument, EmitEvent, ExecuteProcess,
@@ -56,11 +56,8 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [((namespace, '/tf'), '/tf'),
                   ((namespace, '/tf_static'), '/tf_static'),
-                  ('/scan', 'scan'),
                   ('/tf', 'tf'),
-                  ('/tf_static', 'tf_static'),
-                  ('/cmd_vel', 'cmd_vel'),
-                  ('/map', 'map')]
+                  ('/tf_static', 'tf_static')]
 
     # Declare the launch arguments
     declare_namespace_cmd = DeclareLaunchArgument(
@@ -152,37 +149,19 @@ def generate_launch_description():
         remappings=remappings,
         arguments=[urdf])
 
-    # TODO(orduno) RVIZ crashing if launched as a node: https://github.com/ros2/rviz/issues/442
-    #              Launching as node works after applying the change described on the github issue.
-    #              Once fixed, launch by providing the remappings:
-    # rviz_remappings = [('/tf', 'tf'),
-    #                    ('/tf_static', 'tf_static'),
-    #                    ('goal_pose', 'goal_pose'),
-    #                    ('/clicked_point', 'clicked_point'),
-    #                    ('/initialpose', 'initialpose'),
-    #                    ('/parameter_events', 'parameter_events'),
-    #                    ('/rosout', 'rosout')]
-
-    # start_rviz_cmd = Node(
-    #     package='rviz2',
-    #     node_executable='rviz2',
-    #     node_name='rviz2',
-    #     arguments=['-d', rviz_config_file],
-    #     output='screen',
-    #     use_remappings=IfCondition(use_remappings),
-    #     remappings=rviz_remappings)
-
-    start_rviz_cmd = ExecuteProcess(
+    start_rviz_cmd = Node(
         condition=IfCondition(use_rviz),
-        cmd=[os.path.join(get_package_prefix('rviz2'), 'lib/rviz2/rviz2'),
-             ['-d', rviz_config_file],
-             ['__ns:=/', namespace],
-             '/tf:=tf',
-             '/tf_static:=tf_static',
-             '/goal_pose:=goal_pose',
-             '/clicked_point:=clicked_point',
-             '/initialpose:=initialpose'],
-        cwd=[launch_dir], output='screen')
+        package='rviz2',
+        node_executable='rviz2',
+        node_name='rviz2',
+        arguments=['-d', rviz_config_file],
+        output='screen',
+        use_remappings=IfCondition(use_remappings),
+        remappings=[('/tf', 'tf'),
+                    ('/tf_static', 'tf_static'),
+                    ('goal_pose', 'goal_pose'),
+                    ('/clicked_point', 'clicked_point'),
+                    ('/initialpose', 'initialpose')])
 
     exit_event_handler = RegisterEventHandler(
         event_handler=OnProcessExit(

nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml

+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "differential"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+
+amcl_map_client:
+  ros__parameters:
+    use_sim_time: True
+
+amcl_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    debug_trajectory_details: True
+    min_vel_x: 0.0
+    min_vel_y: 0.0
+    max_vel_x: 0.26
+    max_vel_y: 0.0
+    max_vel_theta: 1.0
+    min_speed_xy: 0.0
+    max_speed_xy: 0.26
+    min_speed_theta: 0.0
+    min_x_velocity_threshold: 0.001
+    # Add high threshold velocity for turtlebot 3 issue.
+    # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    acc_lim_x: 2.5
+    acc_lim_y: 0.0
+    acc_lim_theta: 3.2
+    decel_lim_x: -2.5
+    decel_lim_y: 0.0
+    decel_lim_theta: -3.2
+    vx_samples: 20
+    vy_samples: 5
+    vtheta_samples: 20
+    sim_time: 1.7
+    linear_granularity: 0.05
+    xy_goal_tolerance: 0.25
+    transform_tolerance: 0.2
+    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+    BaseObstacle.scale: 0.02
+    PathAlign.scale: 0.0
+    GoalAlign.scale: 0.0
+    PathDist.scale: 32.0
+    GoalDist.scale: 24.0
+    RotateToGoal.scale: 32.0
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: True
+      global_frame: odom
+      plugin_names: ["obstacle_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      inflation_layer.cost_scaling_factor: 3.0
+      obstacle_layer:
+        enabled: True
+        scan:
+          topic: /robot1/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+      observation_sources: scan
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: True
+      robot_radius: 0.22
+      obstacle_layer:
+        enabled: True
+        scan:
+          topic: /robot1/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+      observation_sources: scan
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: "turtlebot3_world.yaml"
+
+planner_server:
+  ros__parameters:
+    use_sim_time: True
+    tolerance: 0.0
+    use_astar: false
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True

nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml

+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "differential"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+
+amcl_map_client:
+  ros__parameters:
+    use_sim_time: True
+
+amcl_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    debug_trajectory_details: True
+    min_vel_x: 0.0
+    min_vel_y: 0.0
+    max_vel_x: 0.26
+    max_vel_y: 0.0
+    max_vel_theta: 1.0
+    min_speed_xy: 0.0
+    max_speed_xy: 0.26
+    min_speed_theta: 0.0
+    min_x_velocity_threshold: 0.001
+    # Add high threshold velocity for turtlebot 3 issue.
+    # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    acc_lim_x: 2.5
+    acc_lim_y: 0.0
+    acc_lim_theta: 3.2
+    decel_lim_x: -2.5
+    decel_lim_y: 0.0
+    decel_lim_theta: -3.2
+    vx_samples: 20
+    vy_samples: 5
+    vtheta_samples: 20
+    sim_time: 1.7
+    linear_granularity: 0.05
+    xy_goal_tolerance: 0.25
+    transform_tolerance: 0.2
+    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+    BaseObstacle.scale: 0.02
+    PathAlign.scale: 0.0
+    GoalAlign.scale: 0.0
+    PathDist.scale: 32.0
+    GoalDist.scale: 24.0
+    RotateToGoal.scale: 32.0
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: True
+      global_frame: odom
+      plugin_names: ["obstacle_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      inflation_layer.cost_scaling_factor: 3.0
+      obstacle_layer:
+        enabled: True
+        scan:
+          topic: /robot2/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+      observation_sources: scan
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: True
+      robot_radius: 0.22
+      obstacle_layer:
+        enabled: True
+        scan:
+          topic: /robot2/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+      observation_sources: scan
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: "turtlebot3_world.yaml"
+
+planner_server:
+  ros__parameters:
+    use_sim_time: True
+    tolerance: 0.0
+    use_astar: false
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True

nav2_bringup/bringup/params/nav2_params.yaml

@@ -102,25 +102,42 @@ local_costmap:
     ros__parameters:
       use_sim_time: True
       global_frame: odom
-      plugin_names: ["obstacle_layer", "inflation_layer"]
-      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+      plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
       rolling_window: true
       width: 3
       height: 3
       resolution: 0.05
       robot_radius: 0.22
-      inflation_layer.cost_scaling_factor: 3.0
+      inflation_layer:
+        cost_scaling_factor: 3.0
       obstacle_layer:
         enabled: True
+        observation_sources: scan
         scan:
           topic: /scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
+          data_type: "LaserScan"
+      voxel_layer:
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.2
+        z_voxels: 10
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: pointcloud
+        pointcloud:
+          topic: /intel_realsense_r200_depth/points
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-      observation_sources: scan
   local_costmap_client:
     ros__parameters:
       use_sim_time: True
@@ -132,18 +149,36 @@ global_costmap:
   global_costmap:
     ros__parameters:
       use_sim_time: True
+      plugin_names: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
       robot_radius: 0.22
       obstacle_layer:
         enabled: True
+        observation_sources: scan
         scan:
           topic: /scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
+          data_type: "LaserScan"
+      voxel_layer:
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.2
+        z_voxels: 10
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: pointcloud
+        pointcloud:
+          topic: /intel_realsense_r200_depth/points
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
       static_layer:
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-      observation_sources: scan
   global_costmap_client:
     ros__parameters:
       use_sim_time: True

nav2_bt_navigator/README.md

@@ -37,7 +37,7 @@ The BT Navigator package has two sample XML-based descriptions of BTs.  These tr
       <RateController hz="1.0">
         <Fallback>
           <GoalReached/>
-          <ComputePathToPose goal="${goal}" planner_name="ComputePathToPose"/>
+          <ComputePathToPose goal="${goal}" planner_property="GridBased"/>
         </Fallback>
       </RateController>
       <FollowPath path="${path}"/>
@@ -55,7 +55,7 @@ Navigate with replanning is composed of the following custom decorator, conditio
 * GoalReached: Checks the distance to the goal, if the distance to goal is less than the pre-defined threshold, the tree returns SUCCESS, which in that case the `ComputePathToPose` action node will not get ticked.
 
 #### Action Nodes
-* ComputePathToPose: When this node is ticked, the goal will be placed on the blackboard which will be shared to the Behavior tree.  The bt action node would then utilizes the action server to send a request to the global planner to recompute the global path.  Once the global path is recomputed, the result will be sent back via action server and then the updated path will be placed on the blackboard. The `planner` parameter will tell the planning server which of the loaded planning plugins to utilize, in case of desiring different parameters, planners, or behaviors. The name of the planner should correspond with the high level task it accomplishes and align with the `planner_plugin_names` name given to it in the planner server. If no planner name is provided, it will use the only planner in the planner server when only one is available.
+* ComputePathToPose: When this node is ticked, the goal will be placed on the blackboard which will be shared to the Behavior tree.  The bt action node would then utilizes the action server to send a request to the global planner to recompute the global path.  Once the global path is recomputed, the result will be sent back via action server and then the updated path will be placed on the blackboard. The `planner` parameter will tell the planning server which of the loaded planning plugins to utilize, in case of desiring different parameters, planners, or behaviors. The name of the planner should correspond with the high level task it accomplishes and align with the `planner_property_names` name given to it in the planner server. If no planner name is provided, it will use the only planner in the planner server when only one is available.
 
 
 The graphical version of this Behavior Tree:

nav2_bt_navigator/behavior_trees/navigate_w_replanning.xml

@@ -8,7 +8,7 @@
       <RateController hz="1.0">
         <Fallback>
           <GoalReached/>
-          <ComputePathToPose goal="{goal}" planner_name="ComputePathToPose"/>
+          <ComputePathToPose goal="{goal}" planner_property="GridBased"/>
         </Fallback>
       </RateController>
       <FollowPath path="{path}"/>

nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml

@@ -10,7 +10,7 @@
           <Fallback name="GoalReached">
             <GoalReached/>
             <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-              <ComputePathToPose goal="{goal}" path="{path}" planner_name="ComputePathToPose"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_property="GridBased"/>
               <ClearEntireCostmap service_name="global_costmap/clear_entirely_global_costmap"/>
             </RecoveryNode>
           </Fallback>

nav2_bt_navigator/src/bt_navigator.cpp

@@ -62,7 +62,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_, this, false);
 
   goal_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "/goal_pose",
+    "goal_pose",
     rclcpp::SystemDefaultsQoS(),
     std::bind(&BtNavigator::onGoalPoseReceived, this, std::placeholders::_1));
 

nav2_controller/README.md

+# Nav2 Controller
+
+The Nav2 Controller is an [Execution Module](../doc/requirements/requirements.md) that implements the `nav2_msgs::action::FollowPath` action server.
+
+An execution module implementing the `nav2_msgs::action::FollowPath` action server is responsible for generating command velocities for the robot, given the computed path from the planner module in `nav2_planner`. The nav2_controller package is designed to be loaded with plugins for path execution. The plugins need to implement functions in the virtual base class defined in the `local_planner` header file in `nav2_core` package.
+
+
+Currently available controller plugins are: DWB, and [TEB (dashing release)](https://github.com/rst-tu-dortmund/teb_local_planner/tree/dashing-devel).
\ No newline at end of file

nav2_controller/src/nav2_controller.cpp

@@ -76,7 +76,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
   odom_sub_ = std::make_unique<nav_2d_utils::OdomSubscriber>(node);
-  vel_publisher_ = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 1);
+  vel_publisher_ = create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
 
   // Create the action server that we implement with our followPath method
   action_server_ = std::make_unique<ActionServer>(rclcpp_node_, "FollowPath",

nav2_core/README.md

+# Nav2 Core
+
+This package hosts the abstract interface (virtual base classes) for plugins to be used with the following:
+- global planner (e.g., `nav2_navfn_planner`)
+- local planner (i.e, path execution controller, e.g `nav2_dwb_controller`)
+- goal checker
+- recovery behaviors

nav2_core/include/nav2_core/local_planner.hpp

@@ -54,7 +54,7 @@ namespace nav2_core
 
 /**
  * @class LocalPlanner
- * @brief planner interface that will be inherited by all local planners
+ * @brief planner interface that acts as a virtual base class for all local planner plugins
  */
 class LocalPlanner
 {

nav2_costmap_2d/CMakeLists.txt

@@ -110,6 +110,10 @@ target_link_libraries(nav2_costmap_2d_markers
   nav2_costmap_2d_core
 )
 
+ament_target_dependencies(nav2_costmap_2d_markers
+  ${dependencies}
+)
+
 add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
 target_link_libraries(nav2_costmap_2d_cloud
   nav2_costmap_2d_core
@@ -125,7 +129,7 @@ target_link_libraries(nav2_costmap_2d
   layers
 )
 
-install(TARGETS nav2_costmap_2d_core nav2_costmap_2d layers nav2_costmap_2d_client
+install(TARGETS nav2_costmap_2d_core nav2_costmap_2d layers nav2_costmap_2d_client nav2_costmap_2d_markers
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}

nav2_costmap_2d/README.md

@@ -10,7 +10,86 @@ ROS2 port of the ROS1 navigation stack version, with minimal noteable changes ne
 widespread discussion throughout the navigation stack (see issue https://github.com/ros-planning/navigation2/issues/177) and 
 general ROS2 community. A proposal temporary replacement has been submitted as a PR here: https://github.com/ros-planning/navigation2/pull/196
 
+## How to configure using Voxel Layer plugin:
+By default, the navigation stack uses the _Obstacle Layer_ to avoid obstacles in 2D. The _Voxel Layer_ allows for detecting obstacles in 3D using Pointcloud2 data. It requires Pointcloud2 data being published on some topic. For simulation, a Gazebo model of the robot with depth camera enabled will publish a pointcloud topic.
+
+The Voxel Layer plugin can be used to update the local costmap, glocal costmap or both, depending on how you define it in the `nav2_params.yaml` file in the nav2_bringup directory. The voxel layer plugin has to be added to the list of ```plugin_names``` and ```plugin_types``` in the global/local costmap scopes in the param file. If these are not defined in the param file, the default plugins set in nav2_costmap_2d will be used.
+
+Inside each costmap layer (voxel, obstacle, etc) define `observation_sources` param. Here you can define multiple sources to be used with the layer. The param configuration example below shows the way you can configure costmaps to use voxel layer.
+
+The `voxel_layer` param has `observation_source: pointcloud` in it's scope, and the param `pointcloud` has `topic`, and `data_type` inside it's scope. By default, the data_type is `LaserScan`, thus you need to specify `PointCloud2` if you are using PointCould2 data from a depth sensor.
+
+Example param configuration snippet for enabling voxel layer in local costmap is shown below (not all params are shown):
+```
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
+      obstacle_layer:
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      voxel_layer:
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.2
+        z_voxels: 10
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: pointcloud
+        pointcloud:
+          topic: /intel_realsense_r200_depth/points
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+```
+Please note that not all params needed to run the navigation stack are shown here. This example only shows how you can add different costmap layers, with multiple input sources of different types.
+
+### To visualize the voxels in RVIZ:
+- Make sure `publish_voxel_map` in `voxel_layer` param's scope is set to `True`.
+- Open a new terminal and run:
+  ```ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker```
+    Here you can change `my_marker` to any topic name you like for the markers to be published on.
+
+- Then add `my_marker` to RVIZ using the GUI.
+
+
+####Errata:
+- To see the markers in 3D, you will need to change the _view_ in RVIZ to a 3 dimensional view (e.g. orbit) from the RVIZ GUI.
+- Currently due to some bug in rviz, you need to set the `fixed_frame` in the rviz display, to `odom` frame.
+- Using pointcloud data from a saved bag file while using gazebo simulation can be troublesome due to the clock time skipping to an earlier time.
+
+## How to use multiple sensor sources:
+Multiple sources can be added into a costmap layer (e.g., obstacle layer), by listing them under the 'observation_sources' for that layer.
+For example, to add laser scan and pointcloud as two different sources of inputs to the obstacle layer, you can define them in the params file as shown below for the local costmap:
+```
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      plugin_names: ["obstacle_layer", "inflation_layer"]
+      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+      obstacle_layer:
+        enabled: True
+        observation_sources: scan pointcloud
+        scan:
+          topic: /scan
+          data_type: "LaserScan"
+        pointcloud:
+          topic: /intel_realsense_r200_depth/points
+          data_type: "PointCloud2"
+```
+In order to add multiple sources to the global costmap, follow the same procedure shown in the example above, but now adding the sources and their specific params under the `global_costmap` scope.
+
 ## Future Plans
 - Conceptually, the costmap_2d model acts as a world model of what is known from the map, sensor, robot pose, etc. We'd like
 to broaden this world model concept and use costmap's layer concept as motivation for providing a service-style interface to
 potential clients needing information about the world (see issue https://github.com/ros-planning/navigation2/issues/18)
+

nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp

@@ -94,7 +94,7 @@ private:
     double * max_y);
 
   bool publish_voxel_;
-  rclcpp::Publisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
+  rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
   nav2_voxel_grid::VoxelGrid voxel_grid_;
   double z_resolution_, origin_z_;
   int unknown_threshold_, mark_threshold_, size_z_;

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -80,6 +80,7 @@ void ObstacleLayer::onInitialize()
     rclcpp::ParameterValue(true));
   declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
   declareParameter("combination_method", rclcpp::ParameterValue(1));
+  declareParameter("observation_sources", rclcpp::ParameterValue(std::string("")));
 
   node_->get_parameter(name_ + "." + "enabled", enabled_);
   node_->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
@@ -87,7 +88,7 @@ void ObstacleLayer::onInitialize()
   node_->get_parameter(name_ + "." + "combination_method", combination_method_);
   node_->get_parameter("track_unknown_space", track_unknown_space);
   node_->get_parameter("transform_tolerance", transform_tolerance);
-  node_->get_parameter("observation_sources", topics_string);
+  node_->get_parameter(name_ + "." + "observation_sources", topics_string);
 
   RCLCPP_INFO(node_->get_logger(), "Subscribed to Topics: %s", topics_string.c_str());