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PathCompleteGoalChecker documentation and related changes #620

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PathCompleteGoalChecker documentation and related changes #620

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2 changes: 1 addition & 1 deletion configuration/packages/bt-plugins/actions/FollowPath.rst
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Expand Up @@ -40,7 +40,7 @@ Input Ports
====== =======

Description
Mapped name of the goal checker plugin type to use, e.g. SimpleGoalChecker.
Mapped name of the goal checker plugin type to use, e.g. PathCompleteGoalChecker.

:server_name:

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7 changes: 4 additions & 3 deletions configuration/packages/configuring-controller-server.rst
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Expand Up @@ -133,7 +133,7 @@ Parameters
ros__parameters:
goal_checker_plugins: ["goal_checker"]
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"

:min_x_velocity_threshold:

Expand Down Expand Up @@ -240,6 +240,7 @@ Provided Plugins
nav2_controller-plugins/pose_progress_checker.rst
nav2_controller-plugins/simple_goal_checker.rst
nav2_controller-plugins/stopped_goal_checker.rst
nav2_controller-plugins/path_complete_goal_checker.rst
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I don't think you committed this page 🙃


Default Plugins
***************
Expand All @@ -251,7 +252,7 @@ When the :code:`progress_checker_plugins`, :code:`goal_checker_plugin` or :code:
------------------ -----------------------------------------------------
"progress_checker" "nav2_controller::SimpleProgressChecker"
------------------ -----------------------------------------------------
"goal_checker" "nav2_controller::SimpleGoalChecker"
"goal_checker" "nav2_controller::PathCompleteGoalChecker"
------------------ -----------------------------------------------------
"FollowPath" "dwb_core::DWBLocalPlanner"
================== =====================================================
Expand All @@ -277,7 +278,7 @@ Example
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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2 changes: 1 addition & 1 deletion configuration/packages/configuring-dwb-controller.rst
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Expand Up @@ -72,7 +72,7 @@ Example
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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2 changes: 1 addition & 1 deletion configuration/packages/configuring-graceful-motion-controller.rst
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Expand Up @@ -210,7 +210,7 @@ Example
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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2 changes: 1 addition & 1 deletion configuration/packages/configuring-regulated-pp.rst
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Expand Up @@ -332,7 +332,7 @@ Example
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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2 changes: 1 addition & 1 deletion configuration/packages/configuring-rotation-shim-controller.rst
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Expand Up @@ -138,7 +138,7 @@ Example
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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34 changes: 33 additions & 1 deletion migration/Jazzy.rst
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Expand Up @@ -198,4 +198,36 @@ This can be useful, for example, in cases where you want to move the robot even

Default value:

- false
- false

Extended GoalChecker Interface
******************************

In `PR #4789 <https://github.com/ros-navigation/navigation2/pull/4789>`_ the GoalChecker interface gained a new parameter `path` in the method `is_goal_reached`.

Before:

.. code-block:: cpp

bool isGoalReached(
const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose
const geometry_msgs::msg::Twist & velocity);

After:

.. code-block:: cpp

bool isGoalReached(
const geometry_msgs::msg::Pose & query_pose, const geometry_msgs::msg::Pose & goal_pose,
const geometry_msgs::msg::Twist & velocity, const nav_msgs::msg::Path & current_path);

This allows for GoalChecker plugins to account for the current path in deciding if the goal has been reached or not.

The new argument `current_path` can be ignored by existing out of tree plugins that do not make use of it, once they are updated to use the new method signature.

New (default) Goal Checker Plugin: PathCompleteGoalChecker
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Annoyingly, the line length has to match the title for rst to properly render -- please add **

********************************************************

In `PR #4789 <https://github.com/ros-navigation/navigation2/pull/4789>`_ a new goal checker plugin: :ref:`configuring_nav2_controller_path_complete_goal_checker_plugin` was introduced.

This was made the default goal checker, resolving a `premature path completion bug <https://github.com/ros-navigation/navigation2/issues/4304>`_.
32 changes: 19 additions & 13 deletions plugins/index.rst
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Expand Up @@ -291,22 +291,28 @@ Waypoint Task Executors
Goal Checkers
=============

+---------------------------------+------------------------+----------------------------------+
| Plugin Name | Creator | Description |
+=================================+========================+==================================+
| `SimpleGoalChecker`_ | David Lu!! | A plugin check whether robot |
| | | is within translational distance |
| | | and rotational distance of goal. |
| | | |
+---------------------------------+------------------------+----------------------------------+
| `StoppedGoalChecker`_ | David Lu!! | A plugin check whether robot |
| | | is within translational distance |
| | | , rotational distance of goal, |
| | | and velocity threshold. |
+---------------------------------+------------------------+----------------------------------+
+---------------------------------+------------------------+-----------------------------------+
| Plugin Name | Creator | Description |
+=================================+========================+===================================+
| `SimpleGoalChecker`_ | David Lu!! | A plugin check whether robot |
| | | is within translational distance |
| | | and rotational distance of goal. |
| | | |
+---------------------------------+------------------------+-----------------------------------+
| `StoppedGoalChecker`_ | David Lu!! | A plugin check whether robot |
| | | is within translational distance |
| | | , rotational distance of goal, |
| | | and velocity threshold. |
+---------------------------------+------------------------+-----------------------------------+
| `PathCompleteGoalChecker`_ | Joseph Duchesne | A plugin that checks if robot is |
| | | within translational & rotational |
| | | distance of goal, once path |
| | | length is below a threshold. |
+---------------------------------+------------------------+-----------------------------------+

.. _SimpleGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/simple_goal_checker.cpp
.. _StoppedGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/stopped_goal_checker.cpp
.. _PathCompleteGoalChecker: https://github.com/ros-navigation/navigation2/blob/main/nav2_controller/plugins/path_complete_goal_checker.cpp

Progress Checkers
=================
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2 changes: 1 addition & 1 deletion tutorials/docs/using_shim_controller.rst
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Expand Up @@ -59,7 +59,7 @@ As such, its configuration looks very similar to that of any other plugin. In th
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
plugin: "nav2_controller::PathCompleteGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
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