Add IsStoppedBTNode

nav2_behavior_tree/CMakeLists.txt

@@ -95,6 +95,9 @@ list(APPEND plugin_libs nav2_clear_costmap_service_bt_node)
 add_library(nav2_is_stuck_condition_bt_node SHARED plugins/condition/is_stuck_condition.cpp)
 list(APPEND plugin_libs nav2_is_stuck_condition_bt_node)
 
+add_library(nav2_is_stopped_condition_bt_node SHARED plugins/condition/is_stopped_condition.cpp)
+list(APPEND plugin_libs nav2_is_stopped_condition_bt_node)
+
 add_library(nav2_transform_available_condition_bt_node SHARED plugins/condition/transform_available_condition.cpp)
 list(APPEND plugin_libs nav2_transform_available_condition_bt_node)
 

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp

@@ -0,0 +1,86 @@
+// Copyright (c) 2024 Angsa Robotics
+//
+// 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__CONDITION__IS_STOPPED_CONDITION_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_
+
+#include <string>
+#include <atomic>
+#include <deque>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "behaviortree_cpp/condition_node.h"
+#include "nav_msgs/msg/odometry.hpp"
+#include "nav2_util/odometry_utils.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A BT::ConditionNode that tracks robot odometry and returns SUCCESS
+ * if robot is considered stopped for long enough, RUNNING if stopped but not for long enough and FAILURE otherwise
+ */
+class IsStoppedCondition : public BT::ConditionNode
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::IsStoppedCondition
+   * @param condition_name Name for the XML tag for this node
+   * @param conf BT node configuration
+   */
+  IsStoppedCondition(
+    const std::string & condition_name,
+    const BT::NodeConfiguration & conf);
+
+  IsStoppedCondition() = delete;
+
+  /**
+   * @brief A destructor for nav2_behavior_tree::IsStoppedCondition
+   */
+  ~IsStoppedCondition() override;
+
+  /**
+   * @brief The main override required by a BT action
+   * @return BT::NodeStatus Status of tick execution
+   */
+  BT::NodeStatus tick() override;
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return {
+      BT::InputPort<double>("velocity_threshold", 0.1,
+          "Velocity threshold below which robot is considered stopped"),
+      BT::InputPort<std::chrono::milliseconds>("duration_stopped", 1000,
+          "Duration (ms) the velocity must remain below the threshold."),
+    };
+  }
+
+private:
+  rclcpp::Node::SharedPtr node_;
+
+  double velocity_threshold_;
+  std::chrono::milliseconds duration_stopped_;
+  rclcpp::Time stopped_stamp_;
+
+  std::shared_ptr<nav2_util::OdomSmoother> odom_smoother_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__IS_STOPPED_CONDITION_HPP_

nav2_behavior_tree/plugins/condition/is_stopped_condition.cpp

@@ -0,0 +1,78 @@
+// Copyright (c) 2024 Angsa Robotics
+//
+// 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 <chrono>
+
+#include "nav2_behavior_tree/plugins/condition/is_stopped_condition.hpp"
+
+using namespace std::chrono_literals; // NOLINT
+
+namespace nav2_behavior_tree
+{
+
+IsStoppedCondition::IsStoppedCondition(
+  const std::string & condition_name,
+  const BT::NodeConfiguration & conf)
+: BT::ConditionNode(condition_name, conf),
+  velocity_threshold_(0.1),
+  duration_stopped_(1000),
+  stopped_stamp_(rclcpp::Time(0, 0, RCL_ROS_TIME))
+{
+  node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+  odom_smoother_ = config().blackboard->get<std::shared_ptr<nav2_util::OdomSmoother>>(
+    "odom_smoother");
+}
+
+IsStoppedCondition::~IsStoppedCondition()
+{
+  RCLCPP_DEBUG(node_->get_logger(), "Shutting down IsStoppedCondition BT node");
+}
+
+BT::NodeStatus IsStoppedCondition::tick()
+{
+  auto twist = odom_smoother_->getRawTwistStamped();
+
+  // if there is no timestamp, set it to now
+  if (twist.header.stamp.sec == 0 && twist.header.stamp.nanosec == 0) {
+    twist.header.stamp = node_->get_clock()->now();
+  }
+
+  if (abs(twist.twist.linear.x) < velocity_threshold_ &&
+    abs(twist.twist.linear.y) < velocity_threshold_ &&
+    abs(twist.twist.angular.z) < velocity_threshold_)
+  {
+    if (stopped_stamp_ == rclcpp::Time(0, 0, RCL_ROS_TIME)) {
+      stopped_stamp_ = rclcpp::Time(twist.header.stamp);
+    }
+
+    if (node_->get_clock()->now() - stopped_stamp_ > rclcpp::Duration(duration_stopped_)) {
+      return BT::NodeStatus::SUCCESS;
+    } else {
+      return BT::NodeStatus::RUNNING;
+    }
+
+  } else {
+    stopped_stamp_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
+    return BT::NodeStatus::FAILURE;
+  }
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<nav2_behavior_tree::IsStoppedCondition>("IsStopped");
+}

nav2_behavior_tree/plugins/decorator/speed_controller.cpp

@@ -50,8 +50,6 @@ SpeedController::SpeedController(
   d_rate_ = max_rate_ - min_rate_;
   d_speed_ = max_speed_ - min_speed_;
 
-  std::string odom_topic;
-  node_->get_parameter_or("odom_topic", odom_topic, std::string("odom"));
   odom_smoother_ = config().blackboard->get<std::shared_ptr<nav2_util::OdomSmoother>>(
     "odom_smoother");
 }

nav2_util/include/nav2_util/odometry_utils.hpp

@@ -68,13 +68,44 @@ class OdomSmoother
    * @brief Get twist msg from smoother
    * @return twist Twist msg
    */
-  inline geometry_msgs::msg::Twist getTwist() {return vel_smooth_.twist;}
+  inline geometry_msgs::msg::Twist getTwist()
+  {
+    std::lock_guard<std::mutex> lock(odom_mutex_);
+    return vel_smooth_.twist;
+  }
 
   /**
    * @brief Get twist stamped msg from smoother
    * @return twist TwistStamped msg
    */
-  inline geometry_msgs::msg::TwistStamped getTwistStamped() {return vel_smooth_;}
+  inline geometry_msgs::msg::TwistStamped getTwistStamped()
+  {
+    std::lock_guard<std::mutex> lock(odom_mutex_);
+    return vel_smooth_;
+  }
+
+  /**
+   * @brief Get raw twist msg from smoother (without smoothing)
+   * @return twist Twist msg
+   */
+  inline geometry_msgs::msg::Twist getRawTwist()
+  {
+    std::lock_guard<std::mutex> lock(odom_mutex_);
+    return odom_history_.back().twist.twist;
+  }
+
+    /**
+   * @brief Get raw twist stamped msg from smoother (without smoothing)
+   * @return twist TwistStamped msg
+   */
+  inline geometry_msgs::msg::TwistStamped getRawTwistStamped()
+  {
+    std::lock_guard<std::mutex> lock(odom_mutex_);
+    geometry_msgs::msg::TwistStamped twist_stamped;
+    twist_stamped.header = odom_history_.back().header;
+    twist_stamped.twist = odom_history_.back().twist.twist;
+    return twist_stamped;
+  }
 
 protected:
   /**