Merge branch 'main' into dev_image

docs/libraries.rst

@@ -346,6 +346,107 @@ Actors
 A general robot actor.
 
 
+Nav2
+----
+
+The library contains actions to interact with the `Nav2 <https://docs.nav2.org/>`__ navigation stack. Import it with ``import osc.nav2``. It is provided by the package :repo_link:`libs/scenario_execution_nav2`.
+
+Actions
+^^^^^^^
+
+``differential_drive_robot.init_nav2()``
+""""""""""""""""""""""""""""""""""""""""
+
+Initialize nav2.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``initial_pose``
+     - ``pose_3d``
+     -
+     - The initial pose to set during initialization
+   * - ``base_frame_id``
+     - ``string``
+     - ``base_link``
+     - Base Frame ID
+   * - ``use_initial_pose``
+     - ``bool``
+     - ``true``
+     - If false, no initial_pose is needed (useful when using slam instead of amcl for localization)
+   * - ``namespace_override``
+     - ``string``
+     - 
+     - If set, it's used as namespace (instead of the associated actor's namespace)
+   * - ``wait_for_initial_pose``
+     - ``bool``
+     - ``false``
+     - If true the initial pose needs to be set externally (e.g. manually through rviz)
+
+``differential_drive_robot.nav_through_poses()``
+""""""""""""""""""""""""""""""""""""""""""""""""
+
+Use nav2 to navigate through poses.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``goal_poses``
+     - ``list of pose_3d``
+     -
+     - Goal poses to navigate through
+   * - ``namespace_override``
+     - ``string``
+     - ``''``
+     - If set, it's used as namespace (instead of the associated actor's namespace)
+   * - ``monitor_progress``
+     - ``bool``
+     - ``true``
+     - If yes, the action returns after the goal is reached or on failure. If no, the action returns after request.
+
+``differential_drive_robot.nav_to_pose()``
+""""""""""""""""""""""""""""""""""""""""""
+Use nav2 to navigate to goal pose.
+
+.. list-table:: 
+   :widths: 15 15 5 65
+   :header-rows: 1
+   :class: tight-table   
+
+   * - Parameter
+     - Type
+     - Default
+     - Description
+   * - ``goal_pose``
+     - ``pose_3d``
+     - 
+     - Goal pose to navigate to
+   * - ``namespace_override``
+     - ``string``
+     - 
+     - If set, it's used as namespace (instead of the associated actor's namespace)
+   * - ``action_topic``
+     - ``string``
+     - ``navigate_to_pose``
+     - Action name
+   * - ``monitor_progress``
+     - ``bool``
+     - ``true``
+     - If yes, the action returns after the goal is reached or on failure. If no, the action returns after request.
+
+
 ROS
 ---
 
@@ -567,98 +668,6 @@ Compare received topic messages using the given ``comparison_operator``, against
      - ``true``
      - start checking with the first received message after action execution. If false, the check is executed on the last received message.
 
-``differential_drive_robot.init_nav2()``
-""""""""""""""""""""""""""""""""""""""""
-
-Initialize nav2.
-
-.. list-table:: 
-   :widths: 15 15 5 65
-   :header-rows: 1
-   :class: tight-table   
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``initial_pose``
-     - ``pose_3d``
-     -
-     - The initial pose to set during initialization
-   * - ``base_frame_id``
-     - ``string``
-     - ``base_link``
-     - Base Frame ID
-   * - ``use_initial_pose``
-     - ``bool``
-     - ``true``
-     - If false, no initial_pose is needed (useful when using slam instead of amcl for localization)
-   * - ``namespace_override``
-     - ``string``
-     - 
-     - If set, it's used as namespace (instead of the associated actor's namespace)
-   * - ``wait_for_initial_pose``
-     - ``bool``
-     - ``false``
-     - If true the initial pose needs to be set externally (e.g. manually through rviz)
-
-``differential_drive_robot.nav_through_poses()``
-""""""""""""""""""""""""""""""""""""""""""""""""
-
-Use nav2 to navigate through poses.
-
-.. list-table:: 
-   :widths: 15 15 5 65
-   :header-rows: 1
-   :class: tight-table   
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``goal_poses``
-     - ``list of pose_3d``
-     -
-     - Goal poses to navigate through
-   * - ``namespace_override``
-     - ``string``
-     - ``''``
-     - If set, it's used as namespace (instead of the associated actor's namespace)
-   * - ``monitor_progress``
-     - ``bool``
-     - ``true``
-     - If yes, the action returns after the goal is reached or on failure. If no, the action returns after request.
-
-``differential_drive_robot.nav_to_pose()``
-""""""""""""""""""""""""""""""""""""""""""
-Use nav2 to navigate to goal pose.
-
-.. list-table:: 
-   :widths: 15 15 5 65
-   :header-rows: 1
-   :class: tight-table   
-
-   * - Parameter
-     - Type
-     - Default
-     - Description
-   * - ``goal_pose``
-     - ``pose_3d``
-     - 
-     - Goal pose to navigate to
-   * - ``namespace_override``
-     - ``string``
-     - 
-     - If set, it's used as namespace (instead of the associated actor's namespace)
-   * - ``action_topic``
-     - ``string``
-     - ``navigate_to_pose``
-     - Action name
-   * - ``monitor_progress``
-     - ``bool``
-     - ``true``
-     - If yes, the action returns after the goal is reached or on failure. If no, the action returns after request.
-
 ``differential_drive_robot.odometry_distance_traveled()``
 """""""""""""""""""""""""""""""""""""""""""""""""""""""""
 

examples/example_multi_robot/scenarios/example_multi_robot.osc

@@ -1,6 +1,7 @@
 import osc.helpers
 import osc.ros
 import osc.gazebo
+import osc.nav2
 
 scenario multi_robot:
     timeout(240s)

examples/example_nav2/example_nav2.osc

@@ -1,5 +1,6 @@
 import osc.helpers
 import osc.ros
+import osc.nav2
 
 scenario example_nav2:
     timeout(60s)

examples/example_scenario_control/scenarios/init_nav2.osc

@@ -1,4 +1,5 @@
 import osc.ros
+import osc.nav2
 
 scenario initialize_nav2:
     turtlebot4: differential_drive_robot

examples/example_scenario_control/scenarios/nav2_pose_1.osc

@@ -1,4 +1,5 @@
 import osc.ros
+import osc.nav2
 
 scenario nav2_simulation_nav_to_pose_1:
     turtlebot4: differential_drive_robot

examples/example_scenario_control/scenarios/nav2_pose_2.osc

@@ -1,4 +1,5 @@
 import osc.ros
+import osc.nav2
 
 scenario nav2_simulation_nav_to_pose_2:
     turtlebot4: differential_drive_robot

examples/example_simulation/scenarios/example_simulation.osc

@@ -1,6 +1,7 @@
 import osc.helpers
 import osc.ros
 import osc.gazebo
+import osc.nav2
 
 scenario example_simulation:
     timeout(120s)

libs/scenario_execution_floorplan_dsl/example/example.osc

@@ -1,6 +1,7 @@
 import osc.helpers
 import osc.floorplan_dsl
 import osc.ros
+import osc.nav2
 
 scenario test:
     timeout(120s)

libs/scenario_execution_nav2/MANIFEST.in

@@ -0,0 +1 @@
+include scenario_execution_nav2/lib_osc/*.osc

libs/scenario_execution_nav2/README.md

@@ -0,0 +1,8 @@
+# Scenario Execution Library for Nav2
+
+The `scenario_execution_nav2` package provides actions to interact with the [nav2](https://docs.nav2.org/) navigation stack.
+
+It provides the following scenario execution library:
+
+- `nav2.osc`: Actions specific to nav2 navigation stack
+

libs/scenario_execution_nav2/package.xml

@@ -0,0 +1,28 @@
+<?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>scenario_execution_nav2</name>
+  <version>1.1.0</version>
+  <description>Scenario Execution library for Nav2</description>
+  <author email="[email protected]">Intel Labs</author>
+  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <license file="../../LICENSE">Apache-2.0</license>
+
+  <depend>scenario_execution_ros</depend>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>nav2_simple_commander</exec_depend>
+  <exec_depend>nav2_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>lifecycle_msgs</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

libs/scenario_execution_nav2/scenario_execution_nav2/__init__.py

@@ -0,0 +1,21 @@
+# Copyright (C) 2024 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from . import actions
+
+__all__ = [
+    'actions'
+]

libs/scenario_execution_nav2/scenario_execution_nav2/actions/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2024 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.
+#
+# SPDX-License-Identifier: Apache-2.0

scenario_execution_ros/scenario_execution_ros/actions/init_nav2.py → libs/scenario_execution_nav2/scenario_execution_nav2/actions/init_nav2.py

@@ -29,7 +29,8 @@
 from datetime import datetime, timedelta
 import py_trees
 
-from .nav2_common import NamespaceAwareBasicNavigator, get_pose_stamped, NamespacedTransformListener
+from .nav2_common import NamespaceAwareBasicNavigator
+from scenario_execution_ros.actions.common import get_pose_stamped, NamespacedTransformListener
 from scenario_execution.actions.base_action import BaseAction