nav2_costmap_2d plugin container layer #4781

alexanderjyuen · 2024-12-04T01:04:23Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	N/A
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of turtlebot)
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Added a new costmap layer plugin to nav2_costmap_2d called plugin container layer which allows users to specify different submaps within a costmap. For example if one would like to apply a certain set of inflation layer settings to the static layer, and a different set of inflation layer settings to an obstacle layer, in the same overall costmap, one could group those different layers under different plugin container layers
Modified nav2_costmap_2d integrated testing to also run tests for the plugin container layer
included nav2_params_plugin_container_layer.yaml to run turtlebot example

Description of documentation updates required from your changes

Configuring Costmap needs to include plugin container layer in the Plugin Parameters section
A new page has been added to outline how to configure the plugin container layer
Navigation Plugins need to include plugin container layer in Costmap Layer section
Tuning Guide needs to include plugin container layer in the Costmap2D Plugins section

Future work that may be required in bullet points

This could be possible extended to be used with costmap filters, although filters don't necessarily rely on each other

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

Signed-off-by: alexander <[email protected]>

…ruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]>

Signed-off-by: alexander <[email protected]>

…unecessary members Signed-off-by: alexander <[email protected]>

Signed-off-by: alexander <[email protected]>

codecov · 2024-12-04T01:31:54Z

Codecov Report

Attention: Patch coverage is 96.62921% with 3 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/src/costmap_2d_ros.cpp	50.00%	2 Missing ⚠️
nav2_costmap_2d/plugins/plugin_container_layer.cpp	98.82%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_costmap_2d/plugins/plugin_container_layer.cpp	`98.82% <98.82%> (ø)`
nav2_costmap_2d/src/costmap_2d_ros.cpp	`88.67% <50.00%> (-0.47%)`	⬇️

... and 9 files with indirect coverage changes

nav2_bringup/params/nav2_params_plugin_container_layer.yaml

nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp

SteveMacenski

I didn't call out everything, since I think much of other comments are moot if the costmap_ disappears so its better to wait for the revised version :-)

Check out the codecov annotations in the Code UX of the PR to see some gaps in your testing. Luckily, you have examples of alot of other Nav2 code of how to fill them (most are pretty easy pickings)

nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp

nav2_costmap_2d/plugins/plugin_container_layer.cpp

Signed-off-by: alexander <[email protected]>

…nknownOverwrite case Signed-off-by: alexander <[email protected]>

Signed-off-by: alexander <[email protected]>

…test coverage Signed-off-by: alexander <[email protected]>

Signed-off-by: alexander <[email protected]>

alexanderjyuen · 2024-12-05T20:57:55Z

I didn't call out everything, since I think much of other comments are moot if the costmap_ disappears so its better to wait for the revised version :-)

Check out the codecov annotations in the Code UX of the PR to see some gaps in your testing. Luckily, you have examples of alot of other Nav2 code of how to fill them (most are pretty easy pickings)

Latest version should have code coverage up to 99%'

SteveMacenski

Ah man, see how much more clean / concise this is now!

nav2_costmap_2d/plugins/plugin_container_layer.cpp

Signed-off-by: alexander <[email protected]>

nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp

nav2_costmap_2d/plugins/plugin_container_layer.cpp

SteveMacenski · 2024-12-06T19:27:03Z

Also, your tests are failing 🙃

Signed-off-by: alexander <[email protected]>

nav2_costmap_2d/plugins/plugin_container_layer.cpp

Signed-off-by: alexander <[email protected]>

SteveMacenski

Then pretty much done!

On the docs, I still need the updated image for multiple inflation settings (or another example) to show how it can be used to create differing behavior -- but otherwise that is good too!

nav2_costmap_2d/plugins/plugin_container_layer.cpp

Signed-off-by: alexander <[email protected]>

nav2_costmap_2d/src/costmap_2d_ros.cpp

Signed-off-by: alexander <[email protected]>

SteveMacenski · 2024-12-13T01:12:16Z

Thanks! All good and merged the pair!

* updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <[email protected]> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <[email protected]> * initial commit of plugin container layer Signed-off-by: alexander <[email protected]> * fixed plugin namespace Signed-off-by: alexander <[email protected]> * fixed message_filter Signed-off-by: alexander <[email protected]> * linting Signed-off-by: alexander <[email protected]> * modified addPlugin method to also take layer name Signed-off-by: alexander <[email protected]> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]> * CMake changes to test plugin container layer Signed-off-by: alexander <[email protected]> * added helper method to add plugin container layer Signed-off-by: alexander <[email protected]> * added initial implementation of plugin container tests Signed-off-by: alexander <[email protected]> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <[email protected]> * cleaned up and added additional tests Signed-off-by: alexander <[email protected]> * added Apache copyrights Signed-off-by: alexander <[email protected]> * linting for ament_cpplint Signed-off-by: alexander <[email protected]> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <[email protected]> * removed unused rolling_window_ member variable Signed-off-by: alexander <[email protected]> * removed default plugins and plugin types Signed-off-by: alexander <[email protected]> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <[email protected]> * removed combined_costmap_ Signed-off-by: alexander <[email protected]> * fixed layer naming and accomodating tests Signed-off-by: alexander <[email protected]> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <[email protected]> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <[email protected]> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <[email protected]> * removed unnecessary locks, added default value Signed-off-by: alexander <[email protected]> * removed unecessary resetMap Signed-off-by: alexander <[email protected]> * added layer resetting when reset method is called Signed-off-by: alexander <[email protected]> * swapped logic for isClearable Signed-off-by: alexander <[email protected]> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <[email protected]> * consolidated initialization for loops Signed-off-by: alexander <[email protected]> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <[email protected]> * added clearArea function Signed-off-by: alexander <[email protected]> * added clearArea test Signed-off-by: alexander <[email protected]> * removed TODO message Signed-off-by: alexander <[email protected]> * removed constructor and destructors since they do nothing Signed-off-by: alexander <[email protected]> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <[email protected]> * fixed tests for clearing functionality Signed-off-by: alexander <[email protected]> * added try catch around initialization of plugins Signed-off-by: alexander <[email protected]> * fixed indents Signed-off-by: alexander <[email protected]> --------- Signed-off-by: alexander <[email protected]>

* Pass IDLE to on_tick, use that for initialize condition (#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <[email protected]> * Fix battery sub creation bug Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_costmap_2d plugin container layer (#4781) * updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <[email protected]> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <[email protected]> * initial commit of plugin container layer Signed-off-by: alexander <[email protected]> * fixed plugin namespace Signed-off-by: alexander <[email protected]> * fixed message_filter Signed-off-by: alexander <[email protected]> * linting Signed-off-by: alexander <[email protected]> * modified addPlugin method to also take layer name Signed-off-by: alexander <[email protected]> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]> * CMake changes to test plugin container layer Signed-off-by: alexander <[email protected]> * added helper method to add plugin container layer Signed-off-by: alexander <[email protected]> * added initial implementation of plugin container tests Signed-off-by: alexander <[email protected]> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <[email protected]> * cleaned up and added additional tests Signed-off-by: alexander <[email protected]> * added Apache copyrights Signed-off-by: alexander <[email protected]> * linting for ament_cpplint Signed-off-by: alexander <[email protected]> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <[email protected]> * removed unused rolling_window_ member variable Signed-off-by: alexander <[email protected]> * removed default plugins and plugin types Signed-off-by: alexander <[email protected]> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <[email protected]> * removed combined_costmap_ Signed-off-by: alexander <[email protected]> * fixed layer naming and accomodating tests Signed-off-by: alexander <[email protected]> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <[email protected]> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <[email protected]> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <[email protected]> * removed unnecessary locks, added default value Signed-off-by: alexander <[email protected]> * removed unecessary resetMap Signed-off-by: alexander <[email protected]> * added layer resetting when reset method is called Signed-off-by: alexander <[email protected]> * swapped logic for isClearable Signed-off-by: alexander <[email protected]> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <[email protected]> * consolidated initialization for loops Signed-off-by: alexander <[email protected]> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <[email protected]> * added clearArea function Signed-off-by: alexander <[email protected]> * added clearArea test Signed-off-by: alexander <[email protected]> * removed TODO message Signed-off-by: alexander <[email protected]> * removed constructor and destructors since they do nothing Signed-off-by: alexander <[email protected]> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <[email protected]> * fixed tests for clearing functionality Signed-off-by: alexander <[email protected]> * added try catch around initialization of plugins Signed-off-by: alexander <[email protected]> * fixed indents Signed-off-by: alexander <[email protected]> --------- Signed-off-by: alexander <[email protected]> * bumping to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * Fix backporting error: renamed header files Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: alexander <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Vince Reda <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: alexanderjyuen <[email protected]>

* updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <[email protected]> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <[email protected]> * initial commit of plugin container layer Signed-off-by: alexander <[email protected]> * fixed plugin namespace Signed-off-by: alexander <[email protected]> * fixed message_filter Signed-off-by: alexander <[email protected]> * linting Signed-off-by: alexander <[email protected]> * modified addPlugin method to also take layer name Signed-off-by: alexander <[email protected]> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]> * CMake changes to test plugin container layer Signed-off-by: alexander <[email protected]> * added helper method to add plugin container layer Signed-off-by: alexander <[email protected]> * added initial implementation of plugin container tests Signed-off-by: alexander <[email protected]> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <[email protected]> * cleaned up and added additional tests Signed-off-by: alexander <[email protected]> * added Apache copyrights Signed-off-by: alexander <[email protected]> * linting for ament_cpplint Signed-off-by: alexander <[email protected]> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <[email protected]> * removed unused rolling_window_ member variable Signed-off-by: alexander <[email protected]> * removed default plugins and plugin types Signed-off-by: alexander <[email protected]> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <[email protected]> * removed combined_costmap_ Signed-off-by: alexander <[email protected]> * fixed layer naming and accomodating tests Signed-off-by: alexander <[email protected]> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <[email protected]> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <[email protected]> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <[email protected]> * removed unnecessary locks, added default value Signed-off-by: alexander <[email protected]> * removed unecessary resetMap Signed-off-by: alexander <[email protected]> * added layer resetting when reset method is called Signed-off-by: alexander <[email protected]> * swapped logic for isClearable Signed-off-by: alexander <[email protected]> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <[email protected]> * consolidated initialization for loops Signed-off-by: alexander <[email protected]> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <[email protected]> * added clearArea function Signed-off-by: alexander <[email protected]> * added clearArea test Signed-off-by: alexander <[email protected]> * removed TODO message Signed-off-by: alexander <[email protected]> * removed constructor and destructors since they do nothing Signed-off-by: alexander <[email protected]> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <[email protected]> * fixed tests for clearing functionality Signed-off-by: alexander <[email protected]> * added try catch around initialization of plugins Signed-off-by: alexander <[email protected]> * fixed indents Signed-off-by: alexander <[email protected]> --------- Signed-off-by: alexander <[email protected]>

* updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <[email protected]> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <[email protected]> * initial commit of plugin container layer Signed-off-by: alexander <[email protected]> * fixed plugin namespace Signed-off-by: alexander <[email protected]> * fixed message_filter Signed-off-by: alexander <[email protected]> * linting Signed-off-by: alexander <[email protected]> * modified addPlugin method to also take layer name Signed-off-by: alexander <[email protected]> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]> * CMake changes to test plugin container layer Signed-off-by: alexander <[email protected]> * added helper method to add plugin container layer Signed-off-by: alexander <[email protected]> * added initial implementation of plugin container tests Signed-off-by: alexander <[email protected]> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <[email protected]> * cleaned up and added additional tests Signed-off-by: alexander <[email protected]> * added Apache copyrights Signed-off-by: alexander <[email protected]> * linting for ament_cpplint Signed-off-by: alexander <[email protected]> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <[email protected]> * removed unused rolling_window_ member variable Signed-off-by: alexander <[email protected]> * removed default plugins and plugin types Signed-off-by: alexander <[email protected]> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <[email protected]> * removed combined_costmap_ Signed-off-by: alexander <[email protected]> * fixed layer naming and accomodating tests Signed-off-by: alexander <[email protected]> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <[email protected]> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <[email protected]> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <[email protected]> * removed unnecessary locks, added default value Signed-off-by: alexander <[email protected]> * removed unecessary resetMap Signed-off-by: alexander <[email protected]> * added layer resetting when reset method is called Signed-off-by: alexander <[email protected]> * swapped logic for isClearable Signed-off-by: alexander <[email protected]> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <[email protected]> * consolidated initialization for loops Signed-off-by: alexander <[email protected]> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <[email protected]> * added clearArea function Signed-off-by: alexander <[email protected]> * added clearArea test Signed-off-by: alexander <[email protected]> * removed TODO message Signed-off-by: alexander <[email protected]> * removed constructor and destructors since they do nothing Signed-off-by: alexander <[email protected]> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <[email protected]> * fixed tests for clearing functionality Signed-off-by: alexander <[email protected]> * added try catch around initialization of plugins Signed-off-by: alexander <[email protected]> * fixed indents Signed-off-by: alexander <[email protected]> --------- Signed-off-by: alexander <[email protected]> Signed-off-by: stevedanomodolor <[email protected]>

alexanderjyuen added 17 commits December 3, 2024 15:47

updated CMakeLists.txt to include plugin_container_layer

75635ff

Signed-off-by: alexander <[email protected]>

added plugin container layer to costmap_plugins.xml

df537af

Signed-off-by: alexander <[email protected]>

initial commit of plugin container layer

eb7b986

Signed-off-by: alexander <[email protected]>

fixed plugin namespace

5cfbbbb

Signed-off-by: alexander <[email protected]>

fixed message_filter

5c0971f

Signed-off-by: alexander <[email protected]>

linting

733ce92

Signed-off-by: alexander <[email protected]>

modified addPlugin method to also take layer name

f415750

Signed-off-by: alexander <[email protected]>

reverted default plugins to be empty, free costmap_ during layer dest…

dc9cd63

…ruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]>

CMake changes to test plugin container layer

0d31aad

Signed-off-by: alexander <[email protected]>

added helper method to add plugin container layer

82e69ca

Signed-off-by: alexander <[email protected]>

added initial implementation of plugin container tests

118e2b3

Signed-off-by: alexander <[email protected]>

added enable to dynamic params, removed unecessary comments, removed …

049ad7c

…unecessary members Signed-off-by: alexander <[email protected]>

cleaned up and added additional tests

468e869

Signed-off-by: alexander <[email protected]>

added Apache copyrights

16819e4

Signed-off-by: alexander <[email protected]>

linting for ament_cpplint

08e4e56

Signed-off-by: alexander <[email protected]>

added example file for plugin_container_layer to nav2_bringup

5d68254

Signed-off-by: alexander <[email protected]>

Merge branch 'main' into feature-plugin-container-layer

a0c11b4

Signed-off-by: alexander <[email protected]>

SteveMacenski reviewed Dec 4, 2024

View reviewed changes

SteveMacenski requested changes Dec 4, 2024

View reviewed changes

alexanderjyuen added 9 commits December 4, 2024 11:45

removed unused rolling_window_ member variable

0bb6c53

Signed-off-by: alexander <[email protected]>

removed default plugins and plugin types

36960a3

Signed-off-by: alexander <[email protected]>

switched to using CombinationMethod enum, added updateWithMaxWithoutU…

b96587f

…nknownOverwrite case Signed-off-by: alexander <[email protected]>

removed combined_costmap_

5f05d44

Signed-off-by: alexander <[email protected]>

fixed layer naming and accomodating tests

9d92e3c

Signed-off-by: alexander <[email protected]>

removed nav2_params_plugin_container_layer.yaml

ddceccb

Signed-off-by: alexander <[email protected]>

added more comprehensive checks for checking if layers are clearable

4afd4f9

Signed-off-by: alexander <[email protected]>

added dynamics parameter handling, fixed current_ setting, increased …

34d0c57

…test coverage Signed-off-by: alexander <[email protected]>

removed unnecessary locks, added default value

b25f2a3

Signed-off-by: alexander <[email protected]>

alexanderjyuen force-pushed the feature-plugin-container-layer branch from 5ee05cf to b25f2a3 Compare December 5, 2024 20:52

SteveMacenski reviewed Dec 5, 2024

View reviewed changes

alexanderjyuen added 3 commits December 5, 2024 15:12

removed unecessary resetMap

f282191

Signed-off-by: alexander <[email protected]>

added layer resetting when reset method is called

06b1fbd

Signed-off-by: alexander <[email protected]>

swapped logic for isClearable

ac3b013

Signed-off-by: alexander <[email protected]>

SteveMacenski requested changes Dec 6, 2024

View reviewed changes

alexanderjyuen added 3 commits December 6, 2024 16:55

fixed breaking tests, removed unnecessary combined_costmap_

822bf1f

Signed-off-by: alexander <[email protected]>

consolidated initialization for loops

58e26e4

Signed-off-by: alexander <[email protected]>

switched default_value_ to NO_INFORMATION

5a66397

Signed-off-by: alexander <[email protected]>

alexanderjyuen commented Dec 8, 2024

View reviewed changes

nav2_costmap_2d/plugins/plugin_container_layer.cpp Show resolved Hide resolved

alexanderjyuen added 2 commits December 9, 2024 11:20

added clearArea function

00e838d

Signed-off-by: alexander <[email protected]>

added clearArea test

64f0b51

Signed-off-by: alexander <[email protected]>

alexanderjyuen force-pushed the feature-plugin-container-layer branch from 51798af to 64f0b51 Compare December 9, 2024 19:21

SteveMacenski requested changes Dec 10, 2024

View reviewed changes

alexanderjyuen added 5 commits December 11, 2024 09:21

removed TODO message

3c2eb68

Signed-off-by: alexander <[email protected]>

removed constructor and destructors since they do nothing

b2926d1

Signed-off-by: alexander <[email protected]>

added check on costmap layer to see if it is clearable first

ce437aa

Signed-off-by: alexander <[email protected]>

fixed tests for clearing functionality

0e86021

Signed-off-by: alexander <[email protected]>

added try catch around initialization of plugins

bb91a7f

Signed-off-by: alexander <[email protected]>

SteveMacenski approved these changes Dec 11, 2024

View reviewed changes

nav2_costmap_2d/src/costmap_2d_ros.cpp Outdated Show resolved Hide resolved

fixed indents

b430429

Signed-off-by: alexander <[email protected]>

SteveMacenski approved these changes Dec 13, 2024

View reviewed changes

SteveMacenski merged commit 16abf9b into ros-navigation:main Dec 13, 2024
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nav2_costmap_2d plugin container layer #4781

nav2_costmap_2d plugin container layer #4781

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