refactor: change style of polygon names and observation_sources names

Signed-off-by: AJedancov <andrei.jedancov@gmail.com>

Author: AJedancov

nav2_bringup/params/nav2_params.yaml

@@ -508,8 +508,8 @@ collision_monitor:
     stop_pub_timeout: 2.0
     # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
     # and robot footprint for "approach" action type.
-    polygons: ["FootprintApproach"]
-    FootprintApproach:
+    polygons: ["footprint_approach"]
+    footprint_approach:
       type: "polygon"
       action_type: "approach"
       footprint_topic: "local_costmap/published_footprint"

nav2_collision_monitor/params/collision_detector_params.yaml

@@ -6,8 +6,8 @@ collision_detector:
     transform_tolerance: 0.5
     source_timeout: 5.0
     base_shift_correction: true
-    polygons: ["PolygonFront"]
-    PolygonFront:
+    polygons: ["polygon_front"]
+    polygon_front:
       type: "polygon"
       points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
       action_type: "none"

nav2_collision_monitor/params/collision_monitor_params.yaml

@@ -16,16 +16,16 @@ collision_monitor:
     # (2) "circle" type with static footprint set by radius. "footprint_topic" parameter
     # to be ignored in circular case.
     # (3) "velocity_polygon" type with dynamically set polygon from velocity_polygons
-    polygons: ["PolygonStop"]
-    PolygonStop:
+    polygons: ["polygon_stop"]
+    polygon_stop:
       type: "polygon"
       points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
       action_type: "stop"
       min_points: 4
       visualize: true
       polygon_pub_topic: "polygon_stop"
       enabled: true
-    PolygonSlow:
+    polygon_slow:
       type: "polygon"
       points: "[[0.4, 0.4], [0.4, -0.4], [-0.4, -0.4], [-0.4, 0.4]]"
       action_type: "slowdown"
@@ -34,7 +34,7 @@ collision_monitor:
       visualize: true
       polygon_pub_topic: "polygon_slowdown"
       enabled: true
-    PolygonLimit:
+    polygon_limit:
       type: "polygon"
       points: "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"
       action_type: "limit"
@@ -44,7 +44,7 @@ collision_monitor:
       visualize: true
       polygon_pub_topic: "polygon_limit"
       enabled: true
-    FootprintApproach:
+    footprint_approach:
       type: "polygon"
       action_type: "approach"
       footprint_topic: "/local_costmap/published_footprint"
@@ -53,7 +53,7 @@ collision_monitor:
       min_points: 6
       visualize: false
       enabled: true
-    VelocityPolygonStop:
+    velocity_polygon_stop:
       type: "velocity_polygon"
       action_type: "stop"
       min_points: 6

nav2_collision_monitor/src/collision_monitor_node.cpp

@@ -432,7 +432,7 @@ void CollisionMonitor::process(const Velocity & cmd_vel_in, const std_msgs::msg:
         source->getSourceTimeout().seconds() != 0.0)
       {
         action_polygon = nullptr;
-        robot_action.polygon_name = "invalid source";
+        robot_action.polygon_name = "invalid_source";
         robot_action.action_type = STOP;
         robot_action.req_vel.x = 0.0;
         robot_action.req_vel.y = 0.0;
@@ -606,7 +606,7 @@ void CollisionMonitor::notifyActionState(
   const Action & robot_action, const std::shared_ptr<Polygon> action_polygon) const
 {
   if (robot_action.action_type == STOP) {
-    if (robot_action.polygon_name == "invalid source") {
+    if (robot_action.polygon_name == "invalid_source") {
       RCLCPP_WARN(
         get_logger(),
         "Robot to stop due to invalid source."

nav2_collision_monitor/test/collision_detector_node_test.cpp

@@ -48,11 +48,11 @@ static constexpr double EPSILON = 1e-5;
 static const char BASE_FRAME_ID[]{"base_link"};
 static const char SOURCE_FRAME_ID[]{"base_source"};
 static const char ODOM_FRAME_ID[]{"odom"};
-static const char SCAN_NAME[]{"Scan"};
-static const char POINTCLOUD_NAME[]{"PointCloud"};
-static const char RANGE_NAME[]{"Range"};
-static const char POLYGON_NAME[]{"Polygon"};
-static const char COSTMAP_NAME[]{"Costmap"};
+static const char SCAN_NAME[]{"scan"};
+static const char POINTCLOUD_NAME[]{"pointcloud"};
+static const char RANGE_NAME[]{"range"};
+static const char POLYGON_NAME[]{"polygon"};
+static const char COSTMAP_NAME[]{"costmap"};
 static const char STATE_TOPIC[]{"collision_detector_state"};
 static const char COLLISION_POINTS_MARKERS_TOPIC[]{"/collision_detector/collision_points_marker"};
 static const int MIN_POINTS{1};
@@ -559,9 +559,9 @@ bool Tester::waitData(
 TEST_F(Tester, testIncorrectPolygonType)
 {
   setCommonParameters();
-  addPolygon("UnknownShape", POLYGON_UNKNOWN, 1.0, "none");
+  addPolygon("unknown_shape", POLYGON_UNKNOWN, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"UnknownShape"}, {SCAN_NAME});
+  setVectors({"unknown_shape"}, {SCAN_NAME});
 
   // Check that Collision Detector node can not be configured for this parameters set
   cd_->cant_configure();
@@ -570,9 +570,9 @@ TEST_F(Tester, testIncorrectPolygonType)
 TEST_F(Tester, testIncorrectActionType)
 {
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "approach");
+  addPolygon("detection_region", POLYGON, 1.0, "approach");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"DetectionRegion"}, {SCAN_NAME});
+  setVectors({"detection_region"}, {SCAN_NAME});
 
   // Check that Collision Detector node can not be configured for this action type
   cd_->cant_configure();
@@ -581,9 +581,9 @@ TEST_F(Tester, testIncorrectActionType)
 TEST_F(Tester, testIncorrectSourceType)
 {
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
-  addSource("UnknownSource", SOURCE_UNKNOWN);
-  setVectors({"DetectionRegion"}, {"UnknownSource"});
+  addPolygon("detection_region", POLYGON, 1.0, "none");
+  addSource("unknown_source", SOURCE_UNKNOWN);
+  setVectors({"detection_region"}, {"unknown_source"});
 
   // Check that Collision Detector node can not be configured for this parameters set
   cd_->cant_configure();
@@ -592,7 +592,7 @@ TEST_F(Tester, testIncorrectSourceType)
 TEST_F(Tester, testPolygonsNotSet)
 {
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
+  addPolygon("detection_region", POLYGON, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
 
   // Check that Collision Detector node can not be configured for this parameters set
@@ -602,11 +602,11 @@ TEST_F(Tester, testPolygonsNotSet)
 TEST_F(Tester, testSourcesNotSet)
 {
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
+  addPolygon("detection_region", POLYGON, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
   cd_->declare_parameter(
     "polygons",
-    rclcpp::ParameterValue(std::vector<std::string>{"DetectionRegion"}));
+    rclcpp::ParameterValue(std::vector<std::string>{"detection_region"}));
 
   // Check that Collision Detector node can not be configured for this parameters set
   cd_->cant_configure();
@@ -615,9 +615,9 @@ TEST_F(Tester, testSourcesNotSet)
 TEST_F(Tester, testSuccessfulConfigure)
 {
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
+  addPolygon("detection_region", POLYGON, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"DetectionRegion"}, {SCAN_NAME});
+  setVectors({"detection_region"}, {SCAN_NAME});
 
   // Check that Collision Detector node can be configured successfully for this parameters set
   cd_->configure();
@@ -628,9 +628,9 @@ TEST_F(Tester, testProcessNonActive)
   rclcpp::Time curr_time = cd_->now();
 
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
+  addPolygon("detection_region", POLYGON, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"DetectionRegion"}, {SCAN_NAME});
+  setVectors({"detection_region"}, {SCAN_NAME});
 
   // Configure Collision Detector node, but not activate
   cd_->configure();
@@ -647,9 +647,9 @@ TEST_F(Tester, testProcessActive)
   rclcpp::Time curr_time = cd_->now();
 
   setCommonParameters();
-  addPolygon("DetectionRegion", POLYGON, 1.0, "none");
+  addPolygon("detection_region", POLYGON, 1.0, "none");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"DetectionRegion"}, {SCAN_NAME});
+  setVectors({"detection_region"}, {SCAN_NAME});
 
   // Configure and activate Collision Detector node
   cd_->start();
@@ -667,17 +667,17 @@ TEST_F(Tester, testPolygonDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create polygon
-  addPolygon("DetectionRegion", POLYGON, 2.0, "none");
+  addPolygon("detection_region", POLYGON, 2.0, "none");
   addSource(RANGE_NAME, RANGE);
-  setVectors({"DetectionRegion"}, {RANGE_NAME});
+  setVectors({"detection_region"}, {RANGE_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishRange(1.5, curr_time);
 
   ASSERT_TRUE(waitData(1.5, 300ms, curr_time));
@@ -696,17 +696,17 @@ TEST_F(Tester, testCircleDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create Circle
-  addPolygon("DetectionRegion", CIRCLE, 3.0, "none");
+  addPolygon("detection_region", CIRCLE, 3.0, "none");
   addSource(RANGE_NAME, RANGE);
-  setVectors({"DetectionRegion"}, {RANGE_NAME});
+  setVectors({"detection_region"}, {RANGE_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishRange(1.5, curr_time);
 
   ASSERT_TRUE(waitData(1.5, 300ms, curr_time));
@@ -725,17 +725,17 @@ TEST_F(Tester, testScanDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create polygon
-  addPolygon("DetectionRegion", CIRCLE, 3.0, "none");
+  addPolygon("detection_region", CIRCLE, 3.0, "none");
   addSource(SCAN_NAME, SCAN);
-  setVectors({"DetectionRegion"}, {SCAN_NAME});
+  setVectors({"detection_region"}, {SCAN_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishScan(1.5, curr_time);
 
   ASSERT_TRUE(waitData(1.5, 300ms, curr_time));
@@ -754,17 +754,17 @@ TEST_F(Tester, testPointcloudDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create polygon
-  addPolygon("DetectionRegion", CIRCLE, 3.0, "none");
+  addPolygon("detection_region", CIRCLE, 3.0, "none");
   addSource(POINTCLOUD_NAME, POINTCLOUD);
-  setVectors({"DetectionRegion"}, {POINTCLOUD_NAME});
+  setVectors({"detection_region"}, {POINTCLOUD_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishPointCloud(2.5, curr_time);
 
   ASSERT_TRUE(waitData(std::hypot(2.5, 0.01), 500ms, curr_time));
@@ -783,17 +783,17 @@ TEST_F(Tester, testPolygonSourceDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create polygon
-  addPolygon("DetectionRegion", CIRCLE, 3.0, "none");
+  addPolygon("detection_region", CIRCLE, 3.0, "none");
   addSource(POLYGON_NAME, POLYGON_SOURCE);
-  setVectors({"DetectionRegion"}, {POLYGON_NAME});
+  setVectors({"detection_region"}, {POLYGON_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishPolygon(2.5, curr_time);
 
   ASSERT_TRUE(waitData(std::hypot(2.5, 1.0), 500ms, curr_time));
@@ -812,17 +812,17 @@ TEST_F(Tester, testCostmapDetection)
   // Set Collision Detector parameters.
   setCommonParameters();
   // Create polygon
-  addPolygon("DetectionRegion", CIRCLE, 3.0, "none");
+  addPolygon("detection_region", CIRCLE, 3.0, "none");
   addSource(COSTMAP_NAME, COSTMAP);
-  setVectors({"DetectionRegion"}, {COSTMAP_NAME});
+  setVectors({"detection_region"}, {COSTMAP_NAME});
 
   // Start Collision Detector node
   cd_->start();
 
   // Share TF
   sendTransforms(curr_time);
 
-  // Obstacle is in DetectionRegion
+  // Obstacle is in detection_region
   publishCostmap(1.5, curr_time);
 
   ASSERT_TRUE(waitData(1.5, 500ms, curr_time));

nav2_collision_monitor/test/collision_monitor_node_bag.yaml

@@ -17,8 +17,8 @@ collision_monitor:
       cost_threshold: 253
       enabled: true
 
-    polygons: [Detection]
-    Detection:
+    polygons: [detection]
+    detection:
       type: circle
       action_type: stop
       min_points: 1