Feat/migrate gps nav2 system test (ros-navigation#4682)

* include missing docking station parameters

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

* fix crach RL

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

* lintering

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

* Change naming

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

* update submodule

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

* minor changes

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

* fix issue with caching

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

* fix issue with caching, increase version number

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

* Pin git ref via sha to bust underlay workspace cache

---------

Signed-off-by: stevedan <[email protected]>
Co-authored-by: ruffsl <[email protected]>
Signed-off-by: stevedanomodolor <[email protected]>

Author: stevedanomodolor

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v26\
+              - "<< parameters.key >>-v28\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v26\
+              - "<< parameters.key >>-v28\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v26\
+            key: "<< parameters.key >>-v28\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\

nav2_system_tests/CMakeLists.txt

@@ -113,7 +113,7 @@ if(BUILD_TESTING)
   add_subdirectory(src/system_failure)
   add_subdirectory(src/updown)
   add_subdirectory(src/waypoint_follower)
-  # add_subdirectory(src/gps_navigation)
+  add_subdirectory(src/gps_navigation)
   add_subdirectory(src/behaviors/wait)
   add_subdirectory(src/behaviors/spin)
   add_subdirectory(src/behaviors/backup)

nav2_system_tests/src/gps_navigation/CMakeLists.txt

@@ -5,7 +5,5 @@ ament_add_test(test_gps_waypoint_follower
   TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
-    TEST_WORLD=${PROJECT_SOURCE_DIR}/worlds/turtlebot3_ros2_demo_gps.world
-    GAZEBO_MODEL_PATH=${PROJECT_SOURCE_DIR}/models
-    BT_NAVIGATOR_XML=navigate_to_pose_w_replanning_and_recovery.xml
 )
+

nav2_system_tests/src/gps_navigation/dual_ekf_navsat_params.yaml

@@ -121,7 +121,7 @@ navsat_transform:
     magnetic_declination_radians: 0.0429351  # For lat/long 55.944831, -3.186998
     yaw_offset: 0.0
     zero_altitude: true
-    broadcast_utm_transform: true
+    broadcast_cartesian_transform: true
     publish_filtered_gps: true
     use_odometry_yaw: true
     wait_for_datum: false 

nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml

@@ -53,46 +53,93 @@ controller_server:
       yaw_goal_tolerance: 0.25
     # DWB parameters
     FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.26
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.26
-      min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.25
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: -1.0
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 56
+      model_dt: 0.05
+      batch_size: 2000
+      ax_max: 3.0
+      ax_min: -3.0
+      ay_max: 3.0
+      az_max: 3.5
+      vx_std: 0.2
+      vy_std: 0.2
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.35
+      vy_max: 0.5
+      wz_max: 1.9
+      iteration_count: 1
+      prune_distance: 1.7
+      transform_tolerance: 0.1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "DiffDrive"
+      visualize: true
+      regenerate_noises: true
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.2
+      critics: [
+        "ConstraintCritic", "CostCritic", "GoalCritic",
+        "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
+        "PathAngleCritic", "PreferForwardCritic"]
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        critical_cost: 300.0
+        consider_footprint: true
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        mode: 0
+      # TwirlingCritic:
+      #   enabled: true
+      #   twirling_cost_power: 1
+      #   twirling_cost_weight: 10.0
 
 local_costmap:
   local_costmap:
@@ -151,6 +198,8 @@ global_costmap:
       rolling_window: True
       width: 50
       height: 50
+      # origin_x: 0.0
+      # origin_y: 0.0
       track_unknown_space: true
       # no static map
       plugins: ["obstacle_layer", "inflation_layer"]
@@ -290,3 +339,48 @@ collision_monitor:
       min_height: 0.15
       max_height: 2.0
       enabled: True
+
+docking_server:
+  ros__parameters:
+    controller_frequency: 50.0
+    initial_perception_timeout: 5.0
+    wait_charge_timeout: 5.0
+    dock_approach_timeout: 30.0
+    undock_linear_tolerance: 0.05
+    undock_angular_tolerance: 0.1
+    max_retries: 3
+    base_frame: "base_link"
+    fixed_frame: "odom"
+    dock_backwards: false
+    dock_prestaging_tolerance: 0.5
+
+    # Types of docks
+    dock_plugins: ['simple_charging_dock']
+    simple_charging_dock:
+      plugin: 'opennav_docking::SimpleChargingDock'
+      docking_threshold: 0.05
+      staging_x_offset: -0.7
+      use_external_detection_pose: true
+      use_battery_status: false # true
+      use_stall_detection: false # true
+
+      external_detection_timeout: 1.0
+      external_detection_translation_x: -0.18
+      external_detection_translation_y: 0.0
+      external_detection_rotation_roll: -1.57
+      external_detection_rotation_pitch: -1.57
+      external_detection_rotation_yaw: 0.0
+      filter_coef: 0.1
+
+    # Dock instances
+    docks: ['home_dock']  # Input your docks here
+    home_dock:
+      type: 'simple_charging_dock'
+      frame: map
+      pose: [0.0, 0.0, 0.0]
+
+    controller:
+      k_phi: 3.0
+      k_delta: 2.0
+      v_linear_min: 0.15
+      v_linear_max: 0.15