Skip to content

Allow for no progress checkers to be configured if desired #5701

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Allow for no progress checkers to be configured if desired #5701

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
33 changes: 29 additions & 4 deletions nav2_controller/src/controller_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,9 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
for (size_t i = 0; i != progress_checker_ids_.size(); i++) {
progress_checker_ids_concat_ += progress_checker_ids_[i] + std::string(" ");
}
if (progress_checker_ids_concat_.empty()) {
progress_checker_ids_concat_ = "(none)";
}

RCLCPP_INFO(
get_logger(),
Expand Down Expand Up @@ -388,6 +391,22 @@ bool ControllerServer::findProgressCheckerId(
const std::string & c_name,
std::string & current_progress_checker)
{
if (progress_checkers_.size() == 0) {
if (c_name.empty()) {
RCLCPP_DEBUG(
get_logger(),
"No progress checker configured and none requested. Progress checking will be bypassed.");
current_progress_checker = "";
return true;
} else {
RCLCPP_ERROR(
get_logger(), "FollowPath called with progress_checker name %s in parameter"
" 'current_progress_checker', but no progress checkers are configured.",
c_name.c_str());
return false;
}
}

if (progress_checkers_.find(c_name) == progress_checkers_.end()) {
if (progress_checkers_.size() == 1 && c_name.empty()) {
RCLCPP_WARN_ONCE(
Expand Down Expand Up @@ -447,7 +466,9 @@ void ControllerServer::computeControl()
}

setPlannerPath(goal->path);
progress_checkers_[current_progress_checker_]->reset();
if (!current_progress_checker_.empty()) {
progress_checkers_[current_progress_checker_]->reset();
}

last_valid_cmd_time_ = now();
rclcpp::WallRate loop_rate(controller_frequency_);
Expand Down Expand Up @@ -610,8 +631,10 @@ void ControllerServer::computeAndPublishVelocity()
throw nav2_core::ControllerTFError("Failed to obtain robot pose");
}

if (!progress_checkers_[current_progress_checker_]->check(pose)) {
throw nav2_core::FailedToMakeProgress("Failed to make progress");
if (!current_progress_checker_.empty()) {
if (!progress_checkers_[current_progress_checker_]->check(pose)) {
throw nav2_core::FailedToMakeProgress("Failed to make progress");
}
}

geometry_msgs::msg::Twist twist = getThresholdedTwist(odom_sub_->getRawTwist());
Expand Down Expand Up @@ -740,7 +763,9 @@ void ControllerServer::updateGlobalPath()
get_logger(), "Change of progress checker %s requested, resetting it",
goal->progress_checker_id.c_str());
current_progress_checker_ = current_progress_checker;
progress_checkers_[current_progress_checker_]->reset();
if (!current_progress_checker_.empty()) {
progress_checkers_[current_progress_checker_]->reset();
}
}
} else {
std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
Expand Down
Loading