Skill `navigate`

Version: 1.0.0
Default path: /skill/navigate
Datatype: navigation_skills/action/Navigate
Definition source: package.xml in ros4hri/navigation_skills

Autonomously navigate to to a given location.

Additional advanced navigation options are exposed through the specialized Skill navigate_to_pose, Skill navigate_to_waypoint and Skill navigate_to_zone skills.

Input parameters

pose geometry_msgs/PoseStamped

The coordinates of the pose that the robot must reach. If no reference frame is specified, the pose is assumed to be relative to the robot’s current position.

This parameter is mutually exclusive with target, and is ignored if target is provided.
target string

The name of a predefined target that the robot must reach. Can be the name of a existing waypoint (waypoint-navigation) or zone (environmental-annotations).

(in case of name conflict, waypoints are preferred over zones)
meta.priority integer, default: 128

Between 0 and 255. Higher value means that this skill invokation will have higher priority.

Quick snippets

Call the skill from the command-line

$ ros2 action send_goal /skill/navigate navigation_skills/action/Navigate # then press Tab to complete the message prototype

Call the action from a Python script:

#!/usr/bin/env python

import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node

from navigation_skills.action import

class NavigateActionClient(Node):

    def __init__(self):
        super().__init__('navigate_client')
        self._action_client = ActionClient(self, , '/skill/navigate')

    def send_goal(self, a, b):
        goal_msg = .Goal()

        # TODO: adapt to the action's parameters

        # check the NavigateGoal message
        # definition for the possible goal parameters

        # goal_msg.a = a
        # goal_msg.b = b

        self._action_client.wait_for_server()

        return self._action_client.send_goal_async(goal_msg)

if __name__ == '__main__':
    rclpy.init(args=args)

    action_client = ActionClient()

    # TODO: adapt to your action's parameters
    future = action_client.send_goal(a, b)

    rclpy.spin_until_future_complete(action_client, future)

    rclpy.shutdown()

Call the action from a C++ program:

#include <functional>
#include <future>
#include <memory>
#include <string>
#include <sstream>
#include <chrono>

#include "navigation_skills/action/.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_hpp"
#include "rclcpp_components/register_node_macro.hpp"

using namespace std::chrono_literals;
using namespace std;

class NavigateActionClient : public rclcpp::Node
{
public:
  using  = navigation_skills::action::;
  using GoalHandle = rclcpp_action::ClientGoalHandle<>;

  explicit NavigateActionClient(const rclcpp::NodeOptions & options)
  : Node("navigate_action_client", options)
  {
    this->client_ptr_ = rclcpp_action::create_client<>(
            this,
            "");

    this->timer_ = this->create_wall_timer(
            500ms,
            bind(&NavigateActionClient::send_goal, this));
  }

  void send_goal()
  {
    using namespace std::placeholders;

    this->timer_->cancel();

    if (!this->client_ptr_->wait_for_action_server()) {
      RCLCPP_ERROR(this->get_logger(), "Action server not available after waiting");
      rclcpp::shutdown();
    }

    auto goal_msg = ::Goal();


    // check the NavigateGoal message
    // definition for the possible goal parameters

    // goal_msg.... = ...;

    RCLCPP_INFO(this->get_logger(), "Sending goal");

    auto send_goal_options = rclcpp_action::Client<>::SendGoalOptions();

    send_goal_options.goal_response_callback =
        bind(&NavigateActionClient::goal_response_callback, this, _1);

    send_goal_options.feedback_callback =
        bind(&NavigateActionClient::feedback_callback, this, _1, _2);

    send_goal_options.result_callback =
        bind(&NavigateActionClient::result_callback, this, _1);


    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
  }

private:
  rclcpp_action::Client<>::SharedPtr client_ptr_;
  rclcpp::TimerBase::SharedPtr timer_;

  void goal_response_callback(const GoalHandle::SharedPtr & goal_handle)
  {
    if (!goal_handle) {
      RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
    } else {
      RCLCPP_INFO(this->get_logger(), "Goal accepted by server, waiting for result");
    }
  }

  void feedback_callback(
      GoalHandle::SharedPtr,
      const shared_ptr<const ::Feedback> feedback)
  {
    stringstream ss;
    ss << "Next number in sequence received: ";
    for (auto number : feedback->partial_sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
  }

  void result_callback(const GoalHandle::WrappedResult & result)
  {
    switch (result.code) {
      case rclcpp_action::ResultCode::SUCCEEDED:
          break;
      case rclcpp_action::ResultCode::ABORTED:
          RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
          return;
      case rclcpp_action::ResultCode::CANCELED:
          RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
          return;
      default:
          RCLCPP_ERROR(this->get_logger(), "Unknown result code");
          return;
    }
    stringstream ss;
    ss << "Result received: ";
    for (auto number : result.result->sequence) {
      ss << number << " ";
    }
    RCLCPP_INFO(this->get_logger(), ss.str().c_str());
    rclcpp::shutdown();
  }
};  // class NavigateActionClient


RCLCPP_COMPONENTS_REGISTER_NODE(NavigateActionClient)

You can call this skill from QML using the following code snippet. See ros_qml_plugin to learn more.

import Ros 2.0

// ...
NavigateSkill {
    id: mySkill

    onResult: {
        console.log("Skill result: " + result);
    }
    onFeedback: {
        console.log("Skill feedback: " + feedback);
    }

}

// Call the skill
mySkill.navigate();

Skill navigate

Input parameters

Quick snippets

See also

Skill `navigate`