Skill `navigate_to_pose`

Default path: /skill/navigate_to_pose
Datatype: navigation_skills/action/NavigateToPose
Definition source: package.xml in ros4hri/navigation_skills

Make the robot autonomously navigate toward the desired pose.

See goal-navigation for details.

Input parameters

pose geometry_msgs/PoseStamped, required

The coordinates of the pose that the robot must reach.
behavior_tree string

The name or the full path to an XML file with a behavior tree defining the logic that the robot must use while autonomously navigate towards its goal.
meta.priority integer, default: 128

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

Output fields

navigation_result empty

The result of the navigation action. Information about the navigation execution are available in the action feedback.

Quick snippets

Call the skill from the command-line

$ ros2 action send_goal /skill/navigate_to_pose navigation_skills/action/NavigateToPose # 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 NavigatetoposeActionClient(Node):

    def __init__(self):
        super().__init__('navigate_to_pose_client')
        self._action_client = ActionClient(self, , '/skill/navigate_to_pose')

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

        # TODO: adapt to the action's parameters

        # check the NavigateToPoseGoal 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 NavigatetoposeActionClient : public rclcpp::Node
{
public:
  using  = navigation_skills::action::;
  using GoalHandle = rclcpp_action::ClientGoalHandle<>;

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

    this->timer_ = this->create_wall_timer(
            500ms,
            bind(&NavigatetoposeActionClient::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 NavigateToPoseGoal 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(&NavigatetoposeActionClient::goal_response_callback, this, _1);

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

    send_goal_options.result_callback =
        bind(&NavigatetoposeActionClient::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 NavigatetoposeActionClient


RCLCPP_COMPONENTS_REGISTER_NODE(NavigatetoposeActionClient)

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

import Ros 2.0

// ...
NavigateToPoseSkill {
    id: mySkill

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

}

// Call the skill
mySkill.navigate_to_pose();

Skill navigate_to_pose

Input parameters

Output fields

Quick snippets

See also

Skill `navigate_to_pose`