Move goal/progress plugins from DWB to nav2_controller (openelections#43)

* Move goal/progress plugins from DWB to nav2_controller

Updates to migration and configuration guides to
reflect the changes in plugins

Signed-off-by: Siddarth Gore <[email protected]>

* controller plugins change subtopic

Signed-off-by: Siddarth Gore <[email protected]>

Author: siddhya

configuration/packages/configuring-controller-server.rst

@@ -8,7 +8,7 @@ Source code on Github_.
 .. _Github: https://github.com/ros-planning/navigation2/tree/master/nav2_controller
 
 The Controller Server implements the server for handling the controller requests for the stack and host a map of plugin implementations.
-It will take in a path and a controller plugin name to use and call the appropriate plugin.
+It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins.
 
 Parameters
 **********
@@ -49,6 +49,55 @@ Parameters
               plugin: "dwb_core::DWBLocalPlanner"
     ..
 
+:progress_checker_plugin:
+
+  ============== ==============
+  Type           Default
+  -------------- --------------
+  string         'progress_checker'
+  ============== ==============
+
+  Description
+    Mapped name for progress checker plugin for checking progress made by robot.
+
+  Note
+    The plugin namespace defined needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace.
+
+    Example:
+
+    .. code-block:: yaml
+
+        controller_server:
+          ros__parameters:
+            progress_checker_plugin: "progress_checker"
+            progress_checker:
+              plugin: "nav2_controller::SimpleProgressChecker"
+    ..
+
+:goal_checker_plugin:
+
+  ============== ==============
+  Type           Default
+  -------------- --------------
+  string         'goal_checker'
+  ============== ==============
+
+  Description
+    Mapped name for goal checker plugin for checking goal is reached.
+
+  Note
+    The plugin namespace defined needs to have a :code:`plugin` parameter defining the type of plugin to be loaded in the namespace.
+
+    Example:
+
+    .. code-block:: yaml
+
+        controller_server:
+          ros__parameters:
+            goal_checker_plugin: "goal_checker"
+            goal_checker:
+              plugin: "nav2_controller::SimpleGoalChecker"
+
 :min_x_velocity_threshold:
 
   ============== =============================
@@ -82,51 +131,54 @@ Parameters
   Description
     Minimum angular velocity to use (rad/s).
 
-:required_movement_radius:
-
-  ============== =============================
-  Type           Default                                               
-  -------------- -----------------------------
-  double         0.5            
-  ============== =============================
-
-  Description
-    Minimum amount a robot must move to be progressing to goal (m).
+Provided Plugins
+****************
+ The plugins listed below are inside the ``nav2_controller`` namespace.
 
-:movement_time_allowance:
+.. toctree::
+  :maxdepth: 1
 
-  ============== =============================
-  Type           Default                                               
-  -------------- -----------------------------
-  double         10.0         
-  ============== =============================
-
-  Description
-    Maximum amount of time a robot has to move the minimum radius (s).
+  nav2_controller-plugins/simple_progress_checker.rst
+  nav2_controller-plugins/simple_goal_checker.rst
+  nav2_controller-plugins/stopped_goal_checker.rst
 
 Default Plugins
 ***************
 
-When the :code:`controller_plugins` parameter is not overridden, the following default plugins are loaded:
+When the :code:`progress_checker_plugin`, :code:`goal_checker_plugin` or :code:`controller_plugins` parameters are not overridden, the following default plugins are loaded:
 
-  ================= =====================================================
-  Namespace         Plugin
-  ----------------- -----------------------------------------------------
-  "FollowPath"      "dwb_core::DWBLocalPlanner"
-  ================= =====================================================
+  ================== =====================================================
+  Namespace          Plugin
+  ------------------ -----------------------------------------------------
+  "progress_checker" "nav2_controller::SimpleProgressChecker"
+  ------------------ -----------------------------------------------------
+  "goal_checker"     "nav2_controller::SimpleGoalChecker"
+  ------------------ -----------------------------------------------------
+  "FollowPath"       "dwb_core::DWBLocalPlanner"
+  ================== =====================================================
 
 Example
 *******
 .. code-block:: yaml
 
     controller_server:
       ros__parameters:
+        use_sim_time: True
         controller_frequency: 20.0
-        min_x_velocity_threshold: 0.01
-        min_y_velocity_threshold: 0.0
-        min_theta_velocity_threshold: 0.1
-        required_movement_radius: 0.5
-        movement_time_allowance: 5.0
-        controller_plugins: ['FollowPath']
+        min_x_velocity_threshold: 0.001
+        min_y_velocity_threshold: 0.5
+        min_theta_velocity_threshold: 0.001
+        progress_checker_plugin: "progress_checker"
+        goal_checker_plugin: "goal_checker"
+        controller_plugins: ["FollowPath"]
+        progress_checker:
+          plugin: "nav2_controller::SimpleProgressChecker"
+          required_movement_radius: 0.5
+          movement_time_allowance: 10.0
+        goal_checker:
+          plugin: "nav2_controller::SimpleGoalChecker"
+          xy_goal_tolerance: 0.25
+          yaw_goal_tolerance: 0.25
+          stateful: True
         FollowPath:
           plugin: "dwb_core::DWBLocalPlanner"

configuration/packages/configuring-dwb-controller.rst

@@ -30,9 +30,7 @@ The plugins listed below are inside the ``dwb_plugins`` namespace.
   :maxdepth: 1
 
   dwb-plugins/limited_accel_generator.rst
-  dwb-plugins/simple_goal_checker.rst
   dwb-plugins/standard_traj_generator.rst
-  dwb-plugins/stopped_goal_checker.rst
 
 
 Trajectory Critics

configuration/packages/dwb-plugins/simple_goal_checker.rst renamed to configuration/packages/nav2_controller-plugins/simple_goal_checker.rst

@@ -1,4 +1,4 @@
-.. _configuring_dwb_simple_goal_checker_plugin:
+.. _configuring_nav2_controller_simple_goal_checker_plugin:
 
 SimpleGoalChecker
 =================
@@ -8,9 +8,9 @@ Checks whether the robot has reached the goal pose.
 Parameters
 **********
 
-``<dwb plugin>``: DWB plugin name defined in the **controller_plugin_ids** parameter in :ref:`configuring_controller_server`.
+``<nav2_controller plugin>``: nav2_controller plugin name defined in the **goal_checker_plugin_id** parameter in :ref:`configuring_controller_server`.
 
-:``<dwb plugin>``.xy_goal_tolerance:
+:``<nav2_controller plugin>``.xy_goal_tolerance:
 
   ====== =======
   Type   Default
@@ -21,7 +21,7 @@ Parameters
     Description
         Tolerance to meet goal completion criteria (m).
 
-:``<dwb plugin>``.yaw_goal_tolerance:
+:``<nav2_controller plugin>``.yaw_goal_tolerance:
 
   ====== =======
   Type   Default
@@ -32,7 +32,7 @@ Parameters
     Description
         Tolerance to meet goal completion criteria (rad).
 
-:``<dwb plugin>``.stateful:
+:``<nav2_controller plugin>``.stateful:
 
   ==== =======
   Type Default

configuration/packages/nav2_controller-plugins/simple_progress_checker.rst

@@ -0,0 +1,34 @@
+.. _configuring_nav2_controller_simple_progress_checker_plugin:
+
+SimpleProgressChecker
+=====================
+
+Checks whether the robot has made progress.
+
+Parameters
+**********
+
+``<nav2_controller plugin>``: nav2_controller plugin name defined in the **progress_checker_plugin_id** parameter in :ref:`configuring_controller_server`.
+
+:``<nav2_controller plugin>``.required_movement_radius:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.5
+  ============== =============================
+
+  Description
+    Minimum amount a robot must move to be progressing to goal (m).
+
+:``<nav2_controller plugin>``.movement_time_allowance:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         10.0
+  ============== =============================
+
+  Description
+    Maximum amount of time a robot has to move the minimum radius (s).
+

configuration/packages/dwb-plugins/stopped_goal_checker.rst renamed to configuration/packages/nav2_controller-plugins/stopped_goal_checker.rst

@@ -1,4 +1,4 @@
-.. _configuring_dwb_stopped_goal_checker_plugin:
+.. _configuring_nav2_controller_stopped_goal_checker_plugin:
 
 StoppedGoalChecker
 ==================
@@ -8,9 +8,9 @@ Checks whether the robot has reached the goal pose and come to a stop.
 Parameters
 **********
 
-``<dwb plugin>``: DWB plugin name defined in the **controller_plugin_ids** parameter in :ref:`configuring_controller_server`.
+``<nav2_controller plugin>``: nav2_controller plugin name defined in the **goal_checker_plugin_id** parameter in :ref:`configuring_controller_server`.
 
-:``<dwb plugin>``.trans_stopped_velocity:
+:``<nav2_controller plugin>``.trans_stopped_velocity:
 
   ====== =======
   Type   Default
@@ -21,7 +21,7 @@ Parameters
     Description
         Velocity below is considered to be stopped at tolerance met (m/s).
 
-:``<dwb plugin>``.rot_stopped_velocity:
+:``<nav2_controller plugin>``.rot_stopped_velocity:
 
   ====== =======
   Type   Default

migration/Eloquent.rst

@@ -30,6 +30,10 @@ Each server defines a parameter where the list of names for the plugins to be lo
 +-----------------------+------------------------+
 |      Server Name      |    Plugin Parameter    |
 +=======================+========================+
+| Controller Server     | progress_checker_plugin|
++-----------------------+------------------------+
+| Controller Server     | goal_checker_plugin    |
++-----------------------+------------------------+
 | Controller Server     | controller_plugins     |
 +-----------------------+------------------------+
 | Planner Server        | planner_plugins        |
@@ -83,6 +87,8 @@ Original GitHub tickets:
 - `GoalUpdatedCondition <https://github.com/ros-planning/navigation2/pull/1712>`_
 - `DistanceTraveledCondition <https://github.com/ros-planning/navigation2/pull/1705>`_
 - `TimeExpiredCondition <https://github.com/ros-planning/navigation2/pull/1705>`_
+- `ProgressChecker <https://github.com/ros-planning/navigation2/pull/1857>`_
+- `GoalChecker <https://github.com/ros-planning/navigation2/pull/1857>`_
 
 Map Server Re-Work
 ******************