robot_navigator.py

#! /usr/bin/env python3
# Copyright 2021 Samsung Research America
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
 
 
from enum import Enum
import time
 
from action_msgs.msg import GoalStatus
from builtin_interfaces.msg import Duration
from geometry_msgs.msg import Point
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped
from lifecycle_msgs.srv import GetState
from nav2_msgs.action import AssistedTeleop, BackUp, DriveOnHeading, Spin
from nav2_msgs.action import ComputePathThroughPoses, ComputePathToPose
from nav2_msgs.action import (
    DockRobot,
    FollowGPSWaypoints,
    FollowPath,
    FollowWaypoints,
    NavigateThroughPoses,
    NavigateToPose,
    UndockRobot,
)
from nav2_msgs.action import SmoothPath
from nav2_msgs.srv import ClearCostmapAroundPose, ClearCostmapAroundRobot, \
    ClearCostmapExceptRegion, ClearEntireCostmap
from nav2_msgs.srv import GetCostmap, LoadMap, ManageLifecycleNodes
import rclpy
from rclpy.action import ActionClient
from rclpy.duration import Duration as rclpyDuration
from rclpy.node import Node
from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy
from rclpy.qos import QoSProfile, QoSReliabilityPolicy
 
 
class TaskResult(Enum):
    UNKNOWN = 0
    SUCCEEDED = 1
    CANCELED = 2
    FAILED = 3
 
 
class BasicNavigator(Node):
 
    def __init__(self, node_name='basic_navigator', namespace=''):
        super().__init__(node_name=node_name, namespace=namespace)
        self.initial_poseinitial_pose = PoseStamped()
        self.initial_poseinitial_pose.header.frame_id = 'map'
        self.goal_handlegoal_handle = None
        self.result_futureresult_future = None
        self.feedbackfeedback = None
        self.statusstatus = None
 
        amcl_pose_qos = QoSProfile(
            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
            reliability=QoSReliabilityPolicy.RELIABLE,
            history=QoSHistoryPolicy.KEEP_LAST,
            depth=1,
        )
 
        self.initial_pose_receivedinitial_pose_received = False
        self.nav_through_poses_clientnav_through_poses_client = ActionClient(
            self, NavigateThroughPoses, 'navigate_through_poses'
        )
        self.nav_to_pose_clientnav_to_pose_client = ActionClient(self, NavigateToPose, 'navigate_to_pose')
        self.follow_waypoints_clientfollow_waypoints_client = ActionClient(
            self, FollowWaypoints, 'follow_waypoints'
        )
        self.follow_gps_waypoints_clientfollow_gps_waypoints_client = ActionClient(
            self, FollowGPSWaypoints, 'follow_gps_waypoints'
        )
        self.follow_path_clientfollow_path_client = ActionClient(self, FollowPath, 'follow_path')
        self.compute_path_to_pose_clientcompute_path_to_pose_client = ActionClient(
            self, ComputePathToPose, 'compute_path_to_pose'
        )
        self.compute_path_through_poses_clientcompute_path_through_poses_client = ActionClient(
            self, ComputePathThroughPoses, 'compute_path_through_poses'
        )
        self.smoother_clientsmoother_client = ActionClient(self, SmoothPath, 'smooth_path')
        self.spin_clientspin_client = ActionClient(self, Spin, 'spin')
        self.backup_clientbackup_client = ActionClient(self, BackUp, 'backup')
        self.drive_on_heading_clientdrive_on_heading_client = ActionClient(
            self, DriveOnHeading, 'drive_on_heading'
        )
        self.assisted_teleop_clientassisted_teleop_client = ActionClient(
            self, AssistedTeleop, 'assisted_teleop'
        )
        self.docking_clientdocking_client = ActionClient(self, DockRobot, 'dock_robot')
        self.undocking_clientundocking_client = ActionClient(self, UndockRobot, 'undock_robot')
        self.localization_pose_sublocalization_pose_sub = self.create_subscription(
            PoseWithCovarianceStamped,
            'amcl_pose',
            self._amclPoseCallback_amclPoseCallback,
            amcl_pose_qos,
        )
        self.initial_pose_pubinitial_pose_pub = self.create_publisher(
            PoseWithCovarianceStamped, 'initialpose', 10
        )
        self.change_maps_srvchange_maps_srv = self.create_client(LoadMap, 'map_server/load_map')
        self.clear_costmap_global_srvclear_costmap_global_srv = self.create_client(
            ClearEntireCostmap, 'global_costmap/clear_entirely_global_costmap'
        )
        self.clear_costmap_local_srvclear_costmap_local_srv = self.create_client(
            ClearEntireCostmap, 'local_costmap/clear_entirely_local_costmap'
        )
        self.clear_costmap_except_region_srvclear_costmap_except_region_srv = self.create_client(
            ClearCostmapExceptRegion, 'local_costmap/clear_costmap_except_region'
        )
        self.clear_costmap_around_robot_srvclear_costmap_around_robot_srv = self.create_client(
            ClearCostmapAroundRobot, 'local_costmap/clear_costmap_around_robot'
        )
        self.clear_costmap_around_pose_srvclear_costmap_around_pose_srv = self.create_client(
            ClearCostmapAroundPose, 'local_costmap/clear_costmap_around_pose'
        )
        self.get_costmap_global_srvget_costmap_global_srv = self.create_client(
            GetCostmap, 'global_costmap/get_costmap'
        )
        self.get_costmap_local_srvget_costmap_local_srv = self.create_client(
            GetCostmap, 'local_costmap/get_costmap'
        )
 
    def destroyNode(self):
        self.destroy_nodedestroy_node()
 
    def destroy_node(self):
        self.nav_through_poses_clientnav_through_poses_client.destroy()
        self.nav_to_pose_clientnav_to_pose_client.destroy()
        self.follow_waypoints_clientfollow_waypoints_client.destroy()
        self.follow_path_clientfollow_path_client.destroy()
        self.compute_path_to_pose_clientcompute_path_to_pose_client.destroy()
        self.compute_path_through_poses_clientcompute_path_through_poses_client.destroy()
        self.smoother_clientsmoother_client.destroy()
        self.spin_clientspin_client.destroy()
        self.backup_clientbackup_client.destroy()
        self.drive_on_heading_clientdrive_on_heading_client.destroy()
        self.assisted_teleop_clientassisted_teleop_client.destroy()
        self.follow_gps_waypoints_clientfollow_gps_waypoints_client.destroy()
        self.docking_clientdocking_client.destroy()
        self.undocking_clientundocking_client.destroy()
        super().destroy_node()
 
    def setInitialPose(self, initial_pose):
        """Set the initial pose to the localization system."""
        self.initial_pose_receivedinitial_pose_received = False
        self.initial_poseinitial_pose = initial_pose
        self._setInitialPose_setInitialPose()
 
    def goThroughPoses(self, poses, behavior_tree=''):
        """Send a `NavThroughPoses` action request."""
        self.debugdebug("Waiting for 'NavigateThroughPoses' action server")
        while not self.nav_through_poses_clientnav_through_poses_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'NavigateThroughPoses' action server not available, waiting...")
 
        goal_msg = NavigateThroughPoses.Goal()
        goal_msg.poses = poses
        goal_msg.behavior_tree = behavior_tree
 
        self.infoinfo(f'Navigating with {len(goal_msg.poses)} goals....')
        send_goal_future = self.nav_through_poses_clientnav_through_poses_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror(f'Goal with {len(poses)} poses was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def goToPose(self, pose, behavior_tree=''):
        """Send a `NavToPose` action request."""
        self.debugdebug("Waiting for 'NavigateToPose' action server")
        while not self.nav_to_pose_clientnav_to_pose_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'NavigateToPose' action server not available, waiting...")
 
        goal_msg = NavigateToPose.Goal()
        goal_msg.pose = pose
        goal_msg.behavior_tree = behavior_tree
 
        self.infoinfo(
            'Navigating to goal: '
            + str(pose.pose.position.x)
            + ' '
            + str(pose.pose.position.y)
            + '...'
        )
        send_goal_future = self.nav_to_pose_clientnav_to_pose_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror(
                'Goal to '
                + str(pose.pose.position.x)
                + ' '
                + str(pose.pose.position.y)
                + ' was rejected!'
            )
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def followWaypoints(self, poses):
        """Send a `FollowWaypoints` action request."""
        self.debugdebug("Waiting for 'FollowWaypoints' action server")
        while not self.follow_waypoints_clientfollow_waypoints_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'FollowWaypoints' action server not available, waiting...")
 
        goal_msg = FollowWaypoints.Goal()
        goal_msg.poses = poses
 
        self.infoinfo(f'Following {len(goal_msg.poses)} goals....')
        send_goal_future = self.follow_waypoints_clientfollow_waypoints_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror(f'Following {len(poses)} waypoints request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def followGpsWaypoints(self, gps_poses):
        """Send a `FollowGPSWaypoints` action request."""
        self.debugdebug("Waiting for 'FollowWaypoints' action server")
        while not self.follow_gps_waypoints_clientfollow_gps_waypoints_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'FollowWaypoints' action server not available, waiting...")
 
        goal_msg = FollowGPSWaypoints.Goal()
        goal_msg.gps_poses = gps_poses
 
        self.infoinfo(f'Following {len(goal_msg.gps_poses)} gps goals....')
        send_goal_future = self.follow_gps_waypoints_clientfollow_gps_waypoints_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror(
                f'Following {len(gps_poses)} gps waypoints request was rejected!'
            )
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def spin(self, spin_dist=1.57, time_allowance=10):
        self.debugdebug("Waiting for 'Spin' action server")
        while not self.spin_clientspin_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'Spin' action server not available, waiting...")
        goal_msg = Spin.Goal()
        goal_msg.target_yaw = spin_dist
        goal_msg.time_allowance = Duration(sec=time_allowance)
 
        self.infoinfo(f'Spinning to angle {goal_msg.target_yaw}....')
        send_goal_future = self.spin_clientspin_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Spin request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10):
        self.debugdebug("Waiting for 'Backup' action server")
        while not self.backup_clientbackup_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'Backup' action server not available, waiting...")
        goal_msg = BackUp.Goal()
        goal_msg.target = Point(x=float(backup_dist))
        goal_msg.speed = backup_speed
        goal_msg.time_allowance = Duration(sec=time_allowance)
 
        self.infoinfo(f'Backing up {goal_msg.target.x} m at {goal_msg.speed} m/s....')
        send_goal_future = self.backup_clientbackup_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Backup request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def driveOnHeading(self, dist=0.15, speed=0.025, time_allowance=10):
        self.debugdebug("Waiting for 'DriveOnHeading' action server")
        while not self.backup_clientbackup_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'DriveOnHeading' action server not available, waiting...")
        goal_msg = DriveOnHeading.Goal()
        goal_msg.target = Point(x=float(dist))
        goal_msg.speed = speed
        goal_msg.time_allowance = Duration(sec=time_allowance)
 
        self.infoinfo(f'Drive {goal_msg.target.x} m on heading at {goal_msg.speed} m/s....')
        send_goal_future = self.drive_on_heading_clientdrive_on_heading_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Drive On Heading request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def assistedTeleop(self, time_allowance=30):
        self.debugdebug("Wainting for 'assisted_teleop' action server")
        while not self.assisted_teleop_clientassisted_teleop_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'assisted_teleop' action server not available, waiting...")
        goal_msg = AssistedTeleop.Goal()
        goal_msg.time_allowance = Duration(sec=time_allowance)
 
        self.infoinfo("Running 'assisted_teleop'....")
        send_goal_future = self.assisted_teleop_clientassisted_teleop_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Assisted Teleop request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def followPath(self, path, controller_id='', goal_checker_id=''):
        """Send a `FollowPath` action request."""
        self.debugdebug("Waiting for 'FollowPath' action server")
        while not self.follow_path_clientfollow_path_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'FollowPath' action server not available, waiting...")
 
        goal_msg = FollowPath.Goal()
        goal_msg.path = path
        goal_msg.controller_id = controller_id
        goal_msg.goal_checker_id = goal_checker_id
 
        self.infoinfo('Executing path...')
        send_goal_future = self.follow_path_clientfollow_path_client.send_goal_async(
            goal_msg, self._feedbackCallback_feedbackCallback
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Follow path was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def dockRobotByPose(self, dock_pose, dock_type, nav_to_dock=True):
        """Send a `DockRobot` action request."""
        self.infoinfo("Waiting for 'DockRobot' action server")
        while not self.docking_clientdocking_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo('"DockRobot" action server not available, waiting...')
 
        goal_msg = DockRobot.Goal()
        goal_msg.use_dock_id = False
        goal_msg.dock_pose = dock_pose
        goal_msg.dock_type = dock_type
        goal_msg.navigate_to_staging_pose = nav_to_dock  # if want to navigate before staging
 
        self.infoinfo('Docking at pose: ' + str(dock_pose) + '...')
        send_goal_future = self.docking_clientdocking_client.send_goal_async(goal_msg,
                                                               self._feedbackCallback_feedbackCallback)
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.infoinfo('Docking request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def dockRobotByID(self, dock_id, nav_to_dock=True):
        """Send a `DockRobot` action request."""
        self.infoinfo("Waiting for 'DockRobot' action server")
        while not self.docking_clientdocking_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo('"DockRobot" action server not available, waiting...')
 
        goal_msg = DockRobot.Goal()
        goal_msg.use_dock_id = True
        goal_msg.dock_id = dock_id
        goal_msg.navigate_to_staging_pose = nav_to_dock  # if want to navigate before staging
 
        self.infoinfo('Docking at dock ID: ' + str(dock_id) + '...')
        send_goal_future = self.docking_clientdocking_client.send_goal_async(goal_msg,
                                                               self._feedbackCallback_feedbackCallback)
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.infoinfo('Docking request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def undockRobot(self, dock_type=''):
        """Send a `UndockRobot` action request."""
        self.infoinfo("Waiting for 'UndockRobot' action server")
        while not self.undocking_clientundocking_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo('"UndockRobot" action server not available, waiting...')
 
        goal_msg = UndockRobot.Goal()
        goal_msg.dock_type = dock_type
 
        self.infoinfo('Undocking from dock of type: ' + str(dock_type) + '...')
        send_goal_future = self.undocking_clientundocking_client.send_goal_async(goal_msg,
                                                                 self._feedbackCallback_feedbackCallback)
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.infoinfo('Undocking request was rejected!')
            return False
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        return True
 
    def cancelTask(self):
        """Cancel pending task request of any type."""
        self.infoinfo('Canceling current task.')
        if self.result_futureresult_future:
            future = self.goal_handlegoal_handle.cancel_goal_async()
            rclpy.spin_until_future_complete(self, future)
        return
 
    def isTaskComplete(self):
        """Check if the task request of any type is complete yet."""
        if not self.result_futureresult_future:
            # task was cancelled or completed
            return True
        rclpy.spin_until_future_complete(self, self.result_futureresult_future, timeout_sec=0.10)
        if self.result_futureresult_future.result():
            self.statusstatus = self.result_futureresult_future.result().status
            if self.statusstatus != GoalStatus.STATUS_SUCCEEDED:
                self.debugdebug(f'Task with failed with status code: {self.status}')
                return True
        else:
            # Timed out, still processing, not complete yet
            return False
 
        self.debugdebug('Task succeeded!')
        return True
 
    def getFeedback(self):
        """Get the pending action feedback message."""
        return self.feedbackfeedback
 
    def getResult(self):
        """Get the pending action result message."""
        if self.statusstatus == GoalStatus.STATUS_SUCCEEDED:
            return TaskResult.SUCCEEDED
        elif self.statusstatus == GoalStatus.STATUS_ABORTED:
            return TaskResult.FAILED
        elif self.statusstatus == GoalStatus.STATUS_CANCELED:
            return TaskResult.CANCELED
        else:
            return TaskResult.UNKNOWN
 
    def waitUntilNav2Active(self, navigator='bt_navigator', localizer='amcl'):
        """Block until the full navigation system is up and running."""
        if localizer != 'robot_localization':  # non-lifecycle node
            self._waitForNodeToActivate_waitForNodeToActivate(localizer)
        if localizer == 'amcl':
            self._waitForInitialPose_waitForInitialPose()
        self._waitForNodeToActivate_waitForNodeToActivate(navigator)
        self.infoinfo('Nav2 is ready for use!')
        return
 
    def _getPathImpl(self, start, goal, planner_id='', use_start=False):
        """
        Send a `ComputePathToPose` action request.
 
        Internal implementation to get the full result, not just the path.
        """
        self.debugdebug("Waiting for 'ComputePathToPose' action server")
        while not self.compute_path_to_pose_clientcompute_path_to_pose_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'ComputePathToPose' action server not available, waiting...")
 
        goal_msg = ComputePathToPose.Goal()
        goal_msg.start = start
        goal_msg.goal = goal
        goal_msg.planner_id = planner_id
        goal_msg.use_start = use_start
 
        self.infoinfo('Getting path...')
        send_goal_future = self.compute_path_to_pose_clientcompute_path_to_pose_client.send_goal_async(goal_msg)
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Get path was rejected!')
            return None
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        rclpy.spin_until_future_complete(self, self.result_futureresult_future)
        self.statusstatus = self.result_futureresult_future.result().status
 
        return self.result_futureresult_future.result().result
 
    def getPath(self, start, goal, planner_id='', use_start=False):
        """Send a `ComputePathToPose` action request."""
        rtn = self._getPathImpl_getPathImpl(start, goal, planner_id, use_start)
 
        if self.statusstatus != GoalStatus.STATUS_SUCCEEDED:
            self.warnwarn(f'Getting path failed with status code: {self.status}')
            return None
 
        if not rtn:
            return None
        else:
            return rtn.path
 
    def _getPathThroughPosesImpl(self, start, goals, planner_id='', use_start=False):
        """
        Send a `ComputePathThroughPoses` action request.
 
        Internal implementation to get the full result, not just the path.
        """
        self.debugdebug("Waiting for 'ComputePathThroughPoses' action server")
        while not self.compute_path_through_poses_clientcompute_path_through_poses_client.wait_for_server(
            timeout_sec=1.0
        ):
            self.infoinfo(
                "'ComputePathThroughPoses' action server not available, waiting..."
            )
 
        goal_msg = ComputePathThroughPoses.Goal()
        goal_msg.start = start
        goal_msg.goals = goals
        goal_msg.planner_id = planner_id
        goal_msg.use_start = use_start
 
        self.infoinfo('Getting path...')
        send_goal_future = self.compute_path_through_poses_clientcompute_path_through_poses_client.send_goal_async(
            goal_msg
        )
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Get path was rejected!')
            return None
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        rclpy.spin_until_future_complete(self, self.result_futureresult_future)
        self.statusstatus = self.result_futureresult_future.result().status
 
        return self.result_futureresult_future.result().result
 
    def getPathThroughPoses(self, start, goals, planner_id='', use_start=False):
        """Send a `ComputePathThroughPoses` action request."""
        rtn = self._getPathThroughPosesImpl_getPathThroughPosesImpl(start, goals, planner_id, use_start)
 
        if self.statusstatus != GoalStatus.STATUS_SUCCEEDED:
            self.warnwarn(f'Getting path failed with status code: {self.status}')
            return None
 
        if not rtn:
            return None
        else:
            return rtn.path
 
    def _smoothPathImpl(
        self, path, smoother_id='', max_duration=2.0, check_for_collision=False
    ):
        """
        Send a `SmoothPath` action request.
 
        Internal implementation to get the full result, not just the path.
        """
        self.debugdebug("Waiting for 'SmoothPath' action server")
        while not self.smoother_clientsmoother_client.wait_for_server(timeout_sec=1.0):
            self.infoinfo("'SmoothPath' action server not available, waiting...")
 
        goal_msg = SmoothPath.Goal()
        goal_msg.path = path
        goal_msg.max_smoothing_duration = rclpyDuration(seconds=max_duration).to_msg()
        goal_msg.smoother_id = smoother_id
        goal_msg.check_for_collisions = check_for_collision
 
        self.infoinfo('Smoothing path...')
        send_goal_future = self.smoother_clientsmoother_client.send_goal_async(goal_msg)
        rclpy.spin_until_future_complete(self, send_goal_future)
        self.goal_handlegoal_handle = send_goal_future.result()
 
        if not self.goal_handlegoal_handle.accepted:
            self.errorerror('Smooth path was rejected!')
            return None
 
        self.result_futureresult_future = self.goal_handlegoal_handle.get_result_async()
        rclpy.spin_until_future_complete(self, self.result_futureresult_future)
        self.statusstatus = self.result_futureresult_future.result().status
 
        return self.result_futureresult_future.result().result
 
    def smoothPath(
        self, path, smoother_id='', max_duration=2.0, check_for_collision=False
    ):
        """Send a `SmoothPath` action request."""
        rtn = self._smoothPathImpl_smoothPathImpl(path, smoother_id, max_duration, check_for_collision)
 
        if self.statusstatus != GoalStatus.STATUS_SUCCEEDED:
            self.warnwarn(f'Getting path failed with status code: {self.status}')
            return None
 
        if not rtn:
            return None
        else:
            return rtn.path
 
    def changeMap(self, map_filepath):
        """Change the current static map in the map server."""
        while not self.change_maps_srvchange_maps_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('change map service not available, waiting...')
        req = LoadMap.Request()
        req.map_url = map_filepath
        future = self.change_maps_srvchange_maps_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        status = future.result().result
        if status != LoadMap.Response().RESULT_SUCCESS:
            self.errorerror('Change map request failed!')
        else:
            self.infoinfo('Change map request was successful!')
        return
 
    def clearAllCostmaps(self):
        """Clear all costmaps."""
        self.clearLocalCostmapclearLocalCostmap()
        self.clearGlobalCostmapclearGlobalCostmap()
        return
 
    def clearLocalCostmap(self):
        """Clear local costmap."""
        while not self.clear_costmap_local_srvclear_costmap_local_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('Clear local costmaps service not available, waiting...')
        req = ClearEntireCostmap.Request()
        future = self.clear_costmap_local_srvclear_costmap_local_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return
 
    def clearGlobalCostmap(self):
        """Clear global costmap."""
        while not self.clear_costmap_global_srvclear_costmap_global_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('Clear global costmaps service not available, waiting...')
        req = ClearEntireCostmap.Request()
        future = self.clear_costmap_global_srvclear_costmap_global_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return
 
    def clearCostmapExceptRegion(self, reset_distance: float):
        """Clear the costmap except for a specified region."""
        while not self.clear_costmap_except_region_srvclear_costmap_except_region_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('ClearCostmapExceptRegion service not available, waiting...')
        req = ClearCostmapExceptRegion.Request()
        req.reset_distance = reset_distance
        future = self.clear_costmap_except_region_srvclear_costmap_except_region_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return
 
    def clearCostmapAroundRobot(self, reset_distance: float):
        """Clear the costmap around the robot."""
        while not self.clear_costmap_around_robot_srvclear_costmap_around_robot_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('ClearCostmapAroundRobot service not available, waiting...')
        req = ClearCostmapAroundRobot.Request()
        req.reset_distance = reset_distance
        future = self.clear_costmap_around_robot_srvclear_costmap_around_robot_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return
 
    def clearCostmapAroundPose(self, pose: PoseStamped, reset_distance: float):
        """Clear the costmap around a specified pose."""
        while not self.clear_costmap_around_pose_srvclear_costmap_around_pose_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('ClearCostmapAroundPose service not available, waiting...')
        req = ClearCostmapAroundPose.Request()
        req.pose = pose
        req.reset_distance = reset_distance
        future = self.clear_costmap_around_pose_srvclear_costmap_around_pose_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return
 
    def getGlobalCostmap(self):
        """Get the global costmap."""
        while not self.get_costmap_global_srvget_costmap_global_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('Get global costmaps service not available, waiting...')
        req = GetCostmap.Request()
        future = self.get_costmap_global_srvget_costmap_global_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return future.result().map
 
    def getLocalCostmap(self):
        """Get the local costmap."""
        while not self.get_costmap_local_srvget_costmap_local_srv.wait_for_service(timeout_sec=1.0):
            self.infoinfo('Get local costmaps service not available, waiting...')
        req = GetCostmap.Request()
        future = self.get_costmap_local_srvget_costmap_local_srv.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        return future.result().map
 
    def lifecycleStartup(self):
        """Startup nav2 lifecycle system."""
        self.infoinfo('Starting up lifecycle nodes based on lifecycle_manager.')
        for srv_name, srv_type in self.get_service_names_and_types():
            if srv_type[0] == 'nav2_msgs/srv/ManageLifecycleNodes':
                self.infoinfo(f'Starting up {srv_name}')
                mgr_client = self.create_client(ManageLifecycleNodes, srv_name)
                while not mgr_client.wait_for_service(timeout_sec=1.0):
                    self.infoinfo(f'{srv_name} service not available, waiting...')
                req = ManageLifecycleNodes.Request()
                req.command = ManageLifecycleNodes.Request().STARTUP
                future = mgr_client.call_async(req)
 
                # starting up requires a full map->odom->base_link TF tree
                # so if we're not successful, try forwarding the initial pose
                while True:
                    rclpy.spin_until_future_complete(self, future, timeout_sec=0.10)
                    if not future:
                        self._waitForInitialPose_waitForInitialPose()
                    else:
                        break
        self.infoinfo('Nav2 is ready for use!')
        return
 
    def lifecycleShutdown(self):
        """Shutdown nav2 lifecycle system."""
        self.infoinfo('Shutting down lifecycle nodes based on lifecycle_manager.')
        for srv_name, srv_type in self.get_service_names_and_types():
            if srv_type[0] == 'nav2_msgs/srv/ManageLifecycleNodes':
                self.infoinfo(f'Shutting down {srv_name}')
                mgr_client = self.create_client(ManageLifecycleNodes, srv_name)
                while not mgr_client.wait_for_service(timeout_sec=1.0):
                    self.infoinfo(f'{srv_name} service not available, waiting...')
                req = ManageLifecycleNodes.Request()
                req.command = ManageLifecycleNodes.Request().SHUTDOWN
                future = mgr_client.call_async(req)
                rclpy.spin_until_future_complete(self, future)
                future.result()
        return
 
    def _waitForNodeToActivate(self, node_name):
        # Waits for the node within the tester namespace to become active
        self.debugdebug(f'Waiting for {node_name} to become active..')
        node_service = f'{node_name}/get_state'
        state_client = self.create_client(GetState, node_service)
        while not state_client.wait_for_service(timeout_sec=1.0):
            self.infoinfo(f'{node_service} service not available, waiting...')
 
        req = GetState.Request()
        state = 'unknown'
        while state != 'active':
            self.debugdebug(f'Getting {node_name} state...')
            future = state_client.call_async(req)
            rclpy.spin_until_future_complete(self, future)
            if future.result() is not None:
                state = future.result().current_state.label
                self.debugdebug(f'Result of get_state: {state}')
            time.sleep(2)
        return
 
    def _waitForInitialPose(self):
        while not self.initial_pose_receivedinitial_pose_received:
            self.infoinfo('Setting initial pose')
            self._setInitialPose_setInitialPose()
            self.infoinfo('Waiting for amcl_pose to be received')
            rclpy.spin_once(self, timeout_sec=1.0)
        return
 
    def _amclPoseCallback(self, msg):
        self.debugdebug('Received amcl pose')
        self.initial_pose_receivedinitial_pose_received = True
        return
 
    def _feedbackCallback(self, msg):
        self.debugdebug('Received action feedback message')
        self.feedbackfeedback = msg.feedback
        return
 
    def _setInitialPose(self):
        msg = PoseWithCovarianceStamped()
        msg.pose.pose = self.initial_poseinitial_pose.pose
        msg.header.frame_id = self.initial_poseinitial_pose.header.frame_id
        msg.header.stamp = self.initial_poseinitial_pose.header.stamp
        self.infoinfo('Publishing Initial Pose')
        self.initial_pose_pubinitial_pose_pub.publish(msg)
        return
 
    def info(self, msg):
        self.get_logger().info(msg)
        return
 
    def warn(self, msg):
        self.get_logger().warn(msg)
        return
 
    def error(self, msg):
        self.get_logger().error(msg)
        return
 
    def debug(self, msg):
        self.get_logger().debug(msg)
        return