nav_through_poses_tester_node.py

#! /usr/bin/env python3
# Copyright 2018 Intel Corporation.
# Copyright 2020 Florian Gramss
#
# 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.
 
import argparse
import sys
import time
from typing import Optional
 
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Pose, PoseStamped, PoseWithCovarianceStamped
from lifecycle_msgs.srv import GetState
from nav2_msgs.action import NavigateThroughPoses
from nav2_msgs.srv import ManageLifecycleNodes
import rclpy
from rclpy.action import ActionClient
from rclpy.client import Client
from rclpy.node import Node
from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 
 
class NavTester(Node):
 
    def __init__(self, initial_pose: Pose, goal_pose: Pose, namespace: str = ''):
        super().__init__(node_name='nav2_tester', namespace=namespace)
        self.initial_pose_pubinitial_pose_pub = self.create_publisher(
            PoseWithCovarianceStamped, 'initialpose', 10
        )
 
        pose_qos = QoSProfile(
            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
            reliability=QoSReliabilityPolicy.RELIABLE,
            history=QoSHistoryPolicy.KEEP_LAST,
            depth=1,
        )
 
        self.model_pose_submodel_pose_sub = self.create_subscription(
            PoseWithCovarianceStamped, 'amcl_pose', self.poseCallbackposeCallback, pose_qos
        )
        self.initial_pose_receivedinitial_pose_received = False
        self.initial_poseinitial_pose = initial_pose
        self.goal_posegoal_pose = goal_pose
        self.action_client: ActionClient[
            NavigateThroughPoses.Goal,
            NavigateThroughPoses.Result,
            NavigateThroughPoses.Feedback
        ] = ActionClient(self, NavigateThroughPoses, 'navigate_through_poses')
 
    def info_msg(self, msg: str) -> None:
        self.get_logger().info('\033[1;37;44m' + msg + '\033[0m')
 
    def warn_msg(self, msg: str) -> None:
        self.get_logger().warning('\033[1;37;43m' + msg + '\033[0m')
 
    def error_msg(self, msg: str) -> None:
        self.get_logger().error('\033[1;37;41m' + msg + '\033[0m')
 
    def setInitialPose(self) -> None:
        msg = PoseWithCovarianceStamped()
        msg.pose.pose = self.initial_poseinitial_pose
        msg.header.frame_id = 'map'
        self.info_msginfo_msg('Publishing Initial Pose')
        self.initial_pose_pubinitial_pose_pub.publish(msg)
        self.currentPosecurrentPose = self.initial_poseinitial_pose
 
    def getStampedPoseMsg(self, pose: Pose) -> PoseStamped:
        msg = PoseStamped()
        msg.header.frame_id = 'map'
        msg.pose = pose
        return msg
 
    def runNavigateAction(self, goal_pose: Optional[Pose] = None) -> bool:
        # Sends a `NavToPose` action request and waits for completion
        self.info_msginfo_msg("Waiting for 'NavigateThroughPoses' action server")
        while not self.action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg(
                "'NavigateThroughPoses' action server not available, waiting..."
            )
 
        self.goal_posegoal_pose = goal_pose if goal_pose is not None else self.goal_posegoal_pose
        goal_msg = NavigateThroughPoses.Goal()
        goal_msg.poses.header.frame_id = 'map'
        goal_msg.poses.header.stamp = self.get_clock().now().to_msg()
        goal_msg.poses.goals = [
            self.getStampedPoseMsggetStampedPoseMsg(self.goal_posegoal_pose),
            self.getStampedPoseMsggetStampedPoseMsg(self.goal_posegoal_pose),
        ]
 
        self.info_msginfo_msg('Sending goal request...')
        send_goal_future = self.action_client.send_goal_async(goal_msg)
 
        rclpy.spin_until_future_complete(self, send_goal_future)
        goal_handle = send_goal_future.result()
 
        if not goal_handle or not goal_handle.accepted:
            self.error_msgerror_msg('Goal rejected')
            return False
 
        self.info_msginfo_msg('Goal accepted')
        get_result_future = goal_handle.get_result_async()
 
        self.info_msginfo_msg("Waiting for 'NavigateToPose' action to complete")
        rclpy.spin_until_future_complete(self, get_result_future)
        status = get_result_future.result().status  # type: ignore[union-attr]
        if status != GoalStatus.STATUS_SUCCEEDED:
            result = get_result_future.result().result  # type: ignore[union-attr]
            self.info_msginfo_msg(f'Goal failed with status code: {status}'
                          f' error code:{result.error_code}'
                          f' error msg:{result.error_msg}')
            return False
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def runFakeNavigateAction(self) -> bool:
        # Sends a `NavToPose` action request and waits for completion
        self.info_msginfo_msg("Waiting for 'NavigateThroughPoses' action server")
        while not self.action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg(
                "'NavigateThroughPoses' action server not available, waiting..."
            )
 
        goal_msg = NavigateThroughPoses.Goal()
 
        self.info_msginfo_msg('Sending goal request...')
        send_goal_future = self.action_client.send_goal_async(goal_msg)
 
        rclpy.spin_until_future_complete(self, send_goal_future)
        goal_handle = send_goal_future.result()
 
        if not goal_handle or not goal_handle.accepted:
            self.error_msgerror_msg('Goal rejected')
            return False
 
        self.info_msginfo_msg('Goal accepted')
        get_result_future = goal_handle.get_result_async()
 
        self.info_msginfo_msg("Waiting for 'NavigateToPose' action to complete")
        rclpy.spin_until_future_complete(self, get_result_future)
        status = get_result_future.result().status  # type: ignore[union-attr]
        if status != GoalStatus.STATUS_SUCCEEDED:
            result = get_result_future.result().result  # type: ignore[union-attr]
            self.info_msginfo_msg(f'Goal failed with status code: {status}'
                          f' error code:{result.error_code}'
                          f' error msg:{result.error_msg}')
            return False
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def runNavigatePreemptionAction(self, block: bool) -> bool:
        # Sends a `NavToPose` action request and waits for completion
        self.info_msginfo_msg("Waiting for 'NavigateThroughPoses' action server")
        while not self.action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg(
                "'NavigateThroughPoses' action server not available, waiting..."
            )
 
        goal_msg = NavigateThroughPoses.Goal()
        goal_msg.poses.goals = [self.getStampedPoseMsggetStampedPoseMsg(self.initial_poseinitial_pose)]
 
        self.info_msginfo_msg('Sending goal request...')
        send_goal_future = self.action_client.send_goal_async(goal_msg)
 
        rclpy.spin_until_future_complete(self, send_goal_future)
        goal_handle = send_goal_future.result()
 
        if not goal_handle or not goal_handle.accepted:
            self.error_msgerror_msg('Goal rejected')
            return False
 
        if not block:
            return True
 
        self.info_msginfo_msg('Goal accepted')
        get_result_future = goal_handle.get_result_async()
 
        self.info_msginfo_msg("Waiting for 'NavigateToPose' action to complete")
        rclpy.spin_until_future_complete(self, get_result_future)
        status = get_result_future.result().status  # type: ignore[union-attr]
        if status != GoalStatus.STATUS_SUCCEEDED:
            result = get_result_future.result().result  # type: ignore[union-attr]
            self.info_msginfo_msg(f'Goal failed with status code: {status}'
                          f' error code:{result.error_code}'
                          f' error msg:{result.error_msg}')
            return False
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def poseCallback(self, msg: PoseWithCovarianceStamped) -> None:
        self.info_msginfo_msg('Received amcl_pose')
        self.current_posecurrent_pose = msg.pose.pose
        self.initial_pose_receivedinitial_pose_received = True
 
    def wait_for_node_active(self, node_name: str) -> None:
        # Waits for the node within the tester namespace to become active
        self.info_msginfo_msg(f'Waiting for {node_name} to become active')
        node_service = f'{node_name}/get_state'
        state_client: Client[GetState.Request, GetState.Response] = \
            self.create_client(GetState, node_service)
        while not state_client.wait_for_service(timeout_sec=1.0):
            self.info_msginfo_msg(f'{node_service} service not available, waiting...')
        req = GetState.Request()  # empty request
        state = 'UNKNOWN'
        while state != 'active':
            self.info_msginfo_msg(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  # type: ignore[union-attr]
                self.info_msginfo_msg(f'Result of get_state: {state}')
            else:
                self.error_msgerror_msg(
                    f'Exception while calling service: {future.exception()!r}'
                )
            time.sleep(5)
 
    def shutdown(self) -> None:
        self.info_msginfo_msg('Shutting down')
        self.action_client.destroy()
 
        transition_service = 'lifecycle_manager_navigation/manage_nodes'
        mgr_client: Client[ManageLifecycleNodes.Request, ManageLifecycleNodes.Response] = \
            self.create_client(ManageLifecycleNodes, transition_service)
        while not mgr_client.wait_for_service(timeout_sec=1.0):
            self.info_msginfo_msg(f'{transition_service} service not available, waiting...')
 
        req = ManageLifecycleNodes.Request()
        req.command = ManageLifecycleNodes.Request().SHUTDOWN
        future = mgr_client.call_async(req)
        try:
            self.info_msginfo_msg('Shutting down navigation lifecycle manager...')
            rclpy.spin_until_future_complete(self, future)
            future.result()
            self.info_msginfo_msg('Shutting down navigation lifecycle manager complete.')
        except Exception as e:  # noqa: B902
            self.error_msgerror_msg(f'Service call failed {e!r}')
        transition_service = 'lifecycle_manager_localization/manage_nodes'
        mgr_client = self.create_client(ManageLifecycleNodes, transition_service)
        while not mgr_client.wait_for_service(timeout_sec=1.0):
            self.info_msginfo_msg(f'{transition_service} service not available, waiting...')
 
        req = ManageLifecycleNodes.Request()
        req.command = ManageLifecycleNodes.Request().SHUTDOWN
        future = mgr_client.call_async(req)
        try:
            self.info_msginfo_msg('Shutting down localization lifecycle manager...')
            rclpy.spin_until_future_complete(self, future)
            future.result()
            self.info_msginfo_msg('Shutting down localization lifecycle manager complete')
        except Exception as e:  # noqa: B902
            self.error_msgerror_msg(f'Service call failed {e!r}')
 
    def wait_for_initial_pose(self) -> None:
        self.initial_pose_receivedinitial_pose_received = False
        while not self.initial_pose_receivedinitial_pose_received:
            self.info_msginfo_msg('Setting initial pose')
            self.setInitialPosesetInitialPose()
            self.info_msginfo_msg('Waiting for amcl_pose to be received')
            rclpy.spin_once(self, timeout_sec=1)
 
 
def run_all_tests(robot_tester: NavTester) -> bool:
    # set transforms to use_sim_time
    result = True
    if result:
        robot_tester.wait_for_node_active('amcl')
        robot_tester.wait_for_initial_pose()
        robot_tester.wait_for_node_active('bt_navigator')
        result = robot_tester.runNavigateAction()
        # Test empty navigation request
        result = result and not robot_tester.runFakeNavigateAction()
        # Test preempting NHP with the same goal
        result = result and robot_tester.runNavigatePreemptionAction(False)
        result = result and robot_tester.runNavigatePreemptionAction(True)
 
    # Add more tests here if desired
 
    if result:
        robot_tester.info_msg('Test PASSED')
    else:
        robot_tester.error_msg('Test FAILED')
 
    return result
 
 
def fwd_pose(x: float = 0.0, y: float = 0.0, z: float = 0.01) -> Pose:
    initial_pose = Pose()
    initial_pose.position.x = x
    initial_pose.position.y = y
    initial_pose.position.z = z
    initial_pose.orientation.x = 0.0
    initial_pose.orientation.y = 0.0
    initial_pose.orientation.z = 0.0
    initial_pose.orientation.w = 1.0
    return initial_pose
 
 
def get_testers(args: argparse.Namespace) -> list[NavTester]:
    testers = []
 
    init_x, init_y, final_x, final_y = args.robot[0]
    tester = NavTester(
        initial_pose=fwd_pose(float(init_x), float(init_y)),
        goal_pose=fwd_pose(float(final_x), float(final_y)),
    )
    tester.info_msg(
        'Starting tester, robot going from '
        + init_x
        + ', '
        + init_y
        + ' to '
        + final_x
        + ', '
        + final_y
        + '.'
    )
    testers.append(tester)
    return testers
 
 
def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
    # The robot(s) positions from the input arguments
    parser = argparse.ArgumentParser(description='System-level navigation tester node')
    group = parser.add_mutually_exclusive_group(required=True)
    group.add_argument(
        '-r',
        '--robot',
        action='append',
        nargs=4,
        metavar=('init_x', 'init_y', 'final_x', 'final_y'),
        help='The robot starting and final positions.',
    )
 
    args, unknown = parser.parse_known_args()
 
    rclpy.init()
 
    # Create testers for each robot
    testers = get_testers(args)
 
    # wait a few seconds to make sure entire stacks are up
    time.sleep(10)
 
    for tester in testers:
        passed = run_all_tests(tester)
        if not passed:
            break
 
    for tester in testers:
        # stop and shutdown the nav stack to exit cleanly
        tester.shutdown()
 
    testers[0].info_msg('Done Shutting Down.')
 
    if not passed:
        testers[0].info_msg('Exiting failed')
        exit(1)
    else:
        testers[0].info_msg('Exiting passed')
        exit(0)
 
 
if __name__ == '__main__':
    main()