tester_node.py

#! /usr/bin/env python3
# Copyright 2025 Open Navigation LLC
#
# 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 math
import sys
import time
 
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 ComputeAndTrackRoute, ComputeRoute
from nav2_msgs.srv import ManageLifecycleNodes
from nav2_simple_commander.robot_navigator import BasicNavigator
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
from std_srvs.srv import Trigger
 
 
class RouteTester(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.compute_action_client: ActionClient[
            ComputeRoute.Goal,
            ComputeRoute.Result,
            ComputeRoute.Feedback
        ] = ActionClient(self, ComputeRoute, 'compute_route')
        self.compute_track_action_client: ActionClient[
            ComputeAndTrackRoute.Goal,
            ComputeAndTrackRoute.Result,
            ComputeAndTrackRoute.Feedback
        ] = ActionClient(
            self, ComputeAndTrackRoute, 'compute_and_track_route')
        self.feedback_msgsfeedback_msgs: list[ComputeAndTrackRoute.Feedback] = []
 
        self.navigatornavigator = BasicNavigator()
 
    def runComputeRouteTest(self, use_poses: bool = True) -> bool:
        # Test 1: See if we can compute a route that is valid and correctly sized
        self.info_msginfo_msg("Waiting for 'ComputeRoute' action server")
        while not self.compute_action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg("'ComputeRoute' action server not available, waiting...")
 
        route_msg = ComputeRoute.Goal()
        if use_poses:
            route_msg.start = self.getStampedPoseMsggetStampedPoseMsg(self.initial_poseinitial_pose)
            route_msg.goal = self.getStampedPoseMsggetStampedPoseMsg(self.goal_posegoal_pose)
            route_msg.use_start = True
            route_msg.use_poses = True
        else:
            # Same request, just now the node IDs to test
            route_msg.start_id = 7
            route_msg.goal_id = 13
            route_msg.use_start = False
            route_msg.use_poses = False
 
        self.info_msginfo_msg('Sending ComputeRoute goal request...')
        send_goal_future = self.compute_action_client.send_goal_async(route_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 'ComputeRoute' action to complete")
        rclpy.spin_until_future_complete(self, get_result_future)
        status = get_result_future.result().status  # type: ignore[union-attr]
        result = get_result_future.result().result  # type: ignore[union-attr]
        if status != GoalStatus.STATUS_SUCCEEDED:
            self.info_msginfo_msg(f'Goal failed with status code: {status}')
            return False
 
        self.info_msginfo_msg('Action completed! Checking validity of results...')
 
        # Check result for validity
        assert (len(result.path.poses) == 80)
        assert (result.route.route_cost > 6)
        assert (result.route.route_cost < 7)
        assert (len(result.route.nodes) == 5)
        assert (len(result.route.edges) == 4)
        assert (result.error_code == 0)
        assert (result.error_msg == '')
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def runComputeRouteSamePoseTest(self) -> bool:
        # Test 2: try with the same start and goal point edge case
        self.info_msginfo_msg("Waiting for 'ComputeRoute' action server")
        while not self.compute_action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg("'ComputeRoute' action server not available, waiting...")
 
        route_msg = ComputeRoute.Goal()
        route_msg.start_id = 7
        route_msg.goal_id = 7
        route_msg.use_start = False
        route_msg.use_poses = False
 
        self.info_msginfo_msg('Sending ComputeRoute goal request...')
        send_goal_future = self.compute_action_client.send_goal_async(route_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 'ComputeRoute' action to complete")
        rclpy.spin_until_future_complete(self, get_result_future)
        status = get_result_future.result().status  # type: ignore[union-attr]
        result = get_result_future.result().result  # type: ignore[union-attr]
        if status != GoalStatus.STATUS_SUCCEEDED:
            self.info_msginfo_msg(f'Goal failed with status code: {status}')
            return False
 
        self.info_msginfo_msg('Action completed! Checking validity of results...')
 
        # Check result for validity, should be a 1-node path as its the same
        assert (len(result.path.poses) == 1)
        assert (len(result.route.nodes) == 1)
        assert (len(result.route.edges) == 0)
        assert (result.error_code == 0)
        assert (result.error_msg == '')
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def runTrackRouteTest(self) -> bool:
        # Test 3: See if we can compute and track a route with proper state
        self.info_msginfo_msg("Waiting for 'ComputeAndTrackRoute' action server")
        while not self.compute_track_action_client.wait_for_server(timeout_sec=1.0):
            self.info_msginfo_msg("'ComputeAndTrackRoute' action server not available, waiting...")
 
        route_msg = ComputeAndTrackRoute.Goal()
        route_msg.goal = self.getStampedPoseMsggetStampedPoseMsg(self.goal_posegoal_pose)
        route_msg.use_start = False  # Use TF pose instead
        route_msg.use_poses = True
 
        self.info_msginfo_msg('Sending ComputeAndTrackRoute goal request...')
        send_goal_future = self.compute_track_action_client.send_goal_async(
            route_msg, feedback_callback=self.feedback_callbackfeedback_callback)
 
        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()
 
        # Trigger a reroute
        time.sleep(1)
        self.info_msginfo_msg('Triggering a reroute')
        srv_client: Client[Trigger.Request, Trigger.Response] = \
            self.create_client(Trigger, 'route_server/ReroutingService/reroute')
        while not srv_client.wait_for_service(timeout_sec=1.0):
            self.info_msginfo_msg('Reroute service not available, waiting...')
        req = Trigger.Request()
        future = srv_client.call_async(req)
        rclpy.spin_until_future_complete(self, future)
        if future.result() is not None:
            self.info_msginfo_msg('Reroute triggered')
        else:
            self.error_msgerror_msg('Reroute failed')
            return False
        # Wait a bit for it to compute the route and start tracking (but no movement)
 
        # Cancel it after a bit
        time.sleep(2)
        cancel_future = goal_handle.cancel_goal_async()
        rclpy.spin_until_future_complete(self, cancel_future)
        status = cancel_future.result()
        if status is not None and len(status.goals_canceling) > 0:
            self.info_msginfo_msg('Action cancel completed!')
        else:
            self.info_msginfo_msg('Goal cancel failed')
            return False
 
        # Send it again
        self.info_msginfo_msg('Sending ComputeAndTrackRoute goal request...')
        send_goal_future = self.compute_track_action_client.send_goal_async(
            route_msg, feedback_callback=self.feedback_callbackfeedback_callback)
 
        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()
 
        # Wait a bit for it to compute the route and start tracking (but no movement)
        time.sleep(2)
 
        # Preempt with a new request type on the graph
        route_msg.use_poses = False
        route_msg.start_id = 7
        route_msg.goal_id = 13
        send_goal_future = self.compute_track_action_client.send_goal_async(
            route_msg, feedback_callback=self.feedback_callbackfeedback_callback)
 
        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.feedback_msgsfeedback_msgs = []
 
        self.info_msginfo_msg("Waiting for 'ComputeAndTrackRoute' action to complete")
        progressing = True
        last_feedback_msg = None
        follow_path_task = None
        while progressing:
            rclpy.spin_until_future_complete(self, get_result_future, timeout_sec=0.10)
            if get_result_future.result() is not None:
                status = get_result_future.result().status  # type: ignore[union-attr]
                if status == GoalStatus.STATUS_SUCCEEDED:
                    progressing = False
                elif status == GoalStatus.STATUS_CANCELED or status == GoalStatus.STATUS_ABORTED:
                    self.info_msginfo_msg(f'Goal failed with status code: {status}')
                    return False
 
            # Else, processing. Check feedback
            while len(self.feedback_msgsfeedback_msgs) > 0:
                feedback_msg = self.feedback_msgsfeedback_msgs.pop(0)
 
                # Start following the path
                if (last_feedback_msg and feedback_msg.path != last_feedback_msg.path):
                    follow_path_task = self.navigatornavigator.followPath(feedback_msg.path)
 
                # Check if the feedback is valid, if changed (not for route operations)
                if last_feedback_msg and \
                   last_feedback_msg.current_edge_id != feedback_msg.current_edge_id and \
                   int(feedback_msg.current_edge_id) != 0:
                    if last_feedback_msg.next_node_id != feedback_msg.last_node_id:
                        self.error_msgerror_msg('Feedback state is not tracking in order!')
                        return False
 
                last_feedback_msg = feedback_msg
 
        # Validate the state of the final feedback message
        if last_feedback_msg is None:
            self.error_msgerror_msg('No feedback message received!')
            return False
 
        if int(last_feedback_msg.next_node_id) != 0:
            self.error_msgerror_msg('Terminal feedback state of nodes is not correct!')
            return False
        if int(last_feedback_msg.current_edge_id) != 0:
            self.error_msgerror_msg('Terminal feedback state of edges is not correct!')
            return False
        if int(last_feedback_msg.route.nodes[-1].nodeid) != 13:
            self.error_msgerror_msg('Final route node is not correct!')
            return False
 
        while not self.navigatornavigator.isTaskComplete(task=follow_path_task):
            time.sleep(0.1)
 
        self.info_msginfo_msg('Action completed! Checking validity of terminal condition...')
 
        # Check result for validity
        if not self.distanceFromGoaldistanceFromGoal() < 1.0:
            self.error_msgerror_msg('Did not make it to the goal pose!')
            return False
 
        self.info_msginfo_msg('Goal succeeded!')
        return True
 
    def feedback_callback(
            self, feedback_msg: ComputeAndTrackRoute.Impl.FeedbackMessage) -> None:
        self.feedback_msgsfeedback_msgs.append(feedback_msg.feedback)
 
    def distanceFromGoal(self) -> float:
        d_x = self.current_posecurrent_pose.position.x - self.goal_posegoal_pose.position.x
        d_y = self.current_posecurrent_pose.position.y - self.goal_posegoal_pose.position.y
        distance = math.sqrt(d_x * d_x + d_y * d_y)
        self.info_msginfo_msg(f'Distance from goal is: {distance}')
        return distance
 
    def info_msg(self, msg: str) -> None:
        self.get_logger().info('\033[1;37;44m' + 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 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.compute_action_client.destroy()
        self.compute_track_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: RouteTester) -> bool:
    # set transforms to use_sim_time
    robot_tester.wait_for_node_active('amcl')
    robot_tester.wait_for_initial_pose()
    robot_tester.wait_for_node_active('bt_navigator')
    result_poses = robot_tester.runComputeRouteTest(use_poses=True)
    result_node_ids = robot_tester.runComputeRouteTest(use_poses=False)
    result_same = robot_tester.runComputeRouteSamePoseTest()
    result = result_poses and result_node_ids and result_same and robot_tester.runTrackRouteTest()
 
    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 main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
    # The robot(s) positions from the input arguments
    parser = argparse.ArgumentParser(description='Route server 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 test object
    init_x, init_y, final_x, final_y = args.robot[0]
    tester = RouteTester(
        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
        + ' via route server.'
    )
 
    # wait a few seconds to make sure entire stacks are up
    time.sleep(10)
 
    # run tests
    passed = run_all_tests(tester)
 
    tester.shutdown()
    tester.info_msg('Done Shutting Down.')
 
    if not passed:
        tester.info_msg('Exiting failed')
        exit(1)
    else:
        tester.info_msg('Exiting passed')
        exit(0)
 
 
if __name__ == '__main__':
    main()