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Clean up action clients in nav2_simple_commander #2924

Merged
merged 3 commits into from
Apr 27, 2022
Merged

Clean up action clients in nav2_simple_commander #2924

merged 3 commits into from
Apr 27, 2022

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m2-farzan
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Basic Info

Info Please fill out this column
Ticket(s) this addresses #2923
Primary OS tested on Ubuntu
Robotic platform tested on -

Description of contribution in a few bullet points

Description of documentation updates required from your changes

  • Removes an unwanted warning
  • Enables controlled release of resources

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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mergify bot commented Apr 24, 2022

@m2-farzan, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

jwallace42
jwallace42 requested changes Apr 25, 2022
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@jwallace42 jwallace42 left a comment

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Looks good! I think you still need to call destroy_node in the python files using the robot navigator.

@SteveMacenski
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SteveMacenski commented Apr 26, 2022 •
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I'm not too much of a python ros2 developer, so is destroy_node called automatically by the Node class to need to be called specifically that with snake_case? Or is this a user's need to call this, in that case it should follow our naming conventions here as camcelCase & have its addition documented on the API page of navigation.ros.org / in this package's readme.

Otherwise LGTM

@m2-farzan
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@jwallace42 destroy_node is only required if we want to create a basic_navigator node right after we are done with another one (e.g. in unit tests). This is not the case in our python demos, so I don't think we need to modify them.

@m2-farzan
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@SteveMacenski destroy_node is inherited from Node base class. I couldn't find in docs if it's called automatically or not but this little comment suggests it might be. Either way, it's common practice to use destroy_node to clean up after a node. So I found it best to add a camelCase version while keeping the snake_case version there for compatibility & consistency (i.e. to avoid destroy_node and destroyNode from behaving differently).

In the long term the issue should be addressed in the upstream: ros2/rclpy#524

@m2-farzan m2-farzan mentioned this pull request Apr 27, 2022
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I'm fine with that -- I prefer defensive programming

@SteveMacenski SteveMacenski merged commit 02133bd into ros-navigation:main Apr 27, 2022
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Thanks for the contribution!

SteveMacenski pushed a commit that referenced this pull request May 6, 2022
@m2-farzan @SteveMacenski
Clean up action clients in nav2_simple_commander (#2924)
c712244 
* Clean up action clients in nav2_simple_commander

* Add camelCase version

* Add docs
SteveMacenski added a commit that referenced this pull request May 6, 2022
@SteveMacenski @doisyg
@ErikOrjehag @Ekanshh @jwallace42 @janx8r @AlexeyMerzlyakov @andriimaistruk @alsora @HosseinSheikhi @DLu @charlielito @roncapat @m2-farzan @mrmara
Galactic sync 6 (#2940)
f405c85 
* fix invert logic (#2772)

* Bugfix tf lookup of goal pose in nav2_controller (#2780)

Signed-off-by: Erik Örjehag <erik@orjehag.se>

* Feature to call controller action server to follow path (#2789)

* Added call to controller action server with a path to follow
++ Added a new function  in robot_navigator,py
++ Added a launch script to test  function
++ Updated setup.py to include demo_follow_path.py

* Code refactoring

* Code refactoring

* Code refactoring for consistency

* Updated README.md

* Resolved executable conflict in setup.py for example_follow_path.py

* Code refactoring with  ament_flake8

* Add recoveries to simple commander (#2792)

* fix Typo

* add recoveries

* add docs

* added demo using backup and spin

* rename isNavigationComplete to isTaskComplete

* rename cancelNav to cancelTask

* add prints

* fix premature exit

* rename NavResult to TaskResult

* fix readme order

* fix import order

* renaming

* renaming

* added planner_id (#2806)

* Fixing the issue #2781: raytraceLine with same start and end point (#2784)

* Fixing the issue #2781: raytraceLine with same start and end point no longer causes segmentation fault

* Some whitespace modifications to make the code pass release_test

* Add testcase for raytraceLine the same point

Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>

* Add optional node names to wait (#2811)

* add option to specify navigator and localizer to wait for

* add docs for waituntilNav2Active

* wait for pose only for amcl

* revert order

* remove resizing on update message callback (#2818)

* restrict test_msgs to test_dependency (#2827)

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* remove unused odometry smoother in bt navigator (#2829)

* remove unused odometry smoother in bt navigator

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* reorganize bt navigator to shared odom_smoother object with servers

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>

* Add all action options (#2834)

* added options

* update docs

* Adding theta* to the main packages list

* Fix: bt_navigator crashes on lc transitions (#2848)

* fix empty address access on halt all actions

* fix unsafe declaration of parameters

* restore odom smoother

* fix styling issues

* add missing semicolumn

* fix-collision checker must capture lethal before unknow (#2854)

* Removing old unused function and comment (#2863)

* Better Costmap Error Message (#2884)

* Better Costmap Error Message

* PR Feedback

* add getRobotRadius() in costmap_2d_ros (#2896)

* Add clock time to costmaps (#2899)

* update goal checker plugin to plugins (#2909)

* Allow usage of std::string in searchAndGetParam() (#2918)

* Allow usage of std::string in searchAndGetParam()

Removed also old TODO related to legacy ROS API

* Fix

* Clean up action clients in nav2_simple_commander (#2924)

* Clean up action clients in nav2_simple_commander

* Add camelCase version

* Add docs

* Added mutex to prevent SEGFAULT on map change in AMCL (#2933)

* Added mutex to prevent SEGFAULT on map change

* Removing redundant mutex

Co-authored-by: Antonio Marangi <antonio.marangi@alba-robot.com>

Co-authored-by: G.Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Erik Örjehag <erik@orjehag.se>
Co-authored-by: Ekansh Sharma <ekanshh.sharma@gmail.com>
Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
Co-authored-by: Joshua Wallace <47819219+jwallace42@users.noreply.github.com>
Co-authored-by: janx8r <95029851+janx8r@users.noreply.github.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: Andrii Maistruk <71632363+andriimaistruk@users.noreply.github.com>
Co-authored-by: Alberto Soragna <alberto.soragna@gmail.com>
Co-authored-by: Erwin Lejeune <erwin.lejeune@cm-robotics.com>
Co-authored-by: Hossein Sheikhi Darani <64957461+HosseinSheikhi@users.noreply.github.com>
Co-authored-by: David V. Lu!! <davidvlu@gmail.com>
Co-authored-by: Carlos Andrés Álvarez Restrepo <candres.alv@gmail.com>
Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Co-authored-by: M. Mostafa Farzan <m2_farzan@yahoo.com>
Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>
Co-authored-by: Antonio Marangi <antonio.marangi@alba-robot.com>
@m2-farzan m2-farzan mentioned this pull request May 31, 2022
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redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022
@m2-farzan @redvinaa
Clean up action clients in nav2_simple_commander (ros-navigation#2924)
8d76b26 
* Clean up action clients in nav2_simple_commander

* Add camelCase version

* Add docs
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@jwallace42 jwallace42 jwallace42 requested changes

@SteveMacenski SteveMacenski SteveMacenski approved these changes

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3 participants
@m2-farzan @SteveMacenski @jwallace42