Add PoseProgressChecker (#414)

* PoseProgressChecker documentation

* Update configuration/packages/nav2_controller-plugins/pose_progress_checker.rst

---------

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Author: 3 people

configuration/packages/configuring-controller-server.rst

@@ -177,6 +177,7 @@ Provided Plugins
   :maxdepth: 1
 
   nav2_controller-plugins/simple_progress_checker.rst
+  nav2_controller-plugins/pose_progress_checker.rst
   nav2_controller-plugins/simple_goal_checker.rst
   nav2_controller-plugins/stopped_goal_checker.rst
 

configuration/packages/nav2_controller-plugins/pose_progress_checker.rst

@@ -0,0 +1,45 @@
+.. _configuring_nav2_controller_pose_progress_checker_plugin:
+
+PoseProgressChecker
+===================
+
+Checks whether the robot has made progress based on translation and rotation.
+
+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>``.required_movement_angle:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         0.5
+  ============== =============================
+
+  Description
+    Minimum amount a robot must rotate to be progressing to goal (rad).
+
+:``<nav2_controller plugin>``.movement_time_allowance:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  double         10.0
+  ============== =============================
+
+  Description
+    Maximum amount of time a robot has to move the minimum radius or the mnimum angle (s).
+

migration/Humble.rst

@@ -187,3 +187,7 @@ Velocity smoother applies deceleration when timeout
 ***************************************************
 
 `PR #3512 <https://github.com/ros-planning/navigation2/pull/3512>`_ makes the VelocitySmoother apply the deceleration when the input command timeout.
+
+PoseProgressChecker plugin
+**************************
+`PR #3530 <https://github.com/ros-planning/navigation2/pull/3530>`_ adds a new ``nav2_controller::PoseProgressChecker`` plugin. It builds on the behavior of the ``SimpleProgressChecker`` by adding a new parameter ``required_movement_angle``, allowing the plugin to considers that there is still progress when there is no translation movement, from the moment there is a rotation movement superior to ``required_movement_angle`` within the ``movement_time_allowance``.

plugins/index.rst

@@ -300,8 +300,14 @@ Progress Checkers
 |                                 |                        | distance in a given time to      |
 |                                 |                        | make progress towards a goal     |
 +---------------------------------+------------------------+----------------------------------+
+| `PoseProgressChecker`_          | Guillaume Doisy        | A plugin to check whether the    |
+|                                 |                        | robot was able to move a minimum |
+|                                 |                        | distance or angle in a given time|
+|                                 |                        | to make progress towards a goal  |
++---------------------------------+------------------------+----------------------------------+
 
 .. _SimpleProgressChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/simple_progress_checker.cpp
+.. _PoseProgressChecker: https://github.com/ros-planning/navigation2/blob/main/nav2_controller/plugins/pose_progress_checker.cpp
 
 
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