Reduce costmap_2d_ros nodes (#2489)

* use a dedicated callback group for costmap plugin and filter instead of inner node

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

update comment

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* remove unnecessary modifications

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

Author: gezp

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -303,8 +303,6 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double getRobotRadius() {return robot_radius_;}
 
 protected:
-  rclcpp::Node::SharedPtr client_node_;
-
   // Publishers and subscribers
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr
     footprint_pub_;
@@ -313,6 +311,11 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   rclcpp::Subscription<geometry_msgs::msg::Polygon>::SharedPtr footprint_sub_;
   rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_sub_;
 
+  // Dedicated callback group and executor for tf timer_interface, costmap plugins and filters
+  rclcpp::CallbackGroup::SharedPtr callback_group_;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
+  std::unique_ptr<nav2_util::NodeThread> executor_thread_;
+
   // Transform listener
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;

nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp

@@ -75,8 +75,7 @@ class Layer
     std::string name,
     tf2_ros::Buffer * tf,
     const nav2_util::LifecycleNode::WeakPtr & node,
-    rclcpp::Node::SharedPtr client_node,
-    rclcpp::Node::SharedPtr rclcpp_node);
+    rclcpp::CallbackGroup::SharedPtr callback_group);
   /** @brief Stop publishers. */
   virtual void deactivate() {}
   /** @brief Restart publishers if they've been stopped. */
@@ -160,8 +159,7 @@ class Layer
   LayeredCostmap * layered_costmap_;
   std::string name_;
   tf2_ros::Buffer * tf_;
-  rclcpp::Node::SharedPtr client_node_;
-  rclcpp::Node::SharedPtr rclcpp_node_;
+  rclcpp::CallbackGroup::SharedPtr callback_group_;
   rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
   rclcpp::Clock::SharedPtr clock_;
   rclcpp::Logger logger_{rclcpp::get_logger("nav2_costmap_2d")};

nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp

@@ -231,7 +231,8 @@ class ObstacleLayer : public CostmapLayer
   /// @brief Used to project laser scans into point clouds
   laser_geometry::LaserProjection projector_;
   /// @brief Used for the observation message filters
-  std::vector<std::shared_ptr<message_filters::SubscriberBase<>>> observation_subscribers_;
+  std::vector<std::shared_ptr<message_filters::SubscriberBase<rclcpp_lifecycle::LifecycleNode>>>
+  observation_subscribers_;
   /// @brief Used to make sure that transforms are available for each sensor
   std::vector<std::shared_ptr<tf2_ros::MessageFilterBase>> observation_notifiers_;
   /// @brief Used to store observations from various sensors

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -119,6 +119,9 @@ void ObstacleLayer::onInitialize()
 
   global_frame_ = layered_costmap_->getGlobalFrameID();
 
+  auto sub_opt = rclcpp::SubscriptionOptions();
+  sub_opt.callback_group = callback_group_;
+
   // now we need to split the topics based on whitespace which we can use a stringstream for
   std::stringstream ss(topics_string);
 
@@ -218,14 +221,15 @@ void ObstacleLayer::onInitialize()
 
     // create a callback for the topic
     if (data_type == "LaserScan") {
-      std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> sub(
-        new message_filters::Subscriber<sensor_msgs::msg::LaserScan>(
-          rclcpp_node_, topic, custom_qos_profile));
+      auto sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan,
+          rclcpp_lifecycle::LifecycleNode>>(node, topic, custom_qos_profile, sub_opt);
       sub->unsubscribe();
 
-      std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> filter(
-        new tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>(
-          *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
+      auto filter = std::make_shared<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
+        *sub, *tf_, global_frame_, 50,
+        node->get_node_logging_interface(),
+        node->get_node_clock_interface(),
+        tf2::durationFromSec(transform_tolerance));
 
       if (inf_is_valid) {
         filter->registerCallback(
@@ -246,9 +250,8 @@ void ObstacleLayer::onInitialize()
       observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(0.05));
 
     } else {
-      std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>> sub(
-        new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(
-          rclcpp_node_, topic, custom_qos_profile));
+      auto sub = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::PointCloud2,
+          rclcpp_lifecycle::LifecycleNode>>(node, topic, custom_qos_profile, sub_opt);
       sub->unsubscribe();
 
       if (inf_is_valid) {
@@ -257,9 +260,11 @@ void ObstacleLayer::onInitialize()
           "obstacle_layer: inf_is_valid option is not applicable to PointCloud observations.");
       }
 
-      std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>> filter(
-        new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
-          *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));
+      auto filter = std::make_shared<tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>>(
+        *sub, *tf_, global_frame_, 50,
+        node->get_node_logging_interface(),
+        node->get_node_clock_interface(),
+        tf2::durationFromSec(transform_tolerance));
 
       filter->registerCallback(
         std::bind(

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -65,7 +65,7 @@ Costmap2DROS::Costmap2DROS(
   const std::string & name,
   const std::string & parent_namespace,
   const std::string & local_namespace)
-: nav2_util::LifecycleNode(name, "", true,
+: nav2_util::LifecycleNode(name, "", false,
     // NodeOption arguments take precedence over the ones provided on the command line
     // use this to make sure the node is placed on the provided namespace
     // TODO(orduno) Pass a sub-node instead of creating a new node for better handling
@@ -84,9 +84,6 @@ Costmap2DROS::Costmap2DROS(
     "nav2_costmap_2d::InflationLayer"}
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
-  auto options = rclcpp::NodeOptions().arguments(
-    {"--ros-args", "-r", std::string("__node:=") + get_name() + "_client", "--"});
-  client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
   std::vector<std::string> clearable_layers{"obstacle_layer", "voxel_layer", "range_layer"};
 
@@ -129,6 +126,9 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   RCLCPP_INFO(get_logger(), "Configuring");
   getParameters();
 
+  callback_group_ = create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive, false);
+
   // Create the costmap itself
   layered_costmap_ = std::make_unique<LayeredCostmap>(
     global_frame_, rolling_window_, track_unknown_space_);
@@ -140,10 +140,11 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   }
 
   // Create the transform-related objects
-  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(rclcpp_node_->get_clock());
+  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(get_clock());
   auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
-    rclcpp_node_->get_node_base_interface(),
-    rclcpp_node_->get_node_timers_interface());
+    get_node_base_interface(),
+    get_node_timers_interface(),
+    callback_group_);
   tf_buffer_->setCreateTimerInterface(timer_interface);
   tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
 
@@ -157,7 +158,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
     // TODO(mjeronimo): instead of get(), use a shared ptr
     plugin->initialize(
       layered_costmap_.get(), plugin_names_[i], tf_buffer_.get(),
-      shared_from_this(), client_node_, rclcpp_node_);
+      shared_from_this(), callback_group_);
 
     RCLCPP_INFO(get_logger(), "Initialized plugin \"%s\"", plugin_names_[i].c_str());
   }
@@ -170,7 +171,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
     filter->initialize(
       layered_costmap_.get(), filter_names_[i], tf_buffer_.get(),
-      shared_from_this(), client_node_, rclcpp_node_);
+      shared_from_this(), callback_group_);
 
     RCLCPP_INFO(get_logger(), "Initialized costmap filter \"%s\"", filter_names_[i].c_str());
   }
@@ -201,6 +202,9 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   // Add cleaning service
   clear_costmap_service_ = std::make_unique<ClearCostmapService>(shared_from_this(), *this);
 
+  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  executor_->add_callback_group(callback_group_, get_node_base_interface());
+  executor_thread_ = std::make_unique<nav2_util::NodeThread>(executor_);
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
@@ -284,6 +288,7 @@ Costmap2DROS::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   costmap_publisher_.reset();
   clear_costmap_service_.reset();
 
+  executor_thread_.reset();
   return nav2_util::CallbackReturn::SUCCESS;
 }
 

nav2_costmap_2d/src/layer.cpp

@@ -50,16 +50,13 @@ Layer::initialize(
   std::string name,
   tf2_ros::Buffer * tf,
   const nav2_util::LifecycleNode::WeakPtr & node,
-  rclcpp::Node::SharedPtr client_node,
-  rclcpp::Node::SharedPtr rclcpp_node)
+  rclcpp::CallbackGroup::SharedPtr callback_group)
 {
   layered_costmap_ = parent;
   name_ = name;
   tf_ = tf;
-  client_node_ = client_node;
-  rclcpp_node_ = rclcpp_node;
   node_ = node;
-
+  callback_group_ = callback_group;
   {
     auto node_shared_ptr = node_.lock();
     logger_ = node_shared_ptr->get_logger();

nav2_costmap_2d/test/testing_helper.hpp

@@ -75,7 +75,7 @@ void addStaticLayer(
 {
   slayer = std::make_shared<nav2_costmap_2d::StaticLayer>();
   layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(slayer));
-  slayer->initialize(&layers, "static", &tf, node, nullptr, nullptr /*TODO*/);
+  slayer->initialize(&layers, "static", &tf, node, nullptr);
 }
 
 void addObstacleLayer(
@@ -84,7 +84,7 @@ void addObstacleLayer(
   std::shared_ptr<nav2_costmap_2d::ObstacleLayer> & olayer)
 {
   olayer = std::make_shared<nav2_costmap_2d::ObstacleLayer>();
-  olayer->initialize(&layers, "obstacles", &tf, node, nullptr, nullptr /*TODO*/);
+  olayer->initialize(&layers, "obstacles", &tf, node, nullptr);
   layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(olayer));
 }
 
@@ -94,7 +94,7 @@ void addRangeLayer(
   std::shared_ptr<nav2_costmap_2d::RangeSensorLayer> & rlayer)
 {
   rlayer = std::make_shared<nav2_costmap_2d::RangeSensorLayer>();
-  rlayer->initialize(&layers, "range", &tf, node, nullptr, nullptr /*TODO*/);
+  rlayer->initialize(&layers, "range", &tf, node, nullptr);
   layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(rlayer));
 }
 
@@ -133,7 +133,7 @@ void addInflationLayer(
   std::shared_ptr<nav2_costmap_2d::InflationLayer> & ilayer)
 {
   ilayer = std::make_shared<nav2_costmap_2d::InflationLayer>();
-  ilayer->initialize(&layers, "inflation", &tf, node, nullptr, nullptr /*TODO*/);
+  ilayer->initialize(&layers, "inflation", &tf, node, nullptr);
   std::shared_ptr<nav2_costmap_2d::Layer> ipointer(ilayer);
   layers.addPlugin(ipointer);
 }

nav2_costmap_2d/test/unit/declare_parameter_test.cpp

@@ -44,7 +44,7 @@ TEST(DeclareParameter, useValidParameter)
   tf2_ros::Buffer tf(node->get_clock());
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
 
-  layer.initialize(&layers, "test_layer", &tf, node, nullptr, nullptr);
+  layer.initialize(&layers, "test_layer", &tf, node, nullptr);
 
   layer.declareParameter("test1", rclcpp::ParameterValue("test_val1"));
   try {
@@ -63,7 +63,7 @@ TEST(DeclareParameter, useInvalidParameter)
   tf2_ros::Buffer tf(node->get_clock());
   nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
 
-  layer.initialize(&layers, "test_layer", &tf, node, nullptr, nullptr);
+  layer.initialize(&layers, "test_layer", &tf, node, nullptr);
 
   layer.declareParameter("test2", rclcpp::PARAMETER_STRING);
   try {

nav2_costmap_2d/test/unit/keepout_filter_test.cpp

@@ -225,9 +225,7 @@ void TestNode::createKeepoutFilter(const std::string & global_frame)
     rclcpp::Parameter(std::string(FILTER_NAME) + ".filter_info_topic", INFO_TOPIC));
 
   keepout_filter_ = std::make_shared<nav2_costmap_2d::KeepoutFilter>();
-  keepout_filter_->initialize(
-    &layers, std::string(FILTER_NAME),
-    tf_buffer_.get(), node_, nullptr, nullptr);
+  keepout_filter_->initialize(&layers, std::string(FILTER_NAME), tf_buffer_.get(), node_, nullptr);
   keepout_filter_->initializeFilter(INFO_TOPIC);
 
   // Wait until mask will be received by KeepoutFilter

nav2_costmap_2d/test/unit/speed_filter_test.cpp

@@ -362,7 +362,7 @@ bool TestNode::createSpeedFilter(const std::string & global_frame)
     rclcpp::Parameter(std::string(FILTER_NAME) + ".speed_limit_topic", SPEED_LIMIT_TOPIC));
 
   speed_filter_ = std::make_shared<nav2_costmap_2d::SpeedFilter>();
-  speed_filter_->initialize(&layers, FILTER_NAME, tf_buffer_.get(), node_, nullptr, nullptr);
+  speed_filter_->initialize(&layers, FILTER_NAME, tf_buffer_.get(), node_, nullptr);
   speed_filter_->initializeFilter(INFO_TOPIC);
 
   speed_limit_subscriber_ = std::make_shared<SpeedLimitSubscriber>(SPEED_LIMIT_TOPIC);