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In wait_action node change duration type from int to double #3871

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Merged
merged 8 commits into from
Oct 12, 2023
Merged

In wait_action node change duration type from int to double #3871

merged 8 commits into from
Oct 12, 2023

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@papertowel123
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@papertowel123 papertowel123 commented Oct 11, 2023

Basic Info

Info Please fill out this column
Primary OS tested on Ubuntu
Robotic platform tested on Gazebo simulation

Description of contribution in a few bullet points

wait_duration port for Wait node is an integer, so if we pass something like 1.3 or 2.42 than it will automatically cast to nearest integer value, so i changed type of this port from int to double.

Description of documentation updates required from your changes

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
@papertowel123 papertowel123 mentioned this pull request Oct 11, 2023
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tonynajjar
tonynajjar reviewed Oct 11, 2023
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nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp Outdated
return providedBasicPorts(
{
BT::InputPort<int>("wait_duration", 1, "Wait time")
BT::InputPort<double>("wait_duration", 1, "Wait time")
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@tonynajjar tonynajjar Oct 11, 2023 •
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change the default to 1.0 to make it clearer that it's a double
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tonynajjar commented Oct 11, 2023

I wanted to say that the documentation needs updating as well but it looks like it's correct already; there was a mismatch in the code: https://navigation.ros.org/configuration/packages/bt-plugins/actions/Wait.html
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tonynajjar commented Oct 11, 2023

Please also modify the test: https://github.com/ros-planning/navigation2/blob/924f167382080f3ccdd000ffc34b921cb64bcf95/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp#L131
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papertowel123 commented Oct 11, 2023

Please also modify the test:

https://github.com/ros-planning/navigation2/blob/924f167382080f3ccdd000ffc34b921cb64bcf95/nav2_behavior_tree/test/plugins/action/test_wait_action.cpp#L131

done
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tonynajjar commented Oct 11, 2023

There are also a bunch of trees that use Wait with an int, example. I know it still works like that and it's not a big deal but it's slightly cleaner imo to have them as doubles as well
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papertowel123 commented Oct 11, 2023

There are also a bunch of trees that use Wait with an int, example. I know it still works like that and it's not a big deal but it's slightly cleaner imo to have them as doubles as well

done))
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SteveMacenski commented Oct 11, 2023

@maksymdidukh check CI, you have linting issues: https://app.circleci.com/pipelines/github/ros-planning/navigation2/10176/workflows/cbd18739-840b-42e8-bd73-899603ec4e9d/jobs/32314/tests

Also, this will need documentation updates in the migration guide that we're changing the type of an input. Please open a Migration Guide PR as well
SteveMacenski
SteveMacenski requested changes Oct 11, 2023
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mergify bot commented Oct 12, 2023

@maksymdidukh, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).
@papertowel123 papertowel123 mentioned this pull request Oct 12, 2023
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papertowel123 commented Oct 12, 2023 •
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@maksymdidukh check CI, you have linting issues: https://app.circleci.com/pipelines/github/ros-planning/navigation2/10176/workflows/cbd18739-840b-42e8-bd73-899603ec4e9d/jobs/32314/tests

Also, this will need documentation updates in the migration guide that we're changing the type of an input. Please open a Migration Guide PR as well

here is a link for Migration PR ros-navigation/docs.nav2.org#476
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papertowel123 commented Oct 12, 2023

failing test is unrelated to my PR
@SteveMacenski SteveMacenski merged commit 63fc6a1 into ros-navigation:main Oct 12, 2023
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papertowel123 commented Oct 13, 2023

@SteveMacenski, could u please backport it to iron?
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SteveMacenski commented Oct 13, 2023

Unfortunately no, this breaks ABI using different data types. I’d be OK fudging it for something this minor if you can show that current behavior trees with int’s set in the BT XML still work and are cast correctly. If not, we can’t break everyone’s existing BTs mid-distro
papertowel123 added a commit to logivations/navigation2 that referenced this pull request Oct 16, 2023
@papertowel123
In wait_action node change duration type from int to double (ros-navi…
afca957 
…gation#3871)

* change duration tyype from int to double

* change "1" to "1.0" as default wait_duration value

* modify wait_action tests

* fix

* change int values to double in trees

* add usage of Duration::from_seconds()

* fix build failing issue

* delete whitespace
@papertowel123 papertowel123 mentioned this pull request Oct 16, 2023
Merged
7 tasks
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
@papertowel123 @enricosutera
In wait_action node change duration type from int to double (ros-navi…
b31573d 
…gation#3871)

* change duration tyype from int to double

* change "1" to "1.0" as default wait_duration value

* modify wait_action tests

* fix

* change int values to double in trees

* add usage of Duration::from_seconds()

* fix build failing issue

* delete whitespace

Signed-off-by: enricosutera <enricosutera@outlook.com>
Marc-Morcos pushed a commit to Marc-Morcos/navigation2 that referenced this pull request Jul 4, 2024
@papertowel123 @Marc-Morcos
In wait_action node change duration type from int to double (ros-navi…
7300273 
…gation#3871)

* change duration tyype from int to double

* change "1" to "1.0" as default wait_duration value

* modify wait_action tests

* fix

* change int values to double in trees

* add usage of Duration::from_seconds()

* fix build failing issue

* delete whitespace
turtlewizard73 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Oct 28, 2024
@papertowel123 @turtlewizard73
In wait_action node change duration type from int to double (ros-navi…
24a3ffe 
…gation#3871)

* change duration tyype from int to double

* change "1" to "1.0" as default wait_duration value

* modify wait_action tests

* fix

* change int values to double in trees

* add usage of Duration::from_seconds()

* fix build failing issue

* delete whitespace
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Oct 30, 2024
@turtlewizard73 @papertowel123
In wait_action node change duration type from int to double (ros-navi…
756a9eb 
…gation#3871) (#30)

* change duration tyype from int to double

* change "1" to "1.0" as default wait_duration value

* modify wait_action tests

* fix

* change int values to double in trees

* add usage of Duration::from_seconds()

* fix build failing issue

* delete whitespace

Co-authored-by: maksymdidukh <142302397+maksymdidukh@users.noreply.github.com>
mini-1235 pushed a commit to mini-1235/navigation2 that referenced this pull request Feb 5, 2025
@papertowel123
add PR ros-navigation#3871 description to Iron.rst (ros-navigation#476)
06513cd 
* add PR ros-navigation#3871 description to Iron.rst

* fix
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@papertowel123 @tonynajjar @SteveMacenski