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Apr 11, 2025
Merged

Added WaypointStatus to bt_utils #5077

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81 changes: 81 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include "geometry_msgs/msg/quaternion.hpp"
#include "nav_msgs/msg/path.hpp"
#include "nav_msgs/msg/goals.hpp"
#include "nav2_msgs/msg/waypoint_status.hpp"

namespace BT
{
Expand Down Expand Up @@ -241,6 +242,86 @@
}
}

/**
* @brief Parse XML string to nav2_msgs::msg::WaypointStatus
* @param key XML string
* @return nav2_msgs::msg::WaypointStatus
*/
template<>
inline nav2_msgs::msg::WaypointStatus convertFromString(const StringView key)
{
// if string starts with "json:{", try to parse it as json
if (StartWith(key, "json:")) {
auto new_key = key;
new_key.remove_prefix(5);
return convertFromJSON<nav2_msgs::msg::WaypointStatus>(new_key);
}

auto parts = BT::splitString(key, ';');
if (parts.size() != 13) {
throw std::runtime_error("invalid number of fields for WaypointStatus attribute)");
} else {
nav2_msgs::msg::WaypointStatus waypoint_status;
waypoint_status.waypoint_status = BT::convertFromString<uint8_t>(parts[0]);
waypoint_status.waypoint_index = BT::convertFromString<uint32_t>(parts[1]);
waypoint_status.waypoint_pose.header.stamp =
rclcpp::Time(BT::convertFromString<int64_t>(parts[2]));
waypoint_status.waypoint_pose.header.frame_id = BT::convertFromString<std::string>(parts[3]);
waypoint_status.waypoint_pose.pose.position.x = BT::convertFromString<double>(parts[4]);
waypoint_status.waypoint_pose.pose.position.y = BT::convertFromString<double>(parts[5]);
waypoint_status.waypoint_pose.pose.position.z = BT::convertFromString<double>(parts[6]);
waypoint_status.waypoint_pose.pose.orientation.x = BT::convertFromString<double>(parts[7]);
waypoint_status.waypoint_pose.pose.orientation.y = BT::convertFromString<double>(parts[8]);
waypoint_status.waypoint_pose.pose.orientation.z = BT::convertFromString<double>(parts[9]);
waypoint_status.waypoint_pose.pose.orientation.w = BT::convertFromString<double>(parts[10]);
waypoint_status.error_code = BT::convertFromString<uint16_t>(parts[11]);
waypoint_status.error_msg = BT::convertFromString<std::string>(parts[12]);
return waypoint_status;
}
}

/**
* @brief Parse XML string to nav2_msgs::msg::WaypointStatus
* @param key XML string
* @return nav2_msgs::msg::WaypointStatus
*/
template<>
inline std::vector<nav2_msgs::msg::WaypointStatus> convertFromString(const StringView key)
{
// if string starts with "json:{", try to parse it as json
if (StartWith(key, "json:")) {
auto new_key = key;

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new_key.remove_prefix(5);
return convertFromJSON<std::vector<nav2_msgs::msg::WaypointStatus>>(new_key);

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}

auto parts = BT::splitString(key, ';');
if (parts.size() % 13 != 0) {
throw std::runtime_error("invalid number of fields for std::vector<WaypointStatus> attribute)");
} else {
std::vector<nav2_msgs::msg::WaypointStatus> wp_status_vector;
for (size_t i = 0; i < parts.size(); i += 13) {
nav2_msgs::msg::WaypointStatus wp_status;
wp_status.waypoint_status = BT::convertFromString<uint8_t>(parts[i]);
wp_status.waypoint_index = BT::convertFromString<uint32_t>(parts[i + 1]);
wp_status.waypoint_pose.header.stamp =
rclcpp::Time(BT::convertFromString<int64_t>(parts[i + 2]));
wp_status.waypoint_pose.header.frame_id = BT::convertFromString<std::string>(parts[i + 3]);
wp_status.waypoint_pose.pose.position.x = BT::convertFromString<double>(parts[i + 4]);
wp_status.waypoint_pose.pose.position.y = BT::convertFromString<double>(parts[i + 5]);
wp_status.waypoint_pose.pose.position.z = BT::convertFromString<double>(parts[i + 6]);
wp_status.waypoint_pose.pose.orientation.x = BT::convertFromString<double>(parts[i + 7]);
wp_status.waypoint_pose.pose.orientation.y = BT::convertFromString<double>(parts[i + 8]);
wp_status.waypoint_pose.pose.orientation.z = BT::convertFromString<double>(parts[i + 9]);
wp_status.waypoint_pose.pose.orientation.w = BT::convertFromString<double>(parts[i + 10]);
wp_status.error_code = BT::convertFromString<uint16_t>(parts[i + 11]);
wp_status.error_msg = BT::convertFromString<std::string>(parts[i + 12]);
wp_status_vector.push_back(wp_status);
}
return wp_status_vector;
}
}

/**
* @brief Parse XML string to std::chrono::milliseconds
* @param key XML string
Expand Down
126 changes: 126 additions & 0 deletions nav2_behavior_tree/test/test_bt_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,6 +387,132 @@ TEST(PathPortTest, test_correct_syntax)
EXPECT_EQ(path.poses[1].pose.orientation.w, 14.0);
}

TEST(WaypointStatusPortTest, test_wrong_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;msg;8.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav2_msgs::msg::WaypointStatus>>("WaypointStatusPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);

xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;" />
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
}

TEST(WaypointStatusPortTest, test_correct_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;8;error" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<nav2_msgs::msg::WaypointStatus>>("WaypointStatusPort");
auto tree = factory.createTreeFromText(xml_txt);

nav2_msgs::msg::WaypointStatus values;
tree.rootNode()->getInput("test", values);
EXPECT_EQ(values.waypoint_status, 0);
EXPECT_EQ(values.waypoint_index, 1);
EXPECT_EQ(rclcpp::Time(values.waypoint_pose.header.stamp).nanoseconds(), 0);
EXPECT_EQ(values.waypoint_pose.header.frame_id, "map");
EXPECT_EQ(values.waypoint_pose.pose.position.x, 1.0);
EXPECT_EQ(values.waypoint_pose.pose.position.y, 2.0);
EXPECT_EQ(values.waypoint_pose.pose.position.z, 3.0);
EXPECT_EQ(values.waypoint_pose.pose.orientation.x, 4.0);
EXPECT_EQ(values.waypoint_pose.pose.orientation.y, 5.0);
EXPECT_EQ(values.waypoint_pose.pose.orientation.z, 6.0);
EXPECT_EQ(values.waypoint_pose.pose.orientation.w, 7.0);
EXPECT_EQ(values.error_code, 8);
EXPECT_EQ(values.error_msg, "error");
}

TEST(WaypointStatusVectorPortTest, test_wrong_syntax) {
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusVectorPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;msg;8.0;0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;msg;8.0" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<nav2_msgs::msg::WaypointStatus>>>(
"WaypointStatusVectorPort");
EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);

xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusVectorPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;" />
</BehaviorTree>
</root>)";

EXPECT_THROW(factory.createTreeFromText(xml_txt), std::exception);
}

TEST(WaypointStatusVectorPortTest, test_correct_syntax)
{
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<WaypointStatusVectorPort test="0;1;0;map;1.0;2.0;3.0;4.0;5.0;6.0;7.0;8;error;9;10;0;odom;11.0;12.0;13.0;14.0;15.0;16.0;17.0;18;msg" />
</BehaviorTree>
</root>)";

BT::BehaviorTreeFactory factory;
factory.registerNodeType<TestNode<std::vector<nav2_msgs::msg::WaypointStatus>>>(
"WaypointStatusVectorPort");
auto tree = factory.createTreeFromText(xml_txt);

std::vector<nav2_msgs::msg::WaypointStatus> values;
tree.rootNode()->getInput("test", values);
EXPECT_EQ(values[0].waypoint_status, 0);
EXPECT_EQ(values[0].waypoint_index, 1);
EXPECT_EQ(rclcpp::Time(values[0].waypoint_pose.header.stamp).nanoseconds(), 0);
EXPECT_EQ(values[0].waypoint_pose.header.frame_id, "map");
EXPECT_EQ(values[0].waypoint_pose.pose.position.x, 1.0);
EXPECT_EQ(values[0].waypoint_pose.pose.position.y, 2.0);
EXPECT_EQ(values[0].waypoint_pose.pose.position.z, 3.0);
EXPECT_EQ(values[0].waypoint_pose.pose.orientation.x, 4.0);
EXPECT_EQ(values[0].waypoint_pose.pose.orientation.y, 5.0);
EXPECT_EQ(values[0].waypoint_pose.pose.orientation.z, 6.0);
EXPECT_EQ(values[0].waypoint_pose.pose.orientation.w, 7.0);
EXPECT_EQ(values[0].error_code, 8);
EXPECT_EQ(values[0].error_msg, "error");
EXPECT_EQ(values[1].waypoint_status, 9);
EXPECT_EQ(values[1].waypoint_index, 10);
EXPECT_EQ(rclcpp::Time(values[1].waypoint_pose.header.stamp).nanoseconds(), 0);
EXPECT_EQ(values[1].waypoint_pose.header.frame_id, "odom");
EXPECT_EQ(values[1].waypoint_pose.pose.position.x, 11.0);
EXPECT_EQ(values[1].waypoint_pose.pose.position.y, 12.0);
EXPECT_EQ(values[1].waypoint_pose.pose.position.z, 13.0);
EXPECT_EQ(values[1].waypoint_pose.pose.orientation.x, 14.0);
EXPECT_EQ(values[1].waypoint_pose.pose.orientation.y, 15.0);
EXPECT_EQ(values[1].waypoint_pose.pose.orientation.z, 16.0);
EXPECT_EQ(values[1].waypoint_pose.pose.orientation.w, 17.0);
EXPECT_EQ(values[1].error_code, 18);
EXPECT_EQ(values[1].error_msg, "msg");
}

TEST(MillisecondsPortTest, test_correct_syntax)
{
std::string xml_txt =
Expand Down
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