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feat(controller-server): publish_zero_velocity parameter jazzy backport #4687

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merged 2 commits into from
Sep 25, 2024
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feat(controller-server): publish_zero_velocity parameter jazzy backport #4687

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feat(controller-server): `publish_zero_velocity` parameter (#4675)
reinzor Sep 24, 2024
d976db1
Update nav2_controller/src/controller_server.cpp
reinzor Sep 25, 2024
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36 changes: 25 additions & 11 deletions nav2_controller/src/controller_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)

declare_parameter("failure_tolerance", rclcpp::ParameterValue(0.0));
declare_parameter("use_realtime_priority", rclcpp::ParameterValue(false));
declare_parameter("publish_zero_velocity", rclcpp::ParameterValue(true));

// The costmap node is used in the implementation of the controller
costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
Expand Down Expand Up @@ -292,7 +293,18 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
*/
costmap_ros_->deactivate();

publishZeroVelocity();
// Always publish a zero velocity when deactivating the controller server
geometry_msgs::msg::TwistStamped velocity;
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velocity.twist.angular.x = 0;
velocity.twist.angular.y = 0;
velocity.twist.angular.z = 0;
velocity.twist.linear.x = 0;
velocity.twist.linear.y = 0;
velocity.twist.linear.z = 0;
velocity.header.frame_id = costmap_ros_->getBaseFrameID();
velocity.header.stamp = now();
publishVelocity(velocity);

vel_publisher_->on_deactivate();

remove_on_set_parameters_callback(dyn_params_handler_.get());
Expand Down Expand Up @@ -719,16 +731,18 @@ void ControllerServer::publishVelocity(const geometry_msgs::msg::TwistStamped &

void ControllerServer::publishZeroVelocity()
{
geometry_msgs::msg::TwistStamped velocity;
velocity.twist.angular.x = 0;
velocity.twist.angular.y = 0;
velocity.twist.angular.z = 0;
velocity.twist.linear.x = 0;
velocity.twist.linear.y = 0;
velocity.twist.linear.z = 0;
velocity.header.frame_id = costmap_ros_->getBaseFrameID();
velocity.header.stamp = now();
publishVelocity(velocity);
if (get_parameter("publish_zero_velocity").as_bool()) {
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You can store the variable in the class, that's OK

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According to https://www.ros.org/reps/rep-0009.html:

You cannot...
  Add new non-static data members, even if they are protected or private

Also the get_parameter is a map lookup so should be fast.

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I suppose I haven't enforced that part of ABI, but perhaps I should be -- it would just make direct backporting any new feature virtually impossible since they would likely have some parameter set tied to them. I enforce API stability and behavior stability (i.e. not changing defaults or fundamentally changing the behavior on a module mid-distribution), but I think there's an argument that I should by enforcing stricter ABI as well. Though, its never come up and no one's had an issue.

This is fine.

geometry_msgs::msg::TwistStamped velocity;
velocity.twist.angular.x = 0;
velocity.twist.angular.y = 0;
velocity.twist.angular.z = 0;
velocity.twist.linear.x = 0;
velocity.twist.linear.y = 0;
velocity.twist.linear.z = 0;
velocity.header.frame_id = costmap_ros_->getBaseFrameID();
velocity.header.stamp = now();
publishVelocity(velocity);
}

// Reset the state of the controllers after the task has ended
ControllerMap::iterator it;
Expand Down
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