Navigation2 Client Library

The Nav2ClientLibrary provides comprehensive Navigation2 operations for Robot Framework testing.

Overview

The Nav2ClientLibrary is the main library for Navigation2 operations. It combines CLI and native operations to provide the best performance and reliability for navigation tasks.

Key Features: - Navigation operations (navigate to pose, navigate through poses) - Path planning operations (global and local planners) - Localization operations (AMCL, initial pose) - Costmap operations (global and local costmaps) - Recovery operations (recovery behaviors) - Monitoring operations (navigation status, pose tracking) - Utility operations (cleanup, info, validation)

Usage

*** Settings ***
Library    Nav2ClientLibrary    timeout=30.0    action_timeout=60.0    node_name=test_nav2

*** Test Cases ***
Test Navigation
    Set Initial Pose    x=0.0    y=0.0    yaw=0.0
    ${result}=    Navigate To Pose    x=1.0    y=2.0    yaw=0.0
    Should Be True    ${result.success}

Initialization

Nav2ClientLibrary

The main Navigation2 client that combines CLI and native operations for Robot Framework testing.

Keyword: Initialize Nav2 Client

*** Settings ***
Library    Nav2ClientLibrary    timeout=30.0    action_timeout=60.0    node_name=test_nav2

Navigation Operations

Keyword: Navigate To Pose

Navigates the robot to a specific pose.

${result}=    Navigate To Pose    x=1.0    y=2.0    yaw=0.0

Keyword: Navigate Through Poses

Navigates the robot through a sequence of poses.

${poses}=    Create List    ${pose1}    ${pose2}    ${pose3}
${result}=    Navigate Through Poses    ${poses}

Keyword: Cancel Navigation

Cancels the current navigation operation.

Cancel Navigation

Keyword: Is Navigation Active

Checks if navigation is currently active.

${active}=    Is Navigation Active

Keyword: Get Navigation Result

Gets the result of the last navigation operation.

${result}=    Get Navigation Result

Path Planning Operations

Keyword: Plan Path

Plans a path from start to goal pose.

${path}=    Plan Path    start_x=0.0    start_y=0.0    goal_x=2.0    goal_y=2.0

Keyword: Plan Global Path

Plans a global path using the global planner.

${path}=    Plan Global Path    start_x=0.0    start_y=0.0    goal_x=2.0    goal_y=2.0

Keyword: Plan Local Path

Plans a local path using the local planner.

${path}=    Plan Local Path    start_x=0.0    start_y=0.0    goal_x=2.0    goal_y=2.0

Keyword: Get Path Length

Gets the length of a planned path.

${length}=    Get Path Length    ${path}

Localization Operations

Keyword: Set Initial Pose

Sets the initial pose of the robot for localization.

Set Initial Pose    x=0.0    y=0.0    yaw=0.0

Keyword: Get Current Pose

Gets the current pose of the robot.

${pose}=    Get Current Pose

Keyword: Wait For Localization

Waits for the robot to be localized.

${localized}=    Wait For Localization    timeout=10.0

Keyword: Is Localized

Checks if the robot is localized.

${localized}=    Is Localized

Costmap Operations

Keyword: Clear Global Costmap

Clears the global costmap.

Clear Global Costmap

Keyword: Clear Local Costmap

Clears the local costmap.

Clear Local Costmap

Keyword: Get Global Costmap

Gets the global costmap data.

${costmap}=    Get Global Costmap

Keyword: Get Local Costmap

Gets the local costmap data.

${costmap}=    Get Local Costmap

Keyword: Costmap Exists

Checks if a costmap exists.

${exists}=    Costmap Exists    global

Recovery Operations

Keyword: Start Recovery

Starts recovery behaviors.

Start Recovery

Keyword: Stop Recovery

Stops recovery behaviors.

Stop Recovery

Keyword: Is Recovery Active

Checks if recovery is active.

${active}=    Is Recovery Active

Keyword: Get Recovery Result

Gets the result of recovery operations.

${result}=    Get Recovery Result

Monitoring Operations

Keyword: Monitor Navigation Status

Monitors the navigation status.

${status}=    Monitor Navigation Status

Keyword: Monitor Pose

Monitors the robot’s pose changes.

${pose}=    Monitor Pose

Keyword: Monitor Costmap

Monitors costmap changes.

${costmap}=    Monitor Costmap    global

Keyword: Get Navigation Info

Gets comprehensive navigation information.

${info}=    Get Navigation Info

Utility Operations

Keyword: Cleanup

Cleans up resources and connections.

Cleanup

Keyword: Get System Info

Gets system information.

${info}=    Get System Info

Keyword: Validate Navigation Setup

Validates the navigation setup.

${valid}=    Validate Navigation Setup

Data Classes

Pose

Data class representing a 2D pose with position and orientation.

${pose}=    Create Pose    x=1.0    y=2.0    yaw=0.0

NavigationResult

Data class representing the result of a navigation operation.

${result}=    Create Navigation Result    success=True    message=Success

Service Types

Common service types used with Navigation2:

std_srvs/srv/Empty - Empty service requests (costmap clearing)
nav2_msgs/srv/GetCostmap - Costmap retrieval
nav2_msgs/srv/SetInitialPose - Initial pose setting

Action Types

Navigation2 action types for navigation and control:

nav2_msgs/action/NavigateToPose - Single pose navigation
nav2_msgs/action/NavigateThroughPoses - Multi-pose navigation
nav2_msgs/action/ComputePathToPose - Path planning actions

Example Usage

Basic Navigation Test

*** Settings ***
Library    Nav2ClientLibrary    timeout=30.0    action_timeout=60.0    node_name=test_nav2

*** Test Cases ***
Test Basic Navigation
    Set Initial Pose    x=0.0    y=0.0    yaw=0.0
    ${result}=    Navigate To Pose    x=1.0    y=2.0    yaw=0.0
    Should Be True    ${result.success}

Test Pose Operations
    ${pose}=    Get Current Pose
    Should Not Be Empty    ${pose}
    ${localized}=    Is Localized
    Should Be True    ${localized}

Test Costmap Operations
    Clear Global Costmap
    Clear Local Costmap
    ${costmap}=    Get Global Costmap
    Should Not Be Empty    ${costmap}

Advanced Navigation Test

*** Test Cases ***
Test Multi-Pose Navigation
    ${pose1}=    Create Pose    x=1.0    y=1.0    yaw=0.0
    ${pose2}=    Create Pose    x=2.0    y=2.0    yaw=1.57
    ${poses}=    Create List    ${pose1}    ${pose2}
    ${result}=    Navigate Through Poses    ${poses}
    Should Be True    ${result.success}

Test Path Planning
    ${path}=    Plan Path    start_x=0.0    start_y=0.0    goal_x=3.0    goal_y=3.0
    Should Not Be Empty    ${path}
    ${length}=    Get Path Length    ${path}
    Should Be True    ${length} > 0

Test Recovery Operations
    Start Recovery
    ${active}=    Is Recovery Active
    Should Be True    ${active}
    Stop Recovery

Test Navigation Monitoring
    ${status}=    Monitor Navigation Status
    Should Not Be Empty    ${status}
    ${info}=    Get Navigation Info
    Should Not Be Empty    ${info}

Complex Navigation Scenario

*** Test Cases ***
Test Complete Navigation Workflow
    # Setup
    Set Initial Pose    x=0.0    y=0.0    yaw=0.0
    ${localized}=    Wait For Localization    timeout=10.0
    Should Be True    ${localized}

    # Navigation
    ${result}=    Navigate To Pose    x=1.0    y=1.0    yaw=0.0
    Should Be True    ${result.success}

    # Verify position
    ${pose}=    Get Current Pose
    Should Not Be Empty    ${pose}

    # Test recovery if needed
    ${active}=    Is Recovery Active
    IF    ${active}
        Stop Recovery
    END

    # Cleanup
    Cleanup