Add Semantic Navigate objective for hangar_sim (paired with moveit_pro#19714)#705
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bkanator wants to merge 15 commits into
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Add Semantic Navigate objective for hangar_sim (paired with moveit_pro#19714)#705bkanator wants to merge 15 commits into
bkanator wants to merge 15 commits into
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added 14 commits
June 10, 2026 11:23
…terized objective
…kable demo objectives
…ic Navigate for /execute_objective overrides
… blocked by vector<double> parser)
…ed override; drop per-location objectives
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_favorite="false" so the objective does not appear in the sidebar; users navigate via the Semantic Nav pane, not by launching the objective directly. Co-Authored-By: Claude Sonnet 4.6 <[email protected]>
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Motivation
Paired with PickNikRobotics/moveit_pro#19714 (semantic navigation). This is the
hangar_simside: the objective the Semantic Nav pane fires to drive the mobile base to a resolved place. Must merge together with #19714.Brief description
Adds one parameterized objective,
Semantic Navigate(src/hangar_sim/objectives/semantic_navigate.xml): takes atarget_pose(geometry_msgs/PoseStamped, map frame) input, switches to the Nav2 controller, runsNavigateToPoseActionwith that pose, switches back. The pane fires it via/execute_objectivewith atarget_poseoverride.How it was tested
Driven end-to-end in⚠️ Reviewer gate not yet run (opened as a draft at end of a time-boxed build).
hangar_simfrom the Semantic Nav pane (moveit_pro#19714): "go to the plane" → aircraft nose, "go to the south east door", "go to the shelving" all drove the Ridgeback.Design & key decisions (handoff context)
target_posePoseStamped (not two coordinate strings or per-place objectives):/execute_objectiveparameter overrides resolve their type from the consuming port.std::vector<double>ports have no registered override parser;geometry_msgs/PoseStampeddoes (registerParameterType<>inmoveit_pro_behavior_interface). So the pose wires straight intoNavigateToPoseAction— noCreatePoseStamped/vector ports, one objective for every place.semantic_nav/), not here — including the universal "snap each place to verified-free floor" logic. This repo only carries the objective./do_objectiveaction'ssend_goalservice (not exposed by the foxglove bridge); per-location objectives (works but doesn't scale); twotarget_position_xyz/target_orientation_xyzwstring overrides (hit thevector<double>no-parser wall).Release notes
None — the user-facing release note lives on the paired moveit_pro PR (#19714).
Remaining before Ready (NOT done)
9.4.0) and merge in lockstep with moveit_pro#19714.