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Add Semantic Navigate objective for hangar_sim (paired with moveit_pro#19714) #705

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Add Semantic Navigate objective for hangar_sim (paired with moveit_pro#19714) #705

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2d60551
feat(hangar_sim): add Semantic Navigate objectives
Jun 10, 2026
1577e98
fix(hangar_sim): retarget smoke test to free-space dock pose
Jun 10, 2026
823dfa0
test(hangar_sim): smoke test to SE door standoff; hide unwired parame…
Jun 10, 2026
ccb81f0
feat(hangar_sim): runnable Semantic Navigate (override target) + clic…
Jun 10, 2026
2aaefb6
feat(hangar_sim): per-place by-name Semantic Navigate objectives (fal…
Jun 10, 2026
aa810e8
chore(hangar_sim): drop by-name objectives; keep parameterized Semant…
Jun 10, 2026
a2a5e6a
feat(hangar_sim): by-name Semantic Navigate objectives (override path…
Jun 10, 2026
5d40158
feat(hangar_sim): single Semantic Navigate with target_pose PoseStamp…
Jun 10, 2026
0a95635
test(hangar_sim): point smoke test at aircraft nose to validate A's o…
Jun 10, 2026
8a56007
test(hangar_sim): smoke test to aircraft tail (nose blocked by dock)
Jun 10, 2026
0536e31
test(hangar_sim): rename smoke test to 'Semantic Navigate: Aircraft T…
Jun 10, 2026
9ae56fb
test(hangar_sim): smoke test to A's map-verified aircraft tail (0,6.3)
Jun 10, 2026
b608e72
test(hangar_sim): rename to Aircraft Nose (south pose is the front, r…
Jun 10, 2026
4396b6f
chore(hangar_sim): remove smoke-test objective; keep Semantic Navigate
Jun 10, 2026
2351e7c
fix(hangar_sim): hide Semantic Navigate from favorites list
bkanator Jun 11, 2026
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41 changes: 41 additions & 0 deletions src/hangar_sim/objectives/semantic_navigate.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!-- Single parameterized objective. The caller (B's pane) overrides `target_pose` with a
geometry_msgs/PoseStamped (map frame). PoseStamped has a registered parameter-override parser,
so the override applies cleanly; it wires straight into NavigateToPoseAction (no vector ports). -->
<root BTCPP_format="4" main_tree_to_execute="Semantic Navigate">
<BehaviorTree
ID="Semantic Navigate"
_description="Drive the Ridgeback to a semantic goal pose (PoseStamped, map frame) resolved from natural language."
_favorite="false"
>
<Control ID="Sequence" name="TopLevelSequence">
<Action
ID="SwitchController"
activate_controllers="platform_velocity_controller_nav2"
deactivate_controllers="velocity_force_controller;joint_trajectory_controller;platform_velocity_controller"
/>
<Action
ID="NavigateToPoseAction"
action_name="/navigate_to_pose"
behavior_tree_path="/opt/ros/humble/share/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml"
pose_stamped="{target_pose}"
/>
<Action
ID="SwitchController"
activate_controllers="joint_trajectory_controller"
/>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Semantic Navigate">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="Navigation" />
</MetadataFields>
<input_port name="target_pose">
Goal pose as geometry_msgs/PoseStamped in the map frame. Overridden by
the pane.
</input_port>
</SubTree>
</TreeNodesModel>
</root>
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