Mission Nav2 (NavigateThroughPoses)

Description

The nav2 adapter of the Mission Measurement for nav2's NavigateThroughPoses action -- the action a deployment issues when a mission is a single job through several hard-constraint poses in one call, rather than a chain of separate NavigateToPose goals (that sibling adapter is mission_nav2, #387). Emits a mission_start Record when a goal is first observed and a mission_end Record once it reaches a terminal state, in the same Record schema #387 defines, with mission_type: "navigate_through_poses".

This Measurement is a passive observer of the action server's single active goal. It never sends a goal itself. Instead it subscribes to the action's own _action/status and _action/feedback topics and calls its _action/get_result service directly for whichever goal_id just reached a terminal status -- the same standard per-action topics/services every rclcpp_action::Server (nav2's bt_navigator included) exposes. Whatever in the deployment actually dispatches missions (a BT navigator, a fleet orchestrator, an operator command) keeps doing so exactly as before; this Measurement only watches.

Two Records per mission:

• a mission_start Record, the first time a goal_id is observed on the action's status topic.
• a mission_end Record, once that goal_id reaches a terminal status (SUCCEEDED, CANCELED, or ABORTED) and its result has been fetched.

outcome on the end Record is one of succeeded, failed, cancelled, aborted: CANCELED maps to cancelled, ABORTED to aborted (both carrying nav2's own error_msg/error_code as reason/error_code), and SUCCEEDED maps to succeeded unless NavigateThroughPoses::Result.error_code is non-zero, in which case it is failed -- an application-level failure nav2 reported without aborting the goal status itself.

recoveries (from NavigateThroughPoses::Feedback.number_of_recoveries, when feedback was seen before completion) is carried on the end Record when available.

No per-waypoint outcome is reported. The acceptance criteria this Measurement was built against ask for the final waypoint_statuses (which poses in the job succeeded versus failed) to be represented on mission_end, following an upstream nav2 NavigateThroughPoses.action result field of that name. That field exists on the nav2 this repository actually builds against (nav2_msgs from navigation2's main branch, pinned in ros2_data_collection.repos -- its NavigateThroughPoses::Result carries WaypointStatus[] waypoint_statuses) but this Measurement does not surface it yet: an earlier implementation reported it, and was trimmed when the repository tracked a distro branch whose NavigateThroughPoses::Result had no such field (fatal error: nav2_msgs/msg/waypoint_status.hpp: No such file or directory). Surfacing it again against the current pin is a follow-up, not something this Measurement does today.

A mission still running when collection stops simply never gets a matching mission_end Record: nothing downstream can average an interval that was never closed as a zero, because there is no mission_end Record to average. sequence is a monotonically increasing counter across every Record this Measurement instance emits (start and end alike, not per mission_id), so a dropped Record shows up as a gap rather than silently corrupting a duration or a mission-success-rate denominator.

Parameters

Schema

{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "MissionNav2ThroughPoses",
  "properties": {
    "event": { "type": "string", "enum": ["mission_start", "mission_end"] },
    "mission_id": { "type": "string" },
    "mission_type": { "type": "string" },
    "sequence": { "type": "integer", "minimum": 1 },
    "outcome": { "type": "string", "enum": ["succeeded", "failed", "cancelled", "aborted"] },
    "reason": { "type": "string" },
    "error_code": { "type": "integer", "minimum": 0 },
    "duration_sec": { "type": "number", "minimum": 0 },
    "recoveries": { "type": "integer", "minimum": 0 }
  },
  "required": ["event", "mission_id", "sequence"],
  "type": "object"
}

Configuration

...
mission_nav2_through_poses:
  plugin: "dc_measurements/MissionNav2ThroughPoses"
  topic_output: "/dc/measurement/mission_nav2_through_poses"
  group_key: "mission"
  action_name: "navigate_through_poses"

Example output

Start:

{
  "event": "mission_start",
  "mission_id": "3f2504e04f8911d39a0c0305e82c3301",
  "mission_type": "navigate_through_poses",
  "sequence": 7
}

and end (succeeded):

{
  "event": "mission_end",
  "mission_id": "3f2504e04f8911d39a0c0305e82c3301",
  "mission_type": "navigate_through_poses",
  "sequence": 8,
  "outcome": "succeeded",
  "duration_sec": 96.4,
  "recoveries": 1
}

and end (aborted):

{
  "event": "mission_end",
  "mission_id": "9f86d081884c7d659a2feaa0c55ad015",
  "mission_type": "navigate_through_poses",
  "sequence": 10,
  "outcome": "aborted",
  "reason": "tf timeout",
  "error_code": 9102,
  "duration_sec": 12.1
}