Add complex_recovery package

[sktometometo]

Add complex_recovery package which provides SequentialComplexRecovery and ParallelComplexRecovery plugins.

complex_recovery

This package provides recovery behavior plugins which combines multi recoveries to one recovery behavior.
This is useful for assuring a set of recovery behavior to run at one time.

There are two types of recoveries. One is to run multi recoveries sequentially and another is to run them in parallel.

complex_recovery/SequentialComplexRecovery

• ~recovery_behaviors (list of dictionaries which has name and type entries, default: None)

Example configuration of move_base is like

recovery_behavior_enabled: true
recovery_behaviors:
  - name: "speak_then_clear_costmap0"
    type: "complex_recovery/SequentialComplexRecovery"
speak_then_clear_costmap0:
  recovery_behaviors:
    - name: "speak_and_wait0"
      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
    - name: "clear_costmap0"
      type: "clear_costmap_recovery/ClearCostmapRecovery"
  speak_and_wait0:
    speak_text: "I'm clearing costmap."
    duration_wait: 5.0
    duration_timeout: 1.0
    sound_action: /sound_play
  clear_costmap0:
    reset_distance: 1.0

In this case, speak_and_clear_costmap0 recovery runs speak_and_wait0 recovery first, then runs clear_costmap0.
So a robot speaks first and then clear its costmap.

complex_recovery/ParallelComplexRecovery

• ~recovery_behaviors (list of dictionaries which has name and type entries, default: None)

Example configuration of move_base is like

recovery_behavior_enabled: true
recovery_behaviors:
  - name: "speak_and_rotate_costmap0"
    type: "complex_recovery/SequentialComplexRecovery"
speak_and_rotate_costmap0:
  recovery_behaviors:
    - name: "speak_and_wait0"
      type: "speak_and_wait_recovery/SpeakAndWaitRecovery"
    - name: "rotate0"
      type: "rotate_recovery/RotateRecovery"
  speak_and_wait0:
    speak_text: "I'm rotating."
    duration_wait: 5.0
    duration_timeout: 1.0
    sound_action: /sound_play
  rotate0:
    sim_granularity: 0.017
    frequency: 20.0

In this case, speak_and_rotate_costmap0 recovery runs speak_and_wait0 and rotate0 simultaneously.
So a robot speaks during its rotation.

TODO

• Add test
• Update meta information