Planner integration by orduno · Pull Request #20 · ros-navigation/navigation2

orduno · 2018-08-09T22:45:15Z

Created the DijkstraPlanner based on the core algorithms from Navfn ROS1 nav package.
Updated the SimpleNavigator to use the new DijkstraPlanner
Created an initial WorldModel node and Costmap mockup to test the new planner.
Fixed bug with TaskClient.
Added a few new messages and services related to Costmap. Made a few updates to the Path messages.

mjeronimo · 2018-08-10T20:25:13Z

+endif()
+
+find_package(ament_cmake REQUIRED)
+# find_package(rclcpp REQUIRED)


Please remove commented-out sections to keep things tidy.

mjeronimo · 2018-08-10T20:26:01Z

+
+include_directories(include)
+
+add_library(costmap STATIC


We may want a general utility library that can hold Costmap, etc., instead of proliferating directories for each library.

Agree, made a note to discuss this on our next meeting.

As discussed, i moved it to a util library

mjeronimo · 2018-08-10T20:26:57Z

+#ifndef WORLD_MODEL__COST_VALUES_H_
+#define WORLD_MODEL__COST_VALUES_H_
+/** Provides a mapping for often used cost values */
+namespace costmap


Please run ament_cpplint and ament_uncrustify on all code and address issues. It may not be practical yet for old code (Navfn), but should do as much as possible.

mjeronimo · 2018-08-10T20:28:25Z

+  <version>0.1.0</version>
+  <description>TODO</description>
+  <author email="[email protected]">Oregon Robotics Team</author>
+   <author email="[email protected]">Carlos Orduno</author>


Indentation is off. Also should discuss (again) how we're handing author and maintainer fields.

Added to list of discussion topics.

mjeronimo · 2018-08-10T20:30:41Z

+  RCLCPP_INFO(node_->get_logger(), "Costmap::getCostmap");
+
+  // TODO(orduno): faking out a costmap for now
+  (void)specifications;


Instead of casting to void, you can also comment out the name ("specifications") in the function interface (line 27). I prefer commenting out the name as it results in fewer lines of code.

mjeronimo · 2018-08-10T20:31:27Z

+
+  // Some arbitrary numbers
+  costmap.info.resolution = 1;  // m/cell
+  costmap.info.width = 10;  // cells


Can we change the name of the field from "width" to make it clearer (and not require the comment)? The general principle being to improve the variable names to avoid needing comments to explain them.

Agree on the principle. In this case, a better name is number_cells_x_direction, same for height. However I took the variable name as a carry over from Occupancy Grid, and as we see on other ROS message definitions, the preference is to use something short. Added to the list of things to discuss.

mjeronimo · 2018-08-10T20:32:27Z

+Costmap::getTestData(const int width, const int height, vector<uint8_t>& data)
+{
+  // TODO(orduno): fixed size for now
+  (void)width;


Comment out names on line 68?

mjeronimo · 2018-08-10T20:33:18Z

+
+  // TODO(orduno): instead of hardcoding, define a function
+
+  const uint8_t n = 255; // no information


Each of these special values should have a symbol. It could be from an enumeration (with explicit values) or a macro. That way, the code wouldn't need comments and would be clearer.

Changed to enum.

After further discussion, it was changed to static const within Costmap class

mjeronimo · 2018-08-10T20:34:27Z

+#include "costmap/Costmap.hpp"
+#include <tf2/LinearMath/Quaternion.h>
+
+using std::vector;


We should discuss our team conventions on whether we're opening namespaces (std) or not. We should be consistent as a team (and as individuals).

I'd be in favor of opening with some rules: not on header files, only introducing the name being used. Added to the discussion list.

mjeronimo · 2018-08-10T20:35:35Z

+std_msgs/Header header
+
+# MetaData for the map
+CostmapMetaData info


Perhaps the field should be called "metadata" instead of "info."

This is related to a previous comment about ROS message definitions and carryover from ROS1. Added to the discussion list.

mjeronimo · 2018-08-10T20:35:53Z

+CostmapMetaData info
+
+# The cost data, in row-major order, starting with (0,0).
+uint8[] data


Seems like there needs to be newline here.

mjeronimo · 2018-08-10T20:36:21Z

+
+# The origin of the costmap [m, m, rad].
+# This is the real-world pose of the cell (0,0) in the map.
+geometry_msgs/Pose origin


mjeronimo · 2018-08-10T20:36:51Z

-geometry_msgs/PoseWithCovariance goal
+
+# The start pose for the plan
+geometry_msgs/PoseStamped start


Why do we need a stamped version of the pose? We have the timestamp in the header already. Same for the goal.

Currently not used. In future we might want to add time constraints to start and reach goal.

Fixed, Mike is right, posestamp is not needed, and we don't want to overload the term. If we need to add time constraints we'll have to add a new field.

mjeronimo · 2018-08-10T20:37:00Z

+# Specifications for the requested costmap
+nav2_msgs/Costmap map
+---
+nav2_msgs/Costmap map


Fixed. Also realized that the request should be nav2_msgs/CostmapMetaData -- no need for the data field.

mjeronimo · 2018-08-10T20:38:38Z

 #include <memory>
 #include <exception>
 #include <chrono>
+#include <iostream>


I don't see that iostream is required. Still using it? Should remove any #includes that aren't required.

mjeronimo · 2018-08-10T20:38:57Z

 };

-#endif  // PLANNING__ASTARPLANNER_HPP_
+#endif  // PLANNING__ASTARPLANNER_HPP_


mjeronimo · 2018-08-10T20:39:31Z

+  bool computePotential(const geometry_msgs::msg::Point& world_point);
+
+  // Compute a plan to a goal from a potential - must call computePotential first
+  bool getPlanFromPotential(const geometry_msgs::msg::PoseStamped& goal, std::vector<geometry_msgs::msg::PoseStamped>& plan);


Please run (all files) through ament_cpplint and ament_uncrustify. Several lines are too long.

mjeronimo · 2018-08-10T20:44:06Z

+   * @class NavFn
+   * @brief Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. 
+   */
+  class NavFn


We should refactor this class. It's not very clear as-is. We can probably extract out the various ideas into different (reusable) classes. Doesn't have to be done immediately though.

Agreed. Once we have a sufficient level of functionality and have done tests across the components, we can proceed to refactor / replace some of the core algos.

mjeronimo · 2018-08-10T20:44:32Z

@@ -0,0 +1,32 @@
+// Copyright (c) 2018 Intel Corporation


This file is obsolete and can be removed. It shouldn't be there in the ros2_devel branch.

mjeronimo · 2018-08-10T20:45:06Z

  <version>0.1.0</version>
  <description>TODO</description>
  <author email="[email protected]">Oregon Robotics Team</author>
+   <author email="[email protected]">Carlos Orduno</author>


indentation off.

mjeronimo · 2018-08-10T20:45:19Z


  return TaskStatus::SUCCEEDED;
-}
+}


Added, not sure how i removed those...

mjeronimo · 2018-08-10T20:46:04Z

+  }
+  catch (...) {
+    RCLCPP_ERROR(this->get_logger(), "DijkstraPlanner::makePlan: failed to obtain costmap from server");
+    throw;


I recommend throwing a specific kind of exception. See the standard exception types.

The intention here is to re-throw the current exception.

mjeronimo · 2018-08-10T20:47:35Z

+  planner_ = std::make_shared<NavFn>(costmap_.info.width, costmap_.info.height);
+
+  // Plan publisher for visualization purposes
+  plan_publisher_ = this->create_publisher<nav2_msgs::msg::Path>("plan", 1);


Did you intend to include the second parameter (qos_history_depth)? Or, is this a left-over from porting?

left-over from porting

mjeronimo · 2018-08-10T20:48:47Z

@@ -0,0 +1,17 @@
+#pragma once


Should port the code to not require this header (and remove it).

Yes, also needs to be moved to a util folder

mjeronimo · 2018-08-10T20:51:20Z

+{
+  costmap_ = std::make_unique<Costmap>(this);
+
+  // Create a (lambda) callback function for when a costmap service is received.


Why a lambda function here versus a class method? Is there an advantage? In my opinion, it would be clearer to have a separate method and use it here.

I'm having problems defining a ROS2 service that takes in a class method for the callback.

mjeronimo · 2018-08-10T20:51:33Z

+  rclcpp::shutdown();
+
+  return 0;
+}


mjeronimo

A few items to address.

ghost · 2018-08-16T21:57:05Z

+  costmap
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
+


You should add these lines here so other packages can find this one.
ament_export_include_directories(include)
ament_export_libraries(costmap)

ghost · 2018-08-16T22:08:12Z

+#define COSTMAP__COSTVALUES_H_
+
+/** Provides a mapping for often used cost values */
+enum class CostValue: uint8_t


I'm not a big fan of enums to represent constants due to various portability issues in the past. I'd rather just see these as static consts defined in the Costmap class.

ghost · 2018-08-16T22:26:29Z

+}
+
+void
+Costmap::getCostmap(const nav2_msgs::msg::CostmapMetaData & /*specifications*/,


The coding standard says you should break after the parenthesis and put the first parameter on the next line.

Also, return type is typically on the same line in the coding standard, though I don't know if it is explicitly required.

eg.

void Costmap::getCostmap( const nav2_msgs::msg::CostmapMetaData & spec, nav2_msgs::msg::Costmap & costmap)

ghost · 2018-08-16T22:33:04Z

+
+void
+Costmap::getCostmap(const nav2_msgs::msg::CostmapMetaData & /*specifications*/,
+  nav2_msgs::msg::Costmap & costmap)


Rather than use an output parameter here, I'd just return the costmap. eg.

nav2_msgs::msg::Costmap Costmap::getCostmap(const nav2_msgs::msg::CostmapMetaData & /*specifications*/) { nav2_msgs::msg::Costmap costmap; ... return costmap; }

The return value elision optimization will remove any overhead.

ghost · 2018-08-16T22:35:56Z

+}
+
+void
+Costmap::getTestData(const int /*width*/, const int /*height*/, vector<uint8_t> & data)


Just leave out the parameters you aren't using. You can always add them when you need them.

ghost · 2018-08-16T22:37:50Z

+     n,o,o,o,o,o,o,o,o,n,   //8
+     n,n,n,n,n,n,n,n,n,n};  //9
+
+  data = costmapMaze2;


If you made these a vector of vectors, you could select the maze you want by index. That way you could run all mazes in one test set instead of having to recompile every time you want to run a different maze.

Will modify once I integrate the PlannerTestNode, right now is just a place holder for the actual costmap.

ghost · 2018-08-16T23:08:17Z


  // The client can wait for a result with a timeout
-  TaskStatus waitForResult(typename ResultMsg::SharedPtr result, unsigned int milliseconds)
+  TaskStatus waitForResult(typename ResultMsg::SharedPtr& result, unsigned int milliseconds)


Just to elaborate a bit, passing the shared_ptr by value is the safe option, but it comes at a cost since the implementation has to acquire a lock to increment the reference count.

Passing by reference is a performance optimization when you know that the callee won't hang on to the pointer. Passing by const reference makes passing by reference a bit safer.

None of this applies in this particular case though, since it is an output parameter.

ghost · 2018-08-16T23:10:33Z

-  TaskStatus waitForResult(typename ResultMsg::SharedPtr result, unsigned int milliseconds)
+  TaskStatus waitForResult(typename ResultMsg::SharedPtr& result, unsigned int milliseconds)
  {
    std::mutex m;


This looks suspicious. Nobody else could ever acquire this mutex since it is a local variable.

@mjeronimo Can you look at @crdelsey 's question

ghost · 2018-08-16T23:18:48Z

  void executeAsync(const typename CommandMsg::SharedPtr msg)
  {
    taskSucceeded_ = false;
+    receivedNewMsg_ = false;


This should be called something like receivedResult_ instead of receivedNewMsg_

changed it to receivedResult_

ghost · 2018-08-16T23:21:11Z

-    if (taskSucceeded_) {
+    // TODO: possible race condition between receiving status message and actual data
+    //       for now implemented a method using a flag, but might want to review further
+    if (taskSucceeded_ && receivedNewMsg_) {


@mjeronimo How is taskSucceeded supposed to work? It seems like if we get a status message, then it has succeeded. It can never fail, just timeout. Or is this just unimplimented?

ghost · 2018-08-16T23:21:28Z

@@ -115,6 +120,8 @@ class TaskClient

  // A convenience variable for whether the task succeeded or not
  bool taskSucceeded_;


This should be std::atomic as well.

@mjeronimo Can you confirm @crdelsey 's comment?

…and costmap service. Created initial world model class

…changes to support these.

orduno · 2018-08-24T23:55:58Z

Created the DijkstraPlanner based on the core algorithms from Navfn ROS1 nav package.
Updated the SimpleNavigator to use the new DijkstraPlanner
Created an initial WorldModel node and Costmap mockup to test the new planner.
Fixed bug with TaskClient.
Added a few new messages and services related to Costmap. Made a few updates to the Path messages.

…ath, clear local costmap before narrow driving (#20)

…_nav2_main AUTO-795 Backport nav2 main features

* added bt navigator parameters * - set use_sim_time default to false - expanded on the example - removed parameter sub-title * added bt nav page * updating bt navigator page title Co-authored-by: Steve Macenski <[email protected]> * add spacing between and the objects in plugin_lib_names list * minor formatting Co-authored-by: Steve Macenski <[email protected]>

* Setup guide for sensors and costmap Squashed commit of the following: commit 61a3010d4eb0a2fc3cb50dd2b7244849fca4b4d2 Author: Josen Daniel Obordo De Leon <[email protected]> Date: Wed Jul 28 11:53:32 2021 +0800 Flow improvements to costmap section commit 2b179a7e3783f2982aba13ee082218bf3333285c Author: Areeya Ultra Rubenecia <[email protected]> Date: Thu Jul 22 16:55:12 2021 +0800 changes to build, run and verification of costmap section and minor writing edits commit 12a52c7da92185fa453596ba2f8672f14525af9d Author: Areeya Ultra Rubenecia <[email protected]> Date: Mon Jul 19 19:27:00 2021 +0800 Made changes to Gazebo demo and added Build, Run and Verification subsection commit ba9691d71e31ef077e9f44fdbe8426665073ba72 Merge: 8f47deb 5a76ce3 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Mon Jul 12 16:24:35 2021 +0800 Merge pull request ros-navigation#21 from cc-marquez/setup_sensors_editing2 Writing and editing improvements for sensor tutorials commit 5a76ce348084bb936c7c53f5abd6a172d96d537f Author: Josen Daniel Obordo De Leon <[email protected]> Date: Mon Jul 12 13:48:56 2021 +0800 Writing and editing improvements commit 8f47debb771757e7c6308f76bd40132a5f5c6b1f Author: Areeya Ultra Rubenecia <[email protected]> Date: Wed Jul 7 16:10:02 2021 +0800 Edited contents and figures according to comments commit 69769a3d4eff36f62597912a5ca62c37b35c69be Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:57:58 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 15362c9a13bf789465e4fafa5564bf4d50df04d9 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:54:09 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 5fcb9daa329cc8b3a31f4c8eb697d154a7b0b7fa Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:53:35 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit beed1b55227ebb794a54e7077466c1092668063d Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:52:49 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 4a53d583b3bb0891fe305449b243d869472641c2 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:52:22 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit e61429705984876003e5ebe3e3115d7fdf476d51 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:28:04 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 6b81d695acbddce28aac47afd92c96b8a3b6241f Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:27:45 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit d113ece97f834897f4631e2841026ba4d0c4521e Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:27:21 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 73b94841ba95c6ab2d04b7b73ca9e80f1685cb3a Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:25:56 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 2eb2a5f73e5a842ff540bc29a3c76f896219fc7d Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:23:40 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 394d5eab4c11487a06118ae202850768d734a4f5 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:23:22 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit d8fe8ab94765e2746a7aa0acfe8a9b7ce28d20ac Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:22:57 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 668fa1f77706d81b2decd38895472b624603b865 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:22:16 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit a2dbce7df6e4f981209b6cf0840b603cb00bcd2d Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Fri Jul 2 13:22:02 2021 +0800 Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Steven Macenski <[email protected]> commit 8863af547d4bfd2d454aba311b84a9ba8252796b Merge: 6288058 ef35c4b Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Thu Jul 1 10:52:56 2021 +0800 Merge pull request ros-navigation#20 from cc-marquez/f-estoperez-patch-9 Proofreading commit ef35c4b0facf51f43f0fc21ae6c7d34f7111f20d Author: Fiona Estoperez/R&D Strategy Group /SRPH/Professional/Samsung Electronics <[email protected]> Date: Tue Jun 29 21:51:26 2021 +0800 Proofreading Initial proofreading commit 62880580f5e766503f3bd6e4c32634a701b2712c Author: Areeya Ultra Rubenecia <[email protected]> Date: Thu Jun 24 17:43:00 2021 +0800 Completed initial draft commit 22bddd978244c5e2b6045ff5ef3c9c4d9518130a Merge: 3d15a3f 4cde509 Author: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Date: Wed Jun 23 18:43:23 2021 +0800 Merge pull request ros-navigation#19 from cc-marquez/setup_sensors-review1 Editing and revisions of sensor tutorials commit 4cde509c6d25c4b6ae36ecd8e735374afcb5d90d Author: Josen Daniel Obordo De Leon <[email protected]> Date: Fri Jun 18 16:46:03 2021 +0800 Editing and revisions of sensor tutorials commit 3d15a3f420c4f92294d2228d060c371eb158c730 Author: Areeya Ultra Rubenecia <[email protected]> Date: Wed Jun 9 16:48:08 2021 +0800 Add initial draft of Setting Up Sensors Tutorial * Change sample rviz pointcloud2 image * Changes to costmap configuration snippet * Apply suggestions from code review Co-authored-by: Steve Macenski <[email protected]> * Changes according to code review * Improvements to costmap section * Update setup_guides/sensors/setup_sensors.rst Co-authored-by: Areeya Ultra Rubenecia/SW Optimization Group /SRPH/Engineer/Samsung Electronics <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

…on#20) Signed-off-by: Karsten Knese <[email protected]>

orduno self-assigned this Aug 9, 2018

orduno requested review from a user, bpwilcox, mhpanah, mjeronimo and mkhansenbot August 9, 2018 22:45

mjeronimo reviewed Aug 10, 2018

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ghost reviewed Aug 16, 2018

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orduno added 9 commits August 23, 2018 11:02

Integrated Planner. Created messages and services needed for planner …

7434c7f

…and costmap service. Created initial world model class

Fixed bugs

8612ec3

Refactored world_model, created costmap class

391eb2b

Addressing pull request comments

ce62bed

Continued fixing issues found by lint and uncrustify

b325a12

Finished fixing issues found by lint and uncrustify

116a55b

Moved Costmaps to Utils. Changed definition of CostValues

ce664aa

Improvements to costmap and path message definitions, and downstream …

5d65bc9

…changes to support these.

Addressed conflicts after pulling in Carl's changes to build system

b2b8e9d

orduno force-pushed the planner_integration branch from 70203ff to b2b8e9d Compare August 23, 2018 19:04

ghost approved these changes Aug 23, 2018

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mjeronimo approved these changes Aug 24, 2018

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orduno merged commit 3c2e3e6 into ros-navigation:ros2_devel Aug 24, 2018

orduno deleted the planner_integration branch October 1, 2019 17:57

mrunaljsarvaiya mentioned this pull request Sep 17, 2020

Small Memory Leak with Controller Server, Planner Server, and AMCL #1889

Closed

ghost referenced this pull request in logivations/navigation2 Mar 7, 2022

reduce feasibilty check lookahead poses, finetune params for narrow p…

cb5a474

…ath, clear local costmap before narrow driving (#20)

mrmara mentioned this pull request Apr 29, 2022

AMCL change map / first_map_only = false #2931

Closed

doisyg added a commit to doisyg/navigation2 that referenced this pull request Oct 5, 2023

Merge pull request ros-navigation#20 from botsandus/AUTO-795_backport…

7270c74

…_nav2_main AUTO-795 Backport nav2 main features

jonipol mentioned this pull request Feb 23, 2024

SmacHybrid planner can crash to segmentation fault #4141

Closed

ewak mentioned this pull request Jan 29, 2025

Fix flaky dwb_critics test ObstacleFootprint.LineCost - maybe related to AddressSanitizer: heap-buffer-overflow READ #4884

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Forsyth-Creations pushed a commit to Forsyth-Creations/navigation2 that referenced this pull request Feb 19, 2025

rename ros2_controller metapackage folder appropriately (ros-navigati…

40b858b

…on#20) Signed-off-by: Karsten Knese <[email protected]>

mini-1235 mentioned this pull request Oct 23, 2025

Add rmw zenoh to nightly ci builds #5516

Merged

8 tasks


		// TODO(orduno): instead of hardcoding, define a function

		const uint8_t n = 255; // no information

		@@ -115,6 +120,8 @@ class TaskClient

		// A convenience variable for whether the task succeeded or not
		bool taskSucceeded_;


		include_directories(include)

		add_library(costmap STATIC

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orduno commented Aug 9, 2018

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mjeronimo Aug 10, 2018 • edited Loading Uh oh! There was an error while loading. Please reload this page.

mjeronimo Aug 10, 2018 •

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mjeronimo Aug 10, 2018 •

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mjeronimo Aug 10, 2018 •

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