Behavior tree node for extracting pose from path#4516
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Marc-Morcos wants to merge 298 commits intoros-navigation:mainfrom
Closed
Behavior tree node for extracting pose from path#4516Marc-Morcos wants to merge 298 commits intoros-navigation:mainfrom
Marc-Morcos wants to merge 298 commits intoros-navigation:mainfrom
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This pull request is in conflict. Could you fix it @MarcM0? |
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@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues. |
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This pull request is in conflict. Could you fix it @MarcM0? |
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@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues. |
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SteveMacenski
requested changes
Jul 4, 2024
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Overall, looks great!
Three more things:
- Styling needs to be updated, we use
camel_casenotsnakeCasein this project, which is important for consistency. There's also alot of linting errors that the CI jobs below will mention I'm sure - Please submit the PR against
main, notiron. We can backport toironbut it needs to be inmainfirst so it can be reflected in all other distributions as well - You need to sign your commits
-sto have DCO pass - see CI job below for how to resign
| const BT::NodeConfiguration & conf) | ||
| : BT::ActionNodeBase(name, conf) | ||
| { | ||
| getInput("index", poseIndex); |
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Move to the tick method, someone could plausibly have this also be a port to a variable so that it could change over time
| private: | ||
| void halt() override {} | ||
| BT::NodeStatus tick() override; | ||
| int poseIndex = 0; |
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This won't need to be a class member when obtained in tick
| } | ||
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| //out of bounds index | ||
| if(tempPoseIndex<0 || (unsigned)tempPoseIndex>=inputPath.poses.size()){ |
| return BT::NodeStatus::FAILURE; | ||
| } | ||
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| int tempPoseIndex = poseIndex; |
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Temp will not be required once using the input in tick
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This pull request is in conflict. Could you fix it @MarcM0? |
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@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues. |
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@MarcM0 you will need to fix the PR, it now touches 10k+ lines |
…igation#3605) * CI test fixing for BT.CPP (paired with BehaviorTree.CPP/579) * lint * fixing smoother unit test failures
* Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform()
…avigation#3693) * moved error code enumerations to the result of action messages * test fixes * code review
* onCycle has access to the result * revert * pr review
* Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * implemented feedback from pull request * fixed RCLCPP_DEBUG error Signed-off-by: vboxuser <[email protected]> * fixed hpp layout, removed previous code line in distance_controller * fixed all CI/CD errors, modified tests * fixed bt_navigator coding style. Modified behavior trees for updated nodes * implemented comments, fixed distance in distance_controller * updated circleci v14 to v15 --------- Signed-off-by: vboxuser <[email protected]> Co-authored-by: vboxuser <[email protected]>
…vigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <[email protected]>
* adding uid to the logged message Signed-off-by: Christian Henkel <[email protected]> * less changes Signed-off-by: Christian Henkel <[email protected]> --------- Signed-off-by: Christian Henkel <[email protected]>
Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](actions/checkout@v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
…ons (ros-navigation#3752) * adding intial prototype for smac hybrid-A* multiple primitives quantization interpolation * fixing unsigned int issue * cleaning up expansions log * fix primitives to be of equal dist * adding test for expansions getting * fixing tests from changes * adding a theoretical guardrail * updating Hybrid-A* to include directional information in the primitives for enabling multi-primitive planning & accurate traversal cost functions * moving Hybrid-A* specifics to template specialization * expand support for debug visualizations to State Lattice and 2D A*'s * fix some test oddities * dynamic parameters * remove unused variable * minor changes * adding options for downsampling obstacle heurisic and for using quadratic cost penalty functions * fixing unit tests
…rvers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server
* Update collision_monitor_params.yaml * Update collision_monitor_node.cpp * Update default topics in collision_monitor_node.cpp * Update default topics in collision_monitor_params.yaml * Update collision_monitor_params.yaml * Update collision_monitor_node.cpp * Update default topics in collision_monitor_node.cpp * Update default topics in collision_monitor_params.yaml
Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 4 to 5. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v4...v5) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps [docker/login-action](https://github.com/docker/login-action) from 2 to 3. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](docker/login-action@v2...v3) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Bumps [docker/setup-buildx-action](https://github.com/docker/setup-buildx-action) from 2 to 3. - [Release notes](https://github.com/docker/setup-buildx-action/releases) - [Commits](docker/setup-buildx-action@v2...v3) --- updated-dependencies: - dependency-name: docker/setup-buildx-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
* Fix devcontainer * fix * . * . * . * fix * pr comments * bust cache * test with docker image * Revert "test with docker image" This reverts commit 17b434e. * fixes * fixes * remove comment * Update URI for new GitHub org and GHCR repo * replace fix * replace fix * ignore maybe uninitialized error * inline comment * fix linting * Add comments * fix bt test * fix nav2 test * fix waypoint follower test * More improvements towards Jazzy migration * fix more tests * do a few more * last for the day * fix remaining BT tests * fixing last test issues * change linting image * comment out tests needing gazebo * break the cache cuz why not * fix dynamic param test * revert changes to test_bt_utils * fix dyn param * comment out turtlebot3_gazebo * test with spin_all * Update Dockerfile Signed-off-by: Steve Macenski <[email protected]> * Update .circleci/config.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Ruffin <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
* Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed build Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <[email protected]> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Simplify files Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <[email protected]> * update dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <[email protected]> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <[email protected]> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <[email protected]> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix linter Signed-off-by: Addisu Z. Taddese <[email protected]> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
…p option for modern gazebo (ros-navigation#4401) * Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed build Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <[email protected]> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Simplify files Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added feedback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <[email protected]> * update dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <[email protected]> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <[email protected]> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <[email protected]> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix linter Signed-off-by: Addisu Z. Taddese <[email protected]> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * port GZ Classic launch changes to modern GZ and remove GZ Classic launch file * adding changes * changes done for TB4 * tb3 sim prototype * fix missing ref * linting * fix branch name * remove assets * removing refs to turtlebot3_gazebo * update map * add new depot map * Update Nav2 side of multirobot launch files * linting --------- Signed-off-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
…ion#4416) * reorder pointers-reset & remove rebundant code Signed-off-by: GoesM <[email protected]> * check the initialpose in map Signed-off-by: GoesM <[email protected]> * back Signed-off-by: GoesM <[email protected]> * remove the redunbant code Signed-off-by: GoesM <[email protected]> * code style Signed-off-by: GoesM <[email protected]> * code style Signed-off-by: GoesM <[email protected]> * code style Signed-off-by: GoesM <[email protected]> * codestyle Signed-off-by: GoesM <[email protected]> * Update nav2_amcl/src/amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_amcl/src/amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: GoesM <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
…#4393) This commit does a number of things: 1. Switches to using target_link_libraries everywhere. This gives us finer-grained control over what dependencies are exported to downstream as public, or private. In the particular case of nav2_util, this actually doesn't matter *too* much, but it will help for other packages. 2. Moves the include directory down one level to include/${PROJECT_NAME}, which is best practice in ROS 2 since Humble. 3. Makes sure to export nav2_util as a CMake target, so downstream users of it can use that target. 4. Moves the base_footprint_publisher.hpp header file into the src directory, as it isn't functionality that an external project could use. Signed-off-by: Chris Lalancette <[email protected]>
* wip, ported only test_bt_navigator Signed-off-by: stevedan <[email protected]> * include test_bt_navigator_with dijlstra and test_bt_navigator_2 Signed-off-by: stevedan <[email protected]> * uncomment some lines Signed-off-by: stevedan <[email protected]> * More tests Signed-off-by: stevedan <[email protected]> * Include end of line Signed-off-by: stevedan <[email protected]> * move gz_sim cleanup process to utils nav2_simple_commander Signed-off-by: stevedan <[email protected]> * fix linter Signed-off-by: stevedan <[email protected]> * cleanup Signed-off-by: stevedan <[email protected]> * removed unused path Signed-off-by: stevedan <[email protected]> * cleanup Signed-off-by: stevedan <[email protected]> * more cleanup Signed-off-by: stevedan <[email protected]> * reduce set initial pose time Signed-off-by: stevedan <[email protected]> * remove repeated variable Signed-off-by: stevedan <[email protected]> * Remove log Signed-off-by: stevedan <[email protected]> * Remove todo Signed-off-by: stevedan <[email protected]> * use robot publisher Signed-off-by: stevedan <[email protected]> * use robot publisher Signed-off-by: stevedan <[email protected]> * include copyright Signed-off-by: stevedan <[email protected]> * correct year Signed-off-by: stevedan <[email protected]> --------- Signed-off-by: stevedan <[email protected]> Signed-off-by: Stevedan Ogochukwu Omodolor <[email protected]>
* migrate system failures test to new gazebo Signed-off-by: stevedan <[email protected]> * cleanly kill gz sim in gazebo Signed-off-by: stevedan <[email protected]> * use robot publisher and kill gz sim Signed-off-by: stevedan <[email protected]> --------- Signed-off-by: stevedan <[email protected]>
…ros-navigation#4457) * adding docking to multirobot launch files * Use xacro file to plumb namespace into gz topics (ros-navigation#4450) This also removes the `use_simulator` launch argument since it's not needed by spawn_tb3.launch.py Signed-off-by: Addisu Z. Taddese <[email protected]> * fixing collision monitor * add launch files * update tests to use xacro * rever * Bump cache Signed-off-by: Steve Macenski <[email protected]> * Update underlay.repos Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: stevedan <[email protected]>
Signed-off-by: stevedan <[email protected]>
…avigation#4492) * Update package.xml Signed-off-by: Steve Macenski <[email protected]> * fix Boost build issues and bump to 1.3.1 for jazzy release --------- Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
…ssic files (ros-navigation#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root
* Improve usability of PWAs in Dev Containers (ros-navigation#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin="use-credentials"` in the manifest tag. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (ros-navigation#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Add viz_expansions parameter for debug (ros-navigation#3577) * viz_expansions * lint * switch to unique_ptr * readme update --------- Co-authored-by: Guillaume Doisy <[email protected]> * Fix broken symlink for gzweb (ros-navigation#3585) to load world models * (collision monitor) add limit polygon type (ros-navigation#3519) * add LIMIT polygon type * fix unit tests * Fix MIN_POINT doesn't exist * Fix Action type enum * FIX velocity used * FIX unit test point distance increase point distance to not be in limit field * Update collision_monitor_node_test.cpp * fix status name not updated * [MOD] only single linear limit * Apply review comments * Update nav2_collision_monitor/include/nav2_collision_monitor/types.hpp --------- Co-authored-by: Steve Macenski <[email protected]> * Fix broken link to contributing guidelines (ros-navigation#3587) The original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant. * Adding Our Sponsors - May 2023 (ros-navigation#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Fix dynamic polygons vertices not updated for different frame (ros-navigation#3591) * Fix dynamic polygons vertices not updated for different frame * Update nav2_collision_monitor/src/collision_monitor_node.cpp --------- Co-authored-by: Steve Macenski <[email protected]> * Fixing 3586: rviz panel operating in multiple non-standard frames (ros-navigation#3595) * Fixes ros-navigation#3586 on rviz time stamping * removing timing from rviz testing panel * Add CostmapFilterInfoServer as a component (ros-navigation#3596) * adding iron to the readme table statuses (ros-navigation#3598) * adding iron to the readme table statuses * collapsing table * adding citation RPP * Resolve ros-navigation#3532: reset i (ros-navigation#3597) * [MPPI] empty path_follow_critic proper fix (ros-navigation#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Refactor sim_time and composable node usage in Collision Monitor (ros-navigation#3604) * Refactor sim_time and composable node usage in Collision Monitor launch script * Added namespace support * Fix comment * Fix costmap 2D test failures (ros-navigation#3611) * costmap test without action * test2 * try just printing first thing * Update test_costmap_2d_publisher.cpp * Compile flags non-virtual-destructor (ros-navigation#3609) * added compile flags * cleanup * cleanup * cleanup * add virtual destructors * uncrusify * updating to 1.2.1 for release --------- Co-authored-by: Ruffin <[email protected]> Co-authored-by: Alexandr Buyval <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: Hyung-Taik Choi <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Filipe Cerveira <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Signed-off-by: MarcM0 <[email protected]>
* Only apply Wnon-virtual-dtor if the compile language is CXX (ros-navigation#3614) * https://stackoverflow.com/questions/25525047/cmake-generator-expression-differentiate-c-c-code Signed-off-by: Ryan Friedman <[email protected]> * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * Fix Wshadow errors and enforce it (ros-navigation#3617) * Fix Wshadow errors and enforce it Signed-off-by: Ryan Friedman <[email protected]> * Remove workaround for pluginlib * This was only needed because it was included transitively * By finding and linking properly, the compiler flags get propogated as SYSTEM correctly Signed-off-by: Ryan Friedman <[email protected]> --------- Signed-off-by: Ryan Friedman <[email protected]> * add-Wnull-dereference and fix warnings (ros-navigation#3622) Signed-off-by: Ryan Friedman <[email protected]> * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * correct error message (ros-navigation#3631) * correct error message * clean up * cleanup * remove header * Let Navigators have different error codes (ros-navigation#3642) * Change ERROR to DEBUG * INFO message on init * format code * Replace newlines with spaces * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <[email protected]> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <[email protected]> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * Ceres exposes a namespaced export and recommends it in their docs (ros-navigation#3652) Signed-off-by: Ryan Friedman <[email protected]> * Enable multiple MPPI path angle modes depending on preferences in behavior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <[email protected]> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX (ros-navigation#3662) * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX * Update CMakeLists.txt * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * fix some new build warnings from sync (ros-navigation#3674) * fix some new build warnings * fixing last issue * Update navigate_through_poses_action.hpp * adding unsigned int to tests * all to unsigned shorts * test new warning resolution * Update * convert unsigned shorts to uint16_t for linter * Fix costmap publisher test (ros-navigation#3679) * added printouts * ignore system tests * fix * cleanup * Update test_costmap_2d_publisher.cpp remove space * remove empty message (ros-navigation#3691) * Collision Monitor fixups (ros-navigation#3696) * Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform() * Use ParameterFile (allow_substs) (ros-navigation#3706) Signed-off-by: ymd-stella <[email protected]> * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * Update costmap_2d_ros.cpp (ros-navigation#3687) * updated nav2_behavior_tree test util install path (ros-navigation#3718) * launch linting (ros-navigation#3729) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * adding tolerance back in for smac lattice and hybrid-A* planners (ros-navigation#3734) * Completing Hybrid-A* visualization of expansion footprints PR (ros-navigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <[email protected]> * Update README.md (ros-navigation#3736) * Update README.md * Update README.md * sync iron to 1.2.2 to release --------- Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Nick Lamprianidis <[email protected]> Signed-off-by: ymd-stella <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Filipe Cerveira <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: RBT22 <[email protected]> Co-authored-by: Nick Lamprianidis <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: ymd-stella <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: Aaditya Ravindran <[email protected]> Co-authored-by: gyaanantia <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: xianglunkai <[email protected]> Signed-off-by: MarcM0 <[email protected]>
…n backport) (ros-navigation#3758) * nav2_collision_monitor: collision detector (ros-navigation#3500) * fix Signed-off-by: MarcM0 <[email protected]>
* Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <[email protected]> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <[email protected]> * rotating in direction of view --------- Signed-off-by: Christian Henkel <[email protected]> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Update smac_planner_hybrid.cpp (ros-navigation#3760) * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <[email protected]> * Rename PushRosNamespace to PushROSNamespace (ros-navigation#3763) * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <[email protected]> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <[email protected]> --------- Co-authored-by: Steve Macenski <[email protected]> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <[email protected]> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <[email protected]> --------- Co-authored-by: Guillaume Doisy <[email protected]> * Fixing typo in compute path through poses error codes (ros-navigation#3799) Signed-off-by: Mannucci, Anna (Bosch (CR)) <[email protected]> Co-authored-by: Mannucci, Anna (Bosch (CR)) <[email protected]> * Fixes for flaky WPF test (ros-navigation#3785) * Fixes for flaky WPF test: * New RewrittenYaml ability to add non-existing parameters * Prune distance fix for WPF test * Treat UNKNOWN status as error in WPF * Clear error codes after BT run * Remove unnecessary setInitialPose() from WPF test * Update nav2_waypoint_follower/src/waypoint_follower.cpp Co-authored-by: Steve Macenski <[email protected]> * Clean error code in any situation * Fix UNKNOWN WPF status handling --------- Co-authored-by: Steve Macenski <[email protected]> * Fix `min_points` comparison check (ros-navigation#3795) * Fix min_points checking * Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * Fix CD configuration link reference (ros-navigation#3811) * Fix CD configuration page reference * Add CM work on 6th ROS Developers Day reference * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <[email protected]> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * Add nav2_gps_waypoint_follower (ros-navigation#2814) * Add nav2_gps_waypoint_follower * use correct client node while calling it to spin * changed after 1'st review * apply requested changes * nav2_util::ServiceClient instead of CallbackGroup * another iteration to adress issues * update poses with function in the follower logic * add deps of robot_localization: diagnostics * fix typo in underlay.repo * add deps of robot_localization: geographic_info * minor clean-ups * bond_core version has been updated * rotation should also be considered in GPS WPFing * use better namings related to gps wpf orientation * handle cpplint errors * tf_listener needs to be initialized * apply requested changes * apply requested changes 3.0/3.0 * fix misplaced ";" * use run time param for gps transform timeout * change timeout var name * make use of stop_on_failure for GPS too * passing emptywaypont vectors are seen as failure * update warning for empty requests * consider utm -> map yaw offset * fix missed RCLCPP info * reorrect action;s name * waypoint stamps need to be updated * Fix segmentation fault on waypoint follower * Parametric frames and matrix multiplications * Replace oriented navsatfix for geographic_msgs/geopose * Remove deprecated oriented navsatfix message * Update branch name on robot_localization dependency * Fix parametric frames logic * Rename functions and adress comments * fix style in underlay.repos * remove duplicate word in underlay.repos * update dependency version of ompl * Template ServiceClient class to accept lifecycle node * Remove link to stackoverflow answer * Remove yaw offset compensation * Fix API change * Fix styling * Minor docs fixes * Fix style divergences * Style fixes * Style fixes v2 * Style fixes v3 * Remove unused variables and timestam overrides * restore goal timestamp override * WIP: Add follow gps waypoints test * Style fixes and gazebo world inertia fix * Reduce velocity smoother timeout * empty commit to rerun tests * Increment circle ci cache idx * Remove extra space in cmakelists.txt * Fix wrong usage of the global action server * update follow gps waypoints action definition * Fix action definition and looping * update params for the unit testing * WIP: update tests * fix tests * fixes to nav2 simple commander * add robot_localization localizer * Bring back from LL client * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Co-authored-by: Steve Macenski <[email protected]> * missing argument in test function * small test error * style fixes nav2 simple commander * rename cartesian action server --------- Co-authored-by: jediofgever <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * bumping iron from 1.2.2 to 1.2.3 for release * Update waypoint_follower.cpp --------- Signed-off-by: Christian Henkel <[email protected]> Signed-off-by: ymd-stella <[email protected]> Signed-off-by: Mannucci, Anna (Bosch (CR)) <[email protected]> Signed-off-by: Anton Kesy <[email protected]> Co-authored-by: Christian Henkel <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: ymd-stella <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Hyunseok <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Anna Mannucci <[email protected]> Co-authored-by: Mannucci, Anna (Bosch (CR)) <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Anton Kesy <[email protected]> Co-authored-by: jediofgever <[email protected]> Signed-off-by: MarcM0 <[email protected]>
* nav2_controller: add loop rate log (ros-navigation#4171) * update smac_planner README Signed-off-by: ARK3r <[email protected]> * added current controller loop rate logging Signed-off-by: ARK3r <[email protected]> * linting Signed-off-by: ARK3r <[email protected]> * uncrustify lint Signed-off-by: ARK3r <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: ARK3r <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178) Signed-off-by: Felix <[email protected]> Co-authored-by: Felix <[email protected]> * replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <[email protected]> * fix typo Signed-off-by: GoesM <[email protected]> --------- Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <[email protected]> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <[email protected]> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <[email protected]> * added whitespace Signed-off-by: Alexander Mock <[email protected]> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <[email protected]> --------- Signed-off-by: Alexander Mock <[email protected]> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <[email protected]> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <[email protected]> * Update README.md --------- Signed-off-by: Tony Najjar <[email protected]> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <[email protected]> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <[email protected]> * Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (ros-navigation#4207) Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> * nav2_controller: add loop rate log (ros-navigation#4228) * added current loop rate printout Signed-off-by: ARK3r <[email protected]> * remove empty line Signed-off-by: ARK3r <[email protected]> --------- Signed-off-by: ARK3r <[email protected]> * bump to 1.2.7 for iron sync * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <[email protected]> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <[email protected]> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <[email protected]> * reformat Signed-off-by: GoesM <[email protected]> --------- Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> * Fix typo (ros-navigation#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <[email protected]> * Add velocity based polygon (ros-navigation#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <[email protected]> * update review comments and description Signed-off-by: nelson <[email protected]> * add VelocityPolygon to detector node Signed-off-by: nelson <[email protected]> * review update Signed-off-by: nelson <[email protected]> * fix cpplint Signed-off-by: nelson <[email protected]> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: nelson <[email protected]> * add velocity polygon tests Signed-off-by: nelson <[email protected]> * fix cpplint Signed-off-by: nelson <[email protected]> * add in-line comment Signed-off-by: nelson <[email protected]> * fix push back Signed-off-by: nelson <[email protected]> * minor change and update README Signed-off-by: nelson <[email protected]> * update README Signed-off-by: nelson <[email protected]> --------- Signed-off-by: nelson <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * avoid implicit type case (ros-navigation#4098) * adding progress checker selector BT node (ros-navigation#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <[email protected]> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <[email protected]> * fix lint cpp - extra space Signed-off-by: Brice <[email protected]> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <[email protected]> * Fix tests Signed-off-by: Steve Macenski <[email protected]> * Update test_a_star.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Signed-off-by: Brice <[email protected]> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Update README.md Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <[email protected]> * misse change Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: Brice <[email protected]> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <[email protected]> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <[email protected]> * Fix linting Signed-off-by: Jose Faria <[email protected]> --------- Signed-off-by: Jose Faria <[email protected]> Signed-off-by: Brice <[email protected]> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <[email protected]> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <[email protected]> * Remove stored node and assert Signed-off-by: Ryan Friedman <[email protected]> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <[email protected]> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <[email protected]> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <[email protected]> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <[email protected]> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <[email protected]> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <[email protected]> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <[email protected]> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <[email protected]> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <[email protected]> * Fix syntax errors Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <[email protected]> * Remove unused code Signed-off-by: Ryan Friedman <[email protected]> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <[email protected]> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <[email protected]> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <[email protected]> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <[email protected]> * Add other constructor and docs Signed-off-by: Ryan Friedman <[email protected]> * Fix linter issues Signed-off-by: Ryan Friedman <[email protected]> * Manually fix paren alignment Signed-off-by: Ryan Friedman <[email protected]> * Remove GSoC reference Signed-off-by: Ryan Friedman <[email protected]> * Document twist bool param in README Signed-off-by: Ryan Friedman <[email protected]> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <[email protected]> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <[email protected]> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <[email protected]> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <[email protected]> * More linter fixes Signed-off-by: Ryan Friedman <[email protected]> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <[email protected]> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <[email protected]> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <[email protected]> --------- Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Co-authored-by: pedro-fuoco <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Signed-off-by: Brice <[email protected]> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <[email protected]> Signed-off-by: Brice <[email protected]> * fix include of hpp Signed-off-by: Brice Renaudeau <[email protected]> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <[email protected]> * Update cost_critic.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Brice <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: GoesM <[email protected]> Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: gg <[email protected]> Signed-off-by: Jose Faria <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: cybaol <[email protected]> Signed-off-by: Brice Renaudeau <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: Davide Faconti <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jncfa <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: pedro-fuoco <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Co-authored-by: Kino <[email protected]> * Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <[email protected]> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <[email protected]> * fix merge conflict * Revert "Add velocity based polygon (ros-navigation#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: GoesM <[email protected]> Signed-off-by: Felix <[email protected]> Signed-off-by: Antonio Park <[email protected]> Signed-off-by: Alexander Mock <[email protected]> Signed-off-by: Kyungsik Park <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Brice <[email protected]> Signed-off-by: nelson <[email protected]> Signed-off-by: asarazin <[email protected]> Signed-off-by: gg <[email protected]> Signed-off-by: cybaol <[email protected]> Signed-off-by: nfriedrich00 <[email protected]> Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: Jose Faria <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Brice Renaudeau <[email protected]> Co-authored-by: Reza Kermani <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: bi0ha2ard <[email protected]> Co-authored-by: Felix <[email protected]> Co-authored-by: Antonio Park <[email protected]> Co-authored-by: Alexander Mock <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: nelson <[email protected]> Co-authored-by: anaelle-sw <[email protected]> Co-authored-by: asarazin <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Kino <[email protected]> Co-authored-by: nfriedrich00 <[email protected]> Co-authored-by: Davide Faconti <[email protected]> Co-authored-by: jncfa <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: pedro-fuoco <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Signed-off-by: MarcM0 <[email protected]>
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@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues. |
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moving to pull request based off of main branch |
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This was referenced Jul 5, 2024
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