fixing path longer on approach by padhupradheep · Pull Request #4622 · ros-navigation/navigation2

padhupradheep · 2024-08-17T21:18:18Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4110
Primary OS tested on	(Ubuntu)
Robotic platform tested on	ROX
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

padhupradheep · 2024-08-17T21:21:01Z

almost done!! I want to test it once again in fresh eyes before getting this in.

Sorry, it got longer than expected.

codecov · 2024-08-17T21:44:25Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Files	Coverage Δ
...tree/plugins/decorator/path_longer_on_approach.cpp	`91.66% <100.00%> (+0.23%)`	⬆️

... and 5 files with indirect coverage changes

SteveMacenski · 2024-08-19T17:35:25Z

I know how that goes sometimes 😉 Thanks for getting to it!

SteveMacenski · 2024-09-09T22:12:35Z

@padhupradheep if you're back (and if not, ignore this until you're back) can we address this last detail so we can button this up and move the PR out of draft so we can merge it?

padhupradheep · 2024-09-11T06:43:38Z

I'm back! Will finish it EoD

padhupradheep · 2024-09-11T16:53:09Z

Gtg now

mergify · 2024-09-11T17:28:53Z

@padhupradheep, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-09-11T18:19:00Z

@padhupradheep this PR needs to be rebased to build - there was a rolling API change

Signed-off-by: Pradheep <[email protected]>

* fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]>

* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <[email protected]> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Publish optimal trajectory as a Path message (#4640) * Publish optimal trajectory as a Path message Signed-off-by: Alyssa Agnissan <[email protected]> * move publish_optimal_path to TrajectoryVisualizer + minor refactoring Signed-off-by: Alyssa Agnissan <[email protected]> * tests added for optimal path publication Signed-off-by: Alyssa Agnissan <[email protected]> * populate optimal path message in add() Signed-off-by: Alyssa Agnissan <[email protected]> * move path population in add_marker Signed-off-by: Alyssa Agnissan <[email protected]> --------- Signed-off-by: Alyssa Agnissan <[email protected]> * [collision monitor] Select the observation sources used with each polygon (#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> * Restore exported BT test utils header files after cmake revamp (#4652) (#4654) Signed-off-by: Mike Wake <[email protected]> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649) Signed-off-by: Alan Xue <[email protected]> * PoseStamped vector specialization (#4607) * PoseStamped vector specialization Signed-off-by: Tony Najjar <[email protected]> * merge master Signed-off-by: Tony Najjar <[email protected]> * add path Signed-off-by: Tony Najjar <[email protected]> * fix size check Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * Revert "fix test" This reverts commit 51f54eb. * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * [DWB] Option to limit velocity commands in trajectory generator (#4663) * Option to limit vel cmd through traj generator Signed-off-by: huiyulhy <[email protected]> * Cleanup Signed-off-by: huiyulhy <[email protected]> * fix linting Signed-off-by: huiyulhy <[email protected]> * Update linting Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> --------- Signed-off-by: huiyulhy <[email protected]> * Adding planner server timeout for costmap waiting (#4673) * Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <[email protected]> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * fixing path longer on approach (#4622) * fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> * fix to bt action server logging before bt execution result being ready (#4677) Signed-off-by: DreamWest <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <[email protected]> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> * [RotationShimController] fix: rotate on short paths (#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <[email protected]> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <[email protected]> * [RotationShimController] fix: rotate to goal heading (#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <[email protected]> Co-authored-by: agennart <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <[email protected]> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * manual backport to Jazzy of 6b2e244 Signed-off-by: Steve Macenski <[email protected]> * bump to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * fixing backport issue Signed-off-by: Steve Macenski <[email protected]> * fixing backport of docking linking changes Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Alyssa Agnissan <[email protected]> Signed-off-by: asarazin <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Alan Xue <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: huiyulhy <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: alyquantillion <[email protected]> Co-authored-by: anaelle-sw <[email protected]> Co-authored-by: asarazin <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Alan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>

* fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]>

* fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <[email protected]>

* fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> Signed-off-by: Joseph Duchesne <[email protected]>

…4766) * fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <[email protected]>

* Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) (ros-navigation#4760) Co-authored-by: Steve Macenski <[email protected]> * fixing path longer on approach (ros-navigation#4622) (ros-navigation#4766) * fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <[email protected]> * Add acceleration limits to DriveOnHeading and BackUp behaviors (backport ros-navigation#4810) (ros-navigation#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <[email protected]> * Cleanup code Signed-off-by: RBT22 <[email protected]> * Format code Signed-off-by: RBT22 <[email protected]> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <[email protected]> * Remove vel pointer Signed-off-by: RBT22 <[email protected]> * Use the limits only if both of them is set Signed-off-by: RBT22 <[email protected]> * Fix onActionCompletion params Signed-off-by: RBT22 <[email protected]> * Add default acc params and change decel sign Signed-off-by: RBT22 <[email protected]> * Add minimum speed parameter Signed-off-by: RBT22 <[email protected]> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <[email protected]> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <[email protected]> * Add param sign assert Signed-off-by: RBT22 <[email protected]> * Remove unnecessary param checking Signed-off-by: RBT22 <[email protected]> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <[email protected]> * Fix sign checking condition Signed-off-by: RBT22 <[email protected]> * Replace throwing with silent sign correction Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> * Update parameter defaults to zero Signed-off-by: RBT22 <[email protected]> * Add off condition Signed-off-by: RBT22 <[email protected]> * Move forward outside Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> * Add option to use open-loop control with Rotation Shim (backport ros-navigation#4880) (ros-navigation#4896) * Add option to use open-loop control with Rotation Shim (ros-navigation#4880) * Initial implementation Signed-off-by: RBT22 <[email protected]> * replace feedback param with closed_loop Signed-off-by: RBT22 <[email protected]> * Reset last_angular_vel_ in activate method Signed-off-by: RBT22 <[email protected]> * Add closed_loop parameter to dynamicParametersCallback Signed-off-by: RBT22 <[email protected]> * Add tests Signed-off-by: RBT22 <[email protected]> * Override reset function Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> * Remove reset Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]> * Create footprint_collision_checker.py (ros-navigation#4899) Backport of footprint_collision_checker to Nav2 Humble Signed-off-by: ThomasHaley-neya <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> Signed-off-by: RBT22 <[email protected]> Signed-off-by: ThomasHaley-neya <[email protected]> Co-authored-by: LinusTxtonomy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: ThomasHaley-neya <[email protected]>

* fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> Signed-off-by: stevedanomodolor <[email protected]>

padhupradheep force-pushed the fix/path-longer-on-approach branch from 1430d8d to 1d745ec Compare August 17, 2024 21:19

SteveMacenski linked an issue Aug 19, 2024 that may be closed by this pull request

[for help] BT node Is_path_longer_on_approach doesn't work #4110

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SteveMacenski reviewed Aug 19, 2024

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Comment thread nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

padhupradheep force-pushed the fix/path-longer-on-approach branch from 5614aab to 1b55532 Compare September 11, 2024 16:51

padhupradheep marked this pull request as ready for review September 11, 2024 16:51

SteveMacenski requested changes Sep 11, 2024

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Comment thread nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

padhupradheep added 2 commits September 15, 2024 19:15

fixing path longer on approach

b8d8176

Signed-off-by: Pradheep <[email protected]>

removing the short circuit

a8d4cbc

Signed-off-by: Pradheep <[email protected]>

padhupradheep force-pushed the fix/path-longer-on-approach branch from 1b55532 to 47b405a Compare September 15, 2024 18:39

adding additional layer of check

240750f

Signed-off-by: Pradheep <[email protected]>

padhupradheep force-pushed the fix/path-longer-on-approach branch from 47b405a to 240750f Compare September 15, 2024 18:39

SteveMacenski approved these changes Sep 15, 2024

View reviewed changes

SteveMacenski merged commit de4fd78 into ros-navigation:main Sep 15, 2024

SteveMacenski pushed a commit that referenced this pull request Nov 26, 2024

fixing path longer on approach (#4622) (#4766)

507b365

* fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <[email protected]>

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fixing path longer on approach#4622

fixing path longer on approach#4622
SteveMacenski merged 3 commits intoros-navigation:mainfrom
neobotix:fix/path-longer-on-approach

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padhupradheep commented Aug 17, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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SteveMacenski commented Aug 19, 2024 •

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