Add acceleration limits to DriveOnHeading and BackUp behaviors by RBT22 · Pull Request #4810 · ros-navigation/navigation2

RBT22 · 2024-12-20T11:19:13Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	NA
Primary OS tested on	Ubuntu
Robotic platform tested on	own robot hardware
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Added two params: acceleration_limit and deceleration_limit for DriveOnHeading and BackUp behaviors.

Description of documentation updates required from your changes

Added new parameter, so need to add that to default configs and documentation page

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

mergify · 2024-12-20T11:22:40Z

@RBT22, 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).

mergify · 2024-12-20T11:28:55Z

@RBT22, 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).

mergify · 2024-12-20T11:33:11Z

@RBT22, 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

Build is failing - not 100% sure why off hand other than it relates to a method added

mergify · 2025-01-02T14:44:06Z

@RBT22, 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).

mergify · 2025-01-02T14:52:39Z

@RBT22, 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).

mergify · 2025-01-02T14:57:58Z

@RBT22, 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).

mergify · 2025-01-02T15:14:45Z

@RBT22, 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).

mergify · 2025-01-02T15:25:38Z

@RBT22, 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).

codecov · 2025-01-02T16:15:05Z

Codecov Report

Attention: Patch coverage is 52.00000% with 12 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp	52.00%	12 Missing ⚠️

Files with missing lines	Coverage Δ
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp	`82.65% <52.00%> (-10.60%)`	⬇️

SteveMacenski · 2025-01-07T19:49:37Z

Sorry for the delayed review - see comment above. It also looks like this block doesn't have any test coverage. I think you should make a new backup or drive on heading unit or system test which specifies acceleration limits to exercise.

This is not ABI/API breaking, so once approved, you could open a PR to backport to Jazzy/Humble if you wanted either (Jazzy I may be able to do automatically, Humble I definitely can't / wouldn't unless someone else opened it)

mergify · 2025-01-09T10:03:24Z

@RBT22, 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

Also, configuration guide entries are needed and migration guide to mention the new params

Signed-off-by: RBT22 <[email protected]>

RBT22 · 2025-01-22T12:12:22Z

Hi @SteveMacenski,

I’ve been looking into the testing setup, and I believe I might have misunderstood it initially. If I’m interpreting this correctly now, the tests for the behaviors themselves are part of the nav2_system_tests package. Is that correct?

If so, I’ll need to edit the backup_tester.py and drive_tester.py scripts to incorporate the acceleration checks.

Thanks for your guidance!

SteveMacenski · 2025-01-23T02:39:18Z

If I’m interpreting this correctly now, the tests for the behaviors themselves are part of the nav2_system_tests package. Is that correct?

Yes!

.. Actually I don't remember what tests you were modifying now. The force pushes removed the changes from the history so I can't recount.

Signed-off-by: RBT22 <[email protected]>

…separately Signed-off-by: RBT22 <[email protected]>

SteveMacenski

With these + the documentation updates on docs.nav2.org, I can merge this and backport to jazzy!

Signed-off-by: RBT22 <[email protected]>

SteveMacenski · 2025-01-28T20:21:58Z

@RBT22 thank you alot for jumping in and implementing this! It is very appreciated and a nice quality of behavior improvement :-)

* 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]> (cherry picked from commit 2ee3cef)

…avigation#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]>

…ort #4810) (#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (#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]>

…ort 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]>

* 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]>

…avigation#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]> Signed-off-by: stevedanomodolor <[email protected]>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from a6633a8 to 228de3b Compare December 20, 2024 11:29

SteveMacenski reviewed Dec 20, 2024

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RBT22 force-pushed the rolling/acc-drive-on-heading branch from f8f5bd8 to 36daf76 Compare January 2, 2025 14:49

RBT22 force-pushed the rolling/acc-drive-on-heading branch from 36daf76 to 83b4ff4 Compare January 2, 2025 14:54

RBT22 force-pushed the rolling/acc-drive-on-heading branch from 79dbabc to 836fb46 Compare January 2, 2025 15:21

RBT22 force-pushed the rolling/acc-drive-on-heading branch 3 times, most recently from a56b9c8 to 544887c Compare January 2, 2025 15:48

SteveMacenski requested changes Jan 7, 2025

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Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

RBT22 force-pushed the rolling/acc-drive-on-heading branch from 544887c to 9b9a6ce Compare January 9, 2025 10:02

SteveMacenski reviewed Jan 11, 2025

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Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

SteveMacenski reviewed Jan 11, 2025

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Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

RBT22 mentioned this pull request Jan 17, 2025

Documentation for acceleration limits in DriveOnHeading and BackUp behaviors ros-navigation/docs.nav2.org#634

Merged

RBT22 force-pushed the rolling/acc-drive-on-heading branch from bd6054d to 112b5fb Compare January 22, 2025 08:43

RBT22 added 3 commits January 22, 2025 09:59

Add acceleration constraints

8bb038d

Signed-off-by: RBT22 <[email protected]>

Cleanup code

5ff40c6

Signed-off-by: RBT22 <[email protected]>

Format code

7e398a7

Signed-off-by: RBT22 <[email protected]>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from 112b5fb to 84b1fec Compare January 22, 2025 09:00

RBT22 added 11 commits January 27, 2025 13:01

Add <limits> header to drive_on_heading.hpp

af27102

Signed-off-by: RBT22 <[email protected]>

Remove vel pointer

f584a0e

Signed-off-by: RBT22 <[email protected]>

Use the limits only if both of them is set

e35aa17

Signed-off-by: RBT22 <[email protected]>

Fix onActionCompletion params

fb21167

Signed-off-by: RBT22 <[email protected]>

Add default acc params and change decel sign

66c775d

Signed-off-by: RBT22 <[email protected]>

Add minimum speed parameter

a8b6221

Signed-off-by: RBT22 <[email protected]>

Update minimum speed parameter to 0.10

fb92e14

Signed-off-by: RBT22 <[email protected]>

Log warning when acceleration or deceleration limits are not set

a8fe01d

Signed-off-by: RBT22 <[email protected]>

Add param sign assert

a854c74

Signed-off-by: RBT22 <[email protected]>

Remove unnecessary param checking

964404a

Signed-off-by: RBT22 <[email protected]>

Refactor acceleration limits to handle forward and backward movement …

7214eb9

…separately Signed-off-by: RBT22 <[email protected]>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from d4f32d7 to 7214eb9 Compare January 27, 2025 12:01

SteveMacenski requested changes Jan 27, 2025

View reviewed changes

Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

Comment thread nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated

SteveMacenski added the backport-jazzy label Jan 27, 2025

RBT22 added 2 commits January 28, 2025 09:18

Fix sign checking condition

dd3b744

Signed-off-by: RBT22 <[email protected]>

Replace throwing with silent sign correction

80ffedf

Signed-off-by: RBT22 <[email protected]>

SteveMacenski approved these changes Jan 28, 2025

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SteveMacenski merged commit 2ee3cef into ros-navigation:main Jan 28, 2025

mergify Bot mentioned this pull request Jan 28, 2025

Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4875

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RBT22 mentioned this pull request Jan 29, 2025

Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4877

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7 tasks

RBT22 deleted the rolling/acc-drive-on-heading branch January 29, 2025 09:58

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RBT22 commented Dec 20, 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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