* nav2_controller: add loop rate log (#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_ (#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 (#4178)
Signed-off-by: Felix <[email protected]>
Co-authored-by: Felix <[email protected]>
* replace throw-error with error-log to avoid UAF mentioned in #4175 (#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 (#4188)
Signed-off-by: Antonio Park <[email protected]>
* AMCL: Set an initial guess by service call (#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 (#4191)
Signed-off-by: Kyungsik Park <[email protected]>
* Fix typo (#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 (#4193)
Signed-off-by: Brice <[email protected]>
* fix missing param declare (#4203)
Signed-off-by: nelson <[email protected]>
* Revert "nav2_controller: add loop rate log (#4171)" (#4210)
This reverts commit 47374622dee01a27e5f9b8ae08f3d19a15de9b3a.
* add polygon_subscribe_transient_local parameter in collision monitor (#4207)
Signed-off-by: asarazin <[email protected]>
Co-authored-by: asarazin <[email protected]>
* nav2_controller: add loop rate log (#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 #4068 (#4070)
Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
* Allow path end pose deviation revive (#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 (#4072)
Signed-off-by: cybaol <[email protected]>
* free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in #4078 (#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 (#4087)
Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl'
Signed-off-by: nfriedrich00 <[email protected]>
* Add velocity based polygon (#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 1230ede0dd9f168eb38ea63663f250b1bca2fdbf.
* 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 (#4098)
* adding progress checker selector BT node (#4109)
* New MPPI Cost Critic (Contrib: Brice Renaudeau) (#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 (#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 (#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 #4068 (#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 (#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" (#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 (#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 (#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 (#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 (#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 (#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 (#4170)
Signed-off-by: Steve Macenski <[email protected]>
* fix merge conflict
* Revert "Add velocity based polygon (#3708)"
This reverts commit a3ed7456745e38d36966e07182d9e5994143af91.
* 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]>
