Tags: TrackliDev/navigation2
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Iron sync 5: April 4, 2024 (ros-navigation#4240) * 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]>
Fix graceful humble release version Signed-off-by: Steve Macenski <[email protected]>
Iron Sync 4: Jan 23, 2024 (ros-navigation#4063) * collision_monitor: dynamic polygon and source enable/disable (ros-navigation#3825) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * initial * fix * fix * remove unrelated change * reset * fix format * PR fixes * Add test * fix comments * add to params * publish only if enabled * Add source dynamic enable/disable * add enabled param to sources * fix * add same to collision detector * Update README.md: fix typo (ros-navigation#3842) * Update package.xml * fix typo (ros-navigation#3850) * adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]> * Fix action test failure due to rate after Rolling sync API change (ros-navigation#3852) * Update CMakeLists.txt (ros-navigation#3843) * add option for sse4 and avs512 (ros-navigation#3853) * Remove all exit(-1) crash conditions (ros-navigation#3846) * Update transform_available_condition.cpp * wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash * some linting * fix typo * Update controller.cpp * Update nav2_params.yaml * Update nav2_params.yaml * simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Stop error diagnostics when pausing nav (ros-navigation#3830) * Added nodestate enum and a variable to keep track of current state of managed nodes. * Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message. * Fixing bugs. * Updated/added docstrings. * Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case. * Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method. * Bugfix. --------- Co-authored-by: Pekka Myller <[email protected]> * Add a timeout to the wait for transforms step of the costmap activation. (ros-navigation#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <[email protected]> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <[email protected]> --------- Signed-off-by: Fabian König <[email protected]> * Fix class doxygen * fix minor typos (ros-navigation#3892) Signed-off-by: Anton Kesy <[email protected]> * Publish collision points for debug purposes (ros-navigation#3879) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * . * fixes * add to collision detector * fix * fix * . * fixes * add namespace to topic * fixes * fix use after free (ros-navigation#3910) * fix build mppi (ros-navigation#3927) Signed-off-by: kevin <[email protected]> Co-authored-by: kevin <[email protected]> * Removing old TODOs * protect invalid max_velocity min_velocity (ros-navigation#3953) Co-authored-by: Guillaume Doisy <[email protected]> * protect properly max_accel and max_decel (ros-navigation#3952) Co-authored-by: Guillaume Doisy <[email protected]> * Fixed links for install and build in README (ros-navigation#3963) Currently the readme is linking to an invalida page in the docs (404 error). * adding support for rotate in place cusps (ros-navigation#3934) * Fix linting error (ros-navigation#3969) * Fix linting error * Update regulated_pure_pursuit_controller.cpp * fix a few outdated comments in smac planners (ros-navigation#3978) * adding soft realtime prioritization for collision monitor and velocity smoother (ros-navigation#3979) * adding soft realtime prioritization for collision monitor and velocity smoother * refactor simple action server to use new utils API * Update README.md * Synchronize map size information during map initialization (ros-navigation#4015) * Update costmap size configuration This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated. * Refactor costmap size assignment in Costmap2D class The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity. * check width&height params (ros-navigation#4017) Co-authored-by: GoesM <[email protected]> * Fix SimpleActionServer nullprt callback (ros-navigation#4025) * add check before calling completion_callback_ * Fix lint * footprint checks (ros-navigation#4030) * footprint checks Signed-off-by: gg <[email protected]> * lint fix Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]> * Is path valid doc (ros-navigation#4032) * docs Signed-off-by: gg <[email protected]> * update Signed-off-by: gg <[email protected]> --------- Signed-off-by: gg <[email protected]> * Update vision_opencv's branch for rolling Signed-off-by: Steve Macenski <[email protected]> * handle dynamically changes in parameters. (ros-navigation#4046) Signed-off-by: Sebastian Solarte <[email protected]> * Add inflation_layer_name param (ros-navigation#4047) Signed-off-by: Renan Salles <[email protected]> * missing urdf dep (ros-navigation#4050) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * bump to 1.2.6 for release --------- Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Fabian König <[email protected]> Signed-off-by: Anton Kesy <[email protected]> Signed-off-by: kevin <[email protected]> Signed-off-by: gg <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Sebastian Solarte <[email protected]> Signed-off-by: Renan Salles <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: thandal <[email protected]> Co-authored-by: Anton Kesy <[email protected]> Co-authored-by: CihatAltiparmak <[email protected]> Co-authored-by: Anil Kumar Chavali <[email protected]> Co-authored-by: Plaqueoff <[email protected]> Co-authored-by: Pekka Myller <[email protected]> Co-authored-by: Fabian König <[email protected]> Co-authored-by: 정찬희 <[email protected]> Co-authored-by: kevin <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Abiel Fernandez <[email protected]> Co-authored-by: Michael Ferguson <[email protected]> Co-authored-by: Hao-Li-Bachelorarbeit <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Sebastian Solarte <[email protected]> Co-authored-by: Renan Salles <[email protected]>
Humble Sync 9: Jan 23, 2024 (ros-navigation#4064) * Update README.md: fix typo (ros-navigation#3842) * Update package.xml * fix typo (ros-navigation#3850) * adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <[email protected]> --------- Signed-off-by: CihatAltiparmak <[email protected]> * simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Fix class doxygen * fix minor typos (ros-navigation#3892) Signed-off-by: Anton Kesy <[email protected]> * fix use after free (ros-navigation#3910) * fix build mppi (ros-navigation#3927) Signed-off-by: kevin <[email protected]> Co-authored-by: kevin <[email protected]> * Removing old TODOs * Fixed links for install and build in README (ros-navigation#3963) Currently the readme is linking to an invalida page in the docs (404 error). * fix a few outdated comments in smac planners (ros-navigation#3978) * Update README.md * bump to 1.1.13 for release --------- Signed-off-by: CihatAltiparmak <[email protected]> Signed-off-by: Anton Kesy <[email protected]> Signed-off-by: kevin <[email protected]> Co-authored-by: thandal <[email protected]> Co-authored-by: Anton Kesy <[email protected]> Co-authored-by: CihatAltiparmak <[email protected]> Co-authored-by: Anil Kumar Chavali <[email protected]> Co-authored-by: 정찬희 <[email protected]> Co-authored-by: kevin <[email protected]> Co-authored-by: Abiel Fernandez <[email protected]> Co-authored-by: Michael Ferguson <[email protected]>
Iron Sync 3 - Sept 25 (ros-navigation#3837) * 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]>
[Humble] Sync 8 - Sept 25 (ros-navigation#3836) * 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 * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <[email protected]> * 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]> * 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 * 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 * bumping 1.1.9 to 1.1.10 for Humble release --------- Signed-off-by: Christian Henkel <[email protected]> Signed-off-by: ymd-stella <[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: Hyunseok <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Anton Kesy <[email protected]>
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