Humble sync 2: Nov 8 (#3274)

[andreaostuni]

• standalone assisted teleop (standalone assisted teleop ros-navigation/navigation2#2904)

• standalone assisted teleop

• added in action message

• code review

• moved to behavior server

• added assisted teleop bt node

• revert

• added bt node for assisted teleop

• lint fix

• added cancel assisted teleop node

• code review

• working

• cleanup

• updated feeback

• code review

• update compute velocity

• cleanup

• lint fixes

• cleanup

• test fix

• starting to add tests for assisted teleop

• fixed tests

• undo

• fixed test

• is_recovery

• adjust abort result based on recovery or not

• code review

• added preempt velocity

• working preempt assisted teleop test

• completed assisted teleop tests

• code review

• undo

• code review

• remove sleep

• topic rename

• missing comma

• added comma :(

• added comma

Co-authored-by: Steve Macenski stevenmacenski@gmail.com

• Add the support of range sensors to Collision Monitor (Add the support of range sensors to Collision Monitor ros-navigation/navigation2#3099)

• Support range sensors in Collision Monitor

• Adjust README.md

• Meet review fixes

• Fix RegulatedPurePursuitController:: getCostmapMaxExtent() is incorrectly written ros-navigation/navigation2#3152: Costmap extend did not include Y component (Fix #3152: Costmap extend did not include Y component ros-navigation/navigation2#3153)

• missing nodes added to nav2_tree_nodes.xml (missing nodes added to nav2_tree_nodes.xml ros-navigation/navigation2#3155)

• Change deprecated ceres function (Change deprecated ceres function ros-navigation/navigation2#3158)

• Change deprecated function

• Update smoother_cost_function.hpp

• remove camera_rgb_joint since child frame does not exist (remove camera_rgb_joint since child frame does not exist ros-navigation/navigation2#3162)

• bugfix (Deadlock when a static layer gets map updated ros-navigation/navigation2#3109) deadlock when costmap receives new map (bugfix (#3109) deadlock when costmap receives new map ros-navigation/navigation2#3145)

• bugfix (Deadlock when a static layer gets map updated ros-navigation/navigation2#3109) deadlock when costmap receives new map

Signed-off-by: Daisuke Sato daisukes@cmu.edu

• introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts

Signed-off-by: Daisuke Sato daisukes@cmu.edu

Signed-off-by: Daisuke Sato daisukes@cmu.edu

• simple command costmap api - first few functions (simple command costmap api - first few functions ros-navigation/navigation2#3159)

• initial commit costmap_2d template

Signed-off-by: Stevedan Omodolor stevedan.o.omodolor@gmail.com

• finish task A and tested

• lint

• Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py

Co-authored-by: Steve Macenski stevenmacenski@gmail.com

• fix trailing underscores

Signed-off-by: Stevedan Omodolor stevedan.o.omodolor@gmail.com
Co-authored-by: Steve Macenski stevenmacenski@gmail.com

• Fix missing dependency on nav2_collision_monitor (Fix missing dependency on nav2_collision_monitor ros-navigation/navigation2#3175)

• fixed start (fixed start ros-navigation/navigation2#3168)

• fixed start

• return true

• fix tests

• Fix velocities comparison for rotation at place case (Fix velocities comparison for rotation at place case ros-navigation/navigation2#3177)

• Fix velocities comparison for rotation at place case

• Meet review item

• Remove unnecessary header

• Change the comment

• set a empty path on halt (set a empty path on halt ros-navigation/navigation2#3178)

• set a empty path on halt

• fixed issues

• remove path reset

• fixing

• reverting

• revert

• revert

• fixed lint

• test fix

• uncrusify fix

• simple command costmap api - update few functions (simple command costmap api - update few functions ros-navigation/navigation2#3169)

• • add aditional function to costmap_2d.py

Signed-off-by: Stevedan Omodolor stevedan.o.omodolor@gmail.com

Updated-by: Jaehun Kim k9632441@gmail.com

• finish task B

• Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py

• Update method docs

• Remove underscores at parameters and split getCost into getCostXY and getCostIdx

• Update method docstrings

• lint code & update docstring, remove default value of getCostXY

• lint code with pep257 & flake8

• clear names for bt nodes (clear names for bt nodes ros-navigation/navigation2#3183)

• [Smac] check if a node exists before creating ([Smac] check if a node exists before creating ros-navigation/navigation2#3195)

• check if a node exists before creating

• invert logic to group like with like

• Update a_star.cpp

• fixing benchmarkign for planners (fixing benchmarking for planners in tools ros-navigation/navigation2#3202)

• [Smac] Robin hood data structure improves performance by 10-15%! ([Smac] Robin hood data structure improves performance by 10-15%! ros-navigation/navigation2#3201)

• adding robin_hood unordered_map

• using robin_hood node map

• ignore robin_hood file

• linting

• linting cont. for triple pointers

• linting cont. for uncrustify

• [RPP] Add parameter to enable/disable collision detection ([RPP] Add parameter to enable/disable collision detection ros-navigation/navigation2#3204)

• [RPP] Add parameter to enable/disable collision detection

• [RPP] Update README

• Update waffle.model

• add benchmark launch file + instructions (add benchmark launch file + instructions ros-navigation/navigation2#3218)

• removing hypotf from smac planner heuristic computation (removing hypotf from smac planner heuristic computation ros-navigation/navigation2#3217)

• removing hypotf

• swapping to node2d sqrt

• complete smac planner tolerances (Adding Smac Planner Tolerances for Feasible Planners  ros-navigation/navigation2#3219)

• Disable Output Buffering (Improve Colcon Output  ros-navigation/navigation2#3220)

To ensure await asyncio prints [Processing: %s]' every 30s as expected

• fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (fix majority of python linting errors introduced in python costmap API additions to get CI turning over again ros-navigation/navigation2#3223)

• fix majority of python linting errors

• finish linting

• Assisted teleop simple commander (Assisted teleop simple commander ros-navigation/navigation2#3198)

• add assisted teleop to python api

• cleanup

• assisted teleop demo

• rename

• lint

• code review

• trigger build

• flake8 fix

• break cashe

• moved all v11 to v12

• lint fix

• remove package dep

• change default time allowance

• Costmap Filter enabling service (Costmap Filter enabling service ros-navigation/navigation2#3229)

• Add enabling service to costmap filters

• Add service testcase

• Fix comment

• Use toggle_filter service name

• Add binary flip costmap filter (Add binary flip costmap filter ros-navigation/navigation2#3228)

• Add binary flip costmap filter

• Move transformPose, worldToMask, getMaskData to CostmapFilter

• Added default parametrized binary filter state

• Switched to std_msgs/msg/Bool.msg

• Use arbitrary filter values

• Update waffle.model

• Update waffle.model

• Update test_actions.cpp

• odom alpha restriction to avoid overflow caused by user-misconfiguration (odom alpha restriction to avoid overflow caused by user-misconfiguration ros-navigation/navigation2#3238)

• odom alpha restriction

• odom alpha code style

• odom alpha code style

• odom alpha code style

• Update controller server goal checker (Update controller server goal checker ros-navigation/navigation2#3240)

• [FIX] Update controller server goal checker

• [FIX] Autoformat code

• [FIX] Misplaced tabs.

Co-authored-by: Pedro Alejandro González 71234974+pepisg@users.noreply.github.com

• map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (map-size restriction to avoid overflow and nullptr caused by user-misconfiguration ros-navigation/navigation2#3242)

• odom alpha restriction

• odom alpha code style

• odom alpha code style

• odom alpha code style

• map-size restriction

• map-size code style

• map-size rejection

• map-size codestyle

• map-size return false

• Add Path Smoothers Benchmarking suite (Add Path Smoothers Benchmarking suite ros-navigation/navigation2#3236)

• Add Path Smoothers Benchmarking suite

• Meet review items

• Update tools/smoother_benchmarking/README.md

Co-authored-by: Steve Macenski stevenmacenski@gmail.com

• Move optional performance patch to the end of README

• Fix README

Co-authored-by: Steve Macenski stevenmacenski@gmail.com

• Fix typo (Fix typo ros-navigation/navigation2#3262)

• Adding new Nav2 Smoother: Savitzky-Golay Smoother (Adding new Nav2 Smoother: Savitzky-Golay Smoother ros-navigation/navigation2#3264)

• initial prototype of the Savitzky Golay Filter Path Smoother

• fixed indexing issue - tested working

• updates for filter

• adding unit tests for SG-filter smoother

• adding lifecycle transitions

• Added Line Iterator (Added Line Iterator ros-navigation/navigation2#3197)

• Added Line Iterator

• Updated Line Iterator to a new iteration method

• Added the resolution as a parameter/ fixed linting

• Added the resolution as a parameter/ fixed linting

• Added unittests for the line iterator

• Added unittests based on "unittest" package

• Fixed init.py and rephrased some docstrings

• Fixed linting errors

• Fixed Linting Errors

• Added some unittests and removed some methods

• Dummy commit for CircleCI Issue

Co-authored-by: Afif Swaidan afif.swaidan@spexal.com

• bumping to 1.1.3 for release

Signed-off-by: Daisuke Sato daisukes@cmu.edu
Signed-off-by: Stevedan Omodolor stevedan.o.omodolor@gmail.com
Co-authored-by: Joshua Wallace 47819219+jwallace42@users.noreply.github.com
Co-authored-by: Alexey Merzlyakov 60094858+AlexeyMerzlyakov@users.noreply.github.com
Co-authored-by: Abdullah Enes BEDİR 46785079+enesbedir1@users.noreply.github.com
Co-authored-by: Tobias Fischer info@tobiasfischer.info
Co-authored-by: Tejas Kumar Shastha tejas.kumar.shastha@ipa.fraunhofer.de
Co-authored-by: Daisuke Sato 43101027+daisukes@users.noreply.github.com
Co-authored-by: Stevedan Ogochukwu Omodolor 61468301+stevedanomodolor@users.noreply.github.com
Co-authored-by: Lukas Fanta 63977366+fantalukas@users.noreply.github.com
Co-authored-by: Jackson9 k9632441@gmail.com
Co-authored-by: Ruffin roxfoxpox@gmail.com
Co-authored-by: Hao-Xuan Song 44140526+Cryst4L9527@users.noreply.github.com
Co-authored-by: Nicolas Rocha Pacheco n.nicolas98@hotmail.com
Co-authored-by: Pedro Alejandro González 71234974+pepisg@users.noreply.github.com
Co-authored-by: jaeminSHIN 91681721+woawo1213@users.noreply.github.com
Co-authored-by: Afif Swaidan 53655365+afifswaidan@users.noreply.github.com
Co-authored-by: Afif Swaidan afif.swaidan@spexal.com

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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