updated compute poses to fit topology #1
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Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* fixed tests * undo
Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
Lifecycle status for global and local cost nodes not correct. ros2 lifecycle/service commands shows unconfigured for these two. This is due to directly calling on_configure/on_activate/on_cleanup calls in parent node. This PR to replace on_xxxxxx() to configure()/activate()/cleanup() calls of lifecycle base. Signed-off-by: Arshad <arshad.mehmood@intel.com>
…ros-navigation#3000) * Get parameters on configure transition Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Remove past setting of parameters Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Expose transition functions to public for test Signed-off-by: MartiBolet <mboletboixeda@gmail.com>
ros-navigation#2994) * fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp * Update navigate_through_poses_action.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* WIP velocity smoother with ruckig * a few comments * vel smoother prototype * updating defaults * adding defaults to readme * removing note from readme * updates to velocity smoother TODO items * adding unit tests * finishing system tests * adding failure to change parameters tests * fix last bits * fixing negative sign bug * lint * update tests * setting defaults * Adding warning * Update velocity_smoother.cpp
* adding timeout for action client initialization Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com> * adding constant 1s timeout, catching exception Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>
ros-navigation#3036) * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. Signed-off-by: Steven Brills <sbrills@hotmail.com> * Failed lint check due to stray blank line. Removed the blank line * - Modified findVelocitySignChange function to take the transformed plan in robot's frame - Removed need to pass pose to the findVelocitySignChange function * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - transformGlobalPlanWrapper call bug fix Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Missing ; in test method Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead Signed-off-by: Steven Brills <stevenbrills@hotmail.com> Co-authored-by: Steven Brills <sbrills@aethon.com>
* cleanup warnings * removed referenc
* first draft for goal updated controller Signed-off-by: relffok <57466265+relffok@users.noreply.github.com> * added goal_updated_controller to all yamls * added GoalUpdatedController API * added GoaUpdatedController to default plugins * removed first_time param * added test for GoalUpdatedController * linter fix
* accepting empty yaml_filename if no initial map is available * invalid load_map-request does not invalidate existing map, added Testcase * style * finish PR 2929 * finish linting * removing change * removing change * Update test_map_server_node.cpp * Update test_map_server_node.cpp Co-authored-by: Nikolas Engelhard <nikolas.engelhard@gmail.com>
* forward porting ros-navigation#3053 * adding TF warning suggestion
…name of action for BT action nodes (ros-navigation#3071) * adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes * fix linting * remove inline comment * adding goal updated controller node to test
* removing 4-connected option from smac; fixing 2D heuristic and traversal function from other planner's changes * fix name of variable since no longer a neighborhood * partial test updates * ported unit tests fully * revert to no costmap downsampling
* Add Collision Monitor node * Meet review items * Fix next review items * Code cleanup * Support dynamic footprint. More optimizations. * Switch to multiple footprints. Move variables. Remove odom subscriber. Add 0-velocity optimization * Update nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Meet smaller review items * Add fixes found during unit test development * Fix uncrustify issues * Add unit tests * Fix number of polygons points * Move tests * Add kinematics unit test * Minor tests fixes * Remove commented line * Add edge case checking testcase and references * Update comment * Add README.md * Fixed table * Minor changes in README.md * Fix README.md for documentation pages * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Meet review items * Meet review items (part 2) * Update polygons picture for README * Change simulation_time_step to 0.1 * Fix bounding boxes to fit the demo from README.md * Terminology fixes Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
) * Fix for ros-navigation#3078, fix image path in YAML * Update map_io.cpp * Update map_io.cpp * Update map_io.cpp * Update map_io.cpp
* do not depend on velocity for approach scaling * add approach_velocity_scaling_dist to README * do not pass references to shared ptr * fixup! do not pass references to shared ptr * fix approach velocity scaling compile issues * default approach_velocity_scaling_dist based on costmap size * change default approach_velocity_scaling_dist to 0.6 to match previous behavior * update tests for approach velocity scaling * remove use_approach_linear_velocity_scaling from readme * smooth approach velocity scaling
Signed-off-by: kevin <kevin@floatic.io>
Signed-off-by: kevin <kevin@floatic.io>
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