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[2024 01 23] pantos branch. #4

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Jan 24, 2024
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b7e0686
Humble sync 6 June 9: 1.1.7 (#3616)
SteveMacenski Jun 9, 2023
ef0fff4
Fix merge conflict error (#3619)
SteveMacenski Jun 9, 2023
59e99ec
fixing a second merge conflict resolution error (#3621)
SteveMacenski Jun 10, 2023
da5edbf
fixing merge conflicts for release on humble sync 6 (#3623)
SteveMacenski Jun 10, 2023
cffca69
Fixing 3629 (#3630)
SteveMacenski Jun 16, 2023
3bb9a95
bumping humble to 1.1.8 for release sync 6 + bug patch
SteveMacenski Jun 19, 2023
ead48a9
Fixing build warning (#3667) (#3673)
mergify[bot] Jun 30, 2023
7e8439c
Fix the velocity smoother being stuck when the deadband is too high (…
mergify[bot] Jul 26, 2023
0cf0462
Humble sync 7 August 4 1.1.9 (#3739)
SteveMacenski Aug 4, 2023
0ca14fe
Fixing 3768: planner server lifecycle transition down (#3786)
SteveMacenski Aug 31, 2023
a963495
Use ParameterFile (allow_substs) (#3706) (#3806)
SteveMacenski Sep 12, 2023
aaee5ae
Added missing destructor to MPPI critic manager (#3812)
VineetTambe Sep 13, 2023
9e63d43
mppi: return NO_INFORMATION when the checked point is outside the cos…
mergify[bot] Sep 14, 2023
b3474ca
[Humble] Sync 8 - Sept 25 (#3836)
SteveMacenski Sep 25, 2023
c50d7b2
Update CMakeLists.txt (#3843) (#3845)
mergify[bot] Sep 27, 2023
6e35cc7
bump to 1.1.11 for release for AVX512 fixes
SteveMacenski Sep 27, 2023
9876fe1
add option for sse4 and avs512 (#3853) (#3855)
mergify[bot] Oct 2, 2023
7327cbc
Bumping to 1.1.12 for binary release of AVX512 patches
SteveMacenski Oct 4, 2023
1b97e3e
[MPPI Optimization] adding regenerate noise param + adding docs (#386…
mergify[bot] Oct 11, 2023
5b87fab
Updating default map path
SteveMacenski Oct 13, 2023
3b791e8
[MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! …
mergify[bot] Oct 14, 2023
57f55c4
Fix incorrect auto merge conflict issue
SteveMacenski Oct 16, 2023
67a366a
Use mutex to protect costmap reads. (backport #3877) (#3897)
mergify[bot] Oct 23, 2023
afe56f7
Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] #3…
mergify[bot] Oct 24, 2023
6377c72
Log if BT rate is exceeded (#3909) (#3913)
mergify[bot] Oct 28, 2023
75454d7
Update theta_star_planner.cpp (#3918) (#3922)
mergify[bot] Oct 30, 2023
95b2322
Fixing subtree issues with blackboard shared resources (3640) (backpo…
mergify[bot] Oct 30, 2023
c1cbd77
Merge remote-tracking branch 'upstream/humble' into feature/topology
kevin-floatic Nov 1, 2023
3625407
fix build
kevin-floatic Nov 1, 2023
79252f7
test
kevin-floatic Nov 20, 2023
fd9e529
test
kevin-floatic Nov 20, 2023
5922551
disdt
kevin-floatic Nov 20, 2023
4b73424
test
kevin-floatic Nov 20, 2023
012de55
test
kevin-floatic Nov 20, 2023
0c3af43
remove unused
kevin-floatic Nov 20, 2023
f2552a5
test
kevin-floatic Nov 20, 2023
8e98446
test
kevin-floatic Nov 20, 2023
3f1c4aa
fix spin
ladianchad Nov 22, 2023
3989a03
remove looprate log
ladianchad Dec 7, 2023
0df2efc
removed loop rate waring
ladianchad Dec 7, 2023
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9 changes: 7 additions & 2 deletions .circleci/config.yml
Original file line number Diff line number Diff line change
Expand Up @@ -301,10 +301,15 @@ _commands:
when: always
- store_artifacts:
path: << parameters.workspace >>/log/test
- store_test_results:
path: << parameters.workspace >>/test_results
- store_artifacts:
path: << parameters.workspace >>/test_results
- run:
name: Prepare Test Results
working_directory: << parameters.workspace >>
command: find test_results -name "Test.xml" -type f -delete
when: always
- store_test_results:
path: << parameters.workspace >>/test_results

_steps:
pre_checkout: &pre_checkout
Expand Down
132 changes: 132 additions & 0 deletions .devcontainer/caddy/Caddyfile
Original file line number Diff line number Diff line change
@@ -0,0 +1,132 @@
# Snippet for global matchers and variables
# to logically expression request conditions
# E.g. for conditionally changing redirects
(globals) {
# Use gzip compression for all responses
encode gzip

# Matcher for http request scheme. E.g. "http" or "https"
@http_scheme {
expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
}
# If any http scheme is "https", then use "wss"
vars @http_scheme WsScheme "wss"
# Else default to "ws"
vars WsScheme "ws"

# Matcher for forwarded request headers
@host_forwarded {
header X-Forwarded-Host *
}
# If http headers exists, then use them
vars @host_forwarded ReqHost {header.X-Forwarded-Host}
# Else default to host in request
vars ReqHost {http.request.hostport}

# Matcher for websocket connection upgrade requests
@websockets {
# Avoid case sensitivity issues when matching field values
# E.g. when values are rewritten by Codespace port forwarding
header_regexp Connection (?i)(Upgrade)
header Upgrade websocket
}
}

# Snippet for redirect with given URL queries values
# to simplify remote development with web apps
# E.g auto redirect websocket URL to match request scheme
(redirect) {
# Configure redirect to match request scheme
vars LayoutUrl "/assets/foxglove/nav2_layout.json"
vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
}

# Snippet for dummy imports
(dummy) {
}

# Snippet for enabling mobile web app features
# to improve user experience on small screen devices
# E.g. for enabling fullscreen mode on iOS and Android
(mobile) {
# Match for directory redirects to index.html
route / {
# Inject link to manifest just after <head> tag
# https://developer.mozilla.org/docs/Web/Manifest
replace `<head>` `<head><link rel="manifest" href="manifest.json" crossorigin="use-credentials"/>`
}
# Redirect relative handle_path'ed manifest.json to /manifests directory
redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
}

# Snippet for hosted web app using websockets
# to serve static files and reverse proxying connections
# E.g. for serving GzWeb and Foxglove web apps
(app) {
# handle and strip path prefix from redirect
handle_path {args.0}/* {
# Set root directory for static files
root * {http.vars.root}{args.0}
# Enable mobile web app features
import mobile
# Reverse proxy websockets to backend address
reverse_proxy @websockets {args.1}
# Import custom snippets
import {args.2} {args.0}
}
}

# Listen for http requests on port 8080
# regardless of hostname or domain address
# E.g. whatever Codespaces assigns to host
:8080 {
# Include global matchers and variables
import globals
root * {$ROOT_SRV:/srv}
file_server browse

# Handle root content
# I.e. assets internal to workspace
handle /* {
# Template manifest.json files
templates */manifest.json {
mime application/json
}
}

# Handle nav2 web app
# I.e. main landing page
handle_path /nav2/* {
root * {http.vars.root}/nav2
import mobile
# Render markdown files as html
templates
}

# Matcher for requests without browse query
@no_browse {
path /
not query browse=true
}
# Redirect to nav2 web app by default
redir @no_browse /nav2/

# Import app snippets for web apps
import app "/gzweb" "localhost:9090" "dummy"
import app "/foxglove" "localhost:8765" "redirect"

# Handle glances web app
redir /glances /glances/
handle_path /glances/* {
import mobile
# Reverse proxy to glances backend
reverse_proxy * "localhost:61208"
}

# For debugging
# log {
# output file /var/log/caddy/server.log
# }
}
40 changes: 40 additions & 0 deletions .devcontainer/caddy/srv/assets/foxglove/manifest.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,40 @@
{
"name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
"short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
"icons": [
{
"src": "/media/icons/foxglove/any_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "any"
},
{
"src": "/media/icons/foxglove/maskable_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "maskable"
}
],
"id": "/foxglove/",
"start_url": "/foxglove/autoconnect",
"theme_color": "#6F3BE8",
"background_color": "#6F3BE8",
"display": "fullscreen",
"shortcuts" : [
{
"name": "Auto Connect",
"url": "/foxglove/autoconnect",
"description": "Auto connect to default data source"
},
{
"name": "Auto Layout",
"url": "/foxglove/autolayout",
"description": "Auto connect using default layout"
},
{
"name": "Manual Connect",
"url": "/foxglove/",
"description": "Manually connect to data source"
}
]
}
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