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Humble #24

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Humble #24

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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)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

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

mergify bot and others added 4 commits September 22, 2022 10:54
@mergify @milidam
Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…
48c7dc0 
…r plugin (ros-navigation#3211) (ros-navigation#3215)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

Co-authored-by: milidam <milidam@users.noreply.github.com>
@SteveMacenski @jwallace42
@AlexeyMerzlyakov @enesbedir1 @Tobias-Fischer @ipa-kut @daisukes @stevedanomodolor @fantalukas @JacksonK9 @ruffsl @Cryst4L9527 @NicolasRochaPacheco @pepisg @woawo1213 @afifswaidan @Afif-Swaidan
Humble sync 2: Nov 8 (ros-navigation#3274)
0d86469 
* standalone assisted teleop (ros-navigation#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 (ros-navigation#3099)

* Support range sensors in Collision Monitor

* Adjust README.md

* Meet review fixes

* Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153)

* missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155)

* Change deprecated ceres function (ros-navigation#3158)

* Change deprecated function

* Update smoother_cost_function.hpp

* remove camera_rgb_joint since child frame does not exist (ros-navigation#3162)

* bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145)

* bugfix (ros-navigation#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 (ros-navigation#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 (ros-navigation#3175)

* fixed start (ros-navigation#3168)

* fixed start

* return true

* fix tests

* Fix velocities comparison for rotation at place case (ros-navigation#3177)

* Fix velocities comparison for rotation at place case

* Meet review item

* Remove unnecessary header

* Change the comment

* set a empty path on halt (ros-navigation#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 (ros-navigation#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 (ros-navigation#3183)

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

* check if a node exists before creating

* invert logic to group like with like

* Update a_star.cpp

* fixing benchmarkign for planners (ros-navigation#3202)

* [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#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 (ros-navigation#3204)

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

* [RPP] Update README

* Update waffle.model

* add benchmark launch file + instructions (ros-navigation#3218)

* removing hypotf from smac planner heuristic computation (ros-navigation#3217)

* removing hypotf

* swapping to node2d sqrt

* complete smac planner tolerances (ros-navigation#3219)

* Disable Output Buffering (ros-navigation#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 (ros-navigation#3223)

* fix majority of python linting errors

* finish linting

* Assisted teleop simple commander (ros-navigation#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 (ros-navigation#3229)

* Add enabling service to costmap filters

* Add service testcase

* Fix comment

* Use toggle_filter service name

* Add binary flip costmap filter (ros-navigation#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 (ros-navigation#3238)

* odom alpha restriction

* odom alpha code style

* odom alpha code style

* odom alpha code style

* Update controller server goal checker (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#3262)

* Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#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 (ros-navigation#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>
@SteveMacenski @Aposhian
@guilyx @svenlr @borongyuan @AlexeyMerzlyakov @MartiBolet @owen7900 @pepisg
Humble sync 3: Dec 20 (ros-navigation#3334)
ed7f5ef 
* remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279)

* BT Service Node to throw if service was not available in time (ros-navigation#3256)

* throw if service server wasn't available in time

mimic the behavior of the bt action node constructor

* throw if action unavailable in bt cancel action

* use chrono literals namespace

* fix linting errors

* fix code style divergence

* Remove duplicate of nav2_back_up_cancel_bt_node (ros-navigation#3332)

* Remove unused velocity scaling config from example xml (ros-navigation#3330)

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>

* Make mapUpdateLoop() indicator variables to be thread-safe (ros-navigation#3308)

* Ensure that plugin initialization to be called before updating routines (ros-navigation#3307)

* Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292)

* Solve bug when CostmapInfoServer is reactivated

* Implemented smoother selector bt node (ros-navigation#3283)

* Implemented smoother selector bt node

Signed-off-by: Owen Hooper <17ofh@queensu.ca>

* updated copyright in modified file

Signed-off-by: Owen Hooper <17ofh@queensu.ca>

Signed-off-by: Owen Hooper <17ofh@queensu.ca>

* Add allow_unknown parameter to theta star planner (ros-navigation#3286)

* Add allow unknown parameter to theta star planner

* Add allow unknown parameter to tests

* missing comma

* Change cost of unknown tiles

* Uncrustify

* bump to 1.1.3 for humble sync 3

Signed-off-by: Borong Yuan <yuanborong@hotmail.com>
Signed-off-by: Owen Hooper <17ofh@queensu.ca>
Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com>
Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com>
Co-authored-by: Sven Langner <svenlr@users.noreply.github.com>
Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
Co-authored-by: Owen Hooper <17ofh@queensu.ca>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
@SteveMacenski
Humble Sync 4 for Nav2 BT Dependency Build Farm Failure (ros-navigati…
7657f2f 
…on#3337)

* Revert "remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279)" (ros-navigation#3336)

This reverts commit 90ae5cc.

* bump to 1.1.5 for release
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2 participants
@hyunseok-yang @SteveMacenski