Humble #26
Merged
Humble #26
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (ros-navigation#3333) * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (ros-navigation#3356) * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap When clearing entirely a costmap (see the `clear_entirely_*` service), its layers are reset. This sets their `current_` attribute to False, until they are updated (`updateCosts()`). However, for disabled plugins/filters, the `updateCosts()` is bypassed so that the `current_` attribute is never reset to True, and the costmap never becomes "current" again; because of that the controller_server used to get stuck in an endless loop (see `while (!costmap_ros_->isCurrent())` in `ControllerServer::computeControl()`). This patch fixes that by adding a condition for not considering disabled plugins/filters in the `LayeredCostmap::isCurrent()`. * Add forgotten Layer::isEnabled() definition * Export ompl include directories from nav2_smac_planner. (ros-navigation#3358) * Update default w_smooth to 2M (ros-navigation#3341) * Fix nav2_velocity_smoother for sim time (ros-navigation#3360) * Fix nav2_velocity_smoother for sim time * Update nav2_velocity_smoother/src/velocity_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * catch general exceptions (ros-navigation#3373) * catch general exceptions * Update controller_server.cpp * nav2_tree_nodes: rename "service_name" input port for action nodes (ros-navigation#3370) Classes inheriting from nav2_behavior_tree::BtActionNode use "server_name" as input port. The "service_name" input port is reserved to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be a confusion in the nav2_tree_nodes.xml file. * Fixing Theta* test failures (ros-navigation#3380) * adding printouts since can't see locally * one more to isolate * request in bounds * remove prints * Fix SpeedController (ros-navigation#3378) * Fix SpeedController * Using blackboard get() method that does not throw error * Share odom_smoother on the blackboard Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Fix SpeedController linting and test errors Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * node_name change during initialization (ros-navigation#3387) * Added missing conditions to nav2_tree_nodes (ros-navigation#3401) * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes * Update nav2_tree_nodes.xml --------- Co-authored-by: blanker <you@example.com> * Fix multi-robot launch issues (ros-navigation#3383) * Fix multi-robot launch issues: * Use full name of composable nodes container * Correct and update BT plugins and error codes list * Fix and update local and global costmap used plugins parameters * Do not publish voxel map for multi-robot case * Update controller_server.cpp * Update nav2_smoother.cpp --------- Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Andrii Maistruk <71632363+andriimaistruk@users.noreply.github.com> Co-authored-by: milidam <milidam@users.noreply.github.com> Co-authored-by: Marc Alban <marcalban@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Austin Greisman <92941098+austin-InDro@users.noreply.github.com> Co-authored-by: muttistefano <mutti.stefano.jp@gmail.com> Co-authored-by: blanker <you@example.com>
* Adding new MPPI controller to Nav2 (ros-navigation#3350) * adding new MPPI controller to Nav2 * fixing rename for Nav2 staging * using larger resource class * fix plugin name * wz typo * add mppi gif * Update defaults.yaml * Update makeflags to match core count of resource_class: large * Bump cache version for testing CI changes * fixing tests * remove unused function * Update config.yml * adding a little more detail * adding contextual note * adding contextual exceptions * Fix using different frame for global and local costmap (ros-navigation#3425) * getGlobalPlanConsideringBoundsInCostmapFrame Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame * use stamp from robot pose for transform * style * fix test * lint test --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> --------- Co-authored-by: ruffsl <roxfoxpox@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> (cherry picked from commit 8d4f6f4) * Replace nav2_core exceptions with std::runtime_error * Get inflation layer parameters from node params * remove changes unrelated to mppi * fix eol * Add reset behavior (draft) * initialize last_time_called_ * add readme for reset_period * Revert "remove changes unrelated to mppi" This reverts commit 55fec35. * changing MPPI's SG filter to 9-point formulation (prev. 5) (ros-navigation#3444) * changing filter to 9 * fix tests (cherry picked from commit 7aee1e7) * Adapt tests to humble Costmap2DROS constructor * cpplint * Update nav2_mppi_controller/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * address time comment * fix API change rclcpp::ServicesQoS() * fix CI --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
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: