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Humble #26

Merged
merged 5 commits into from
Mar 6, 2023
Merged

Humble #26

merged 5 commits into from
Mar 6, 2023

Commits on Feb 10, 2023

  1. Humble Sync 5 (Feb 10) (ros-navigation#3405)

    * 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>
    11 people authored Feb 10, 2023
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Commits on Feb 22, 2023

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Commits on Mar 4, 2023

  1. Humble backport of MPPI controller (ros-navigation#3439)

    * 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>
    Tony Najjar and SteveMacenski authored Mar 4, 2023
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