Foxy devel #3
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* adding launch to nav2_util * bump to 0.4.1 * adding test dep * try explicit
* Add slam toolbox as exec dep for nav2_bringup (#1827) * Add slam toolbox as exec dep * Added slam toolbox * Changed version of slam toolbox to foxy-devel * Added modifications to allow for exec depend of slam toolbox without breaking docker / CI * reformatted skip keys * Added tabs to skip key arguments * Removed commented out code block * Add unit tests for follow path, compute path to pose, and navigate to pose BT action nodes (#1844) * Add compute path to pose unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add follow path action unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add navigate to pose action unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * adding foxy build icons to readme (#1853) * adding foxy build icons * adding dividers * sync master from foxy version updates (#1852) * sync master from foxy version updates * syncing foxy and master * Add unit tests for clear entire costmap and reinitialize global localization BT service nodes (#1845) * Add clear entire costmap service unit tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add reinitialize global localization service unit test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Temporarily disable dump_params test (#1856) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * commenting out unused validPointPotential (#1854) * Adding ROS2 versions to issue template (#1861) * reload behavior tree before creating RosTopicLogger to prevent nullptr error or no /behavior_tree_log problem (#1849) Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * Add citation for IROS paper (#1867) * Add citation We'll want to add the DOI once published * Bump citation section above build status * Fix line breaks * Changes RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED to RCUTILS_LOGGING_BUFFERED_STREAM (#1868) * Added parameters to configure amcl laser scan topic (#1870) * Added parameters to configure amcl topic * changed parameter to scan_topic and added to all the configuration files * added scan_topic amcl param to docs * Satisfied linter * Move dwb goal/progress checker plugins to nav2_controller (#1857) * Move dwb goal/progress checker plugins to nav2_controller Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Move goal/progress checker plugins to nav2_controller Address review comments Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Move goal/progress checker plugins to nav2_controller Use new plugin declaration format and doc update Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Update bringup.yaml for new plugins in nav2_controller Also remove redundent file from dwb_plugins Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Fix doc errors and update remaining yaml files Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Remove mention of goal_checker from dwb docs Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Add .plugin params to doc Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Tests for progress_checker plugin declare .plugin only if not declared before Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Tweak plugin names/description in doc Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com> * Follow pose (#1859) * Truncate path finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Follow Pose finished Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names. Add test and doc Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Change names and check atan2 values Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Checking Inf/NaNs and trucate path changes Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Revert changes in launcher Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Documenting Tree Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change TruncatePath from decorator to action node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Remove Deprecated Declaration (#1884) * Remove deprecated rclcpp::executor::FutureReturnCode::SUCCESS in favor of rclcpp::FutureReturnCode::SUCCESS Signed-off-by: Hunter L. Allen <hunter.allen@ghostrobotics.io> * Update nav2_util/include/nav2_util/service_client.hpp Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Added new costmap buffer to resize map safely (#1837) * Added new costmap buffer to resize map safely Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Update map if the layer is not being processed. Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Updated bool name and added buffer initialization Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com> * Fix dump params tests (#1886) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Move definitions in tf_help to separate src cpp file (#1890) * Move definitions of functions in tf_help to separate src cpp file to avoid multiple definition error * Fix linting issues * Make uncrustify happier * More format fixing * resolved the simulated motion into its x & y components (#1887) Signed-off-by: Marwan Taher <marokhaled99@gmail.com> * Fix nav2_bt_navigator cleanup (#1901) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Adding some more test coverage (#1903) * more tests * removing old cmake * remove on_errors in specific servers in favor of a general lifecycle warning (#1904) * remove on_errors in favor of a general lifecycle warning * adding removed thing * simply nodes to remove lines (#1907) * Bunches of random new tests (#1909) * trying to get A* to work again * make flake 8 happy * adding cancel and preempt test * planner tests use A* * adding A* note * test with topic * Adding failure to navigate test (#1912) * failures tests * adding copyrights * cancel test in recoveries * Costmap lock while copying data in navfn planner (#1913) * acquire the costmap lock while copying data in navfn planner Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * add costmap lock to dwb local plannger Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * Added map_topic parameters to static layer and amcl (#1910) * see if spin some in cancel will allow result callback (#1914) * Adding near-complete voxel grid test coverage and more to controller server (#1915) * remove erraneous handling done by prior * adding a bunch of voxel unit tests * retrigger * adding waypoint follower failure test, voxel layer integration tests, etc (#1916) * adding waypoint follower failure test * adding voxel, more logging * reset -> clear * minor changes to lower redundent warnings (#1918) * Costmap plugins declare if not declared for reset capabilities (#1919) * fixing #1917 on declare if not declared * fix API * adding CLI test (#1920) * More coverage in map server tests (#1921) * adding CLI test * adding a bunch of new coverages for map_server * Add in range sensor costmap layer (#1888) * range costmap building * range sensor layer working * nav2 costmap pass linter and uncrustify tests * Added back semicolon to range class * Added docs * Added angles dependency * Added BSD license * Added BSD license * Made functions inline * revmoed get_clock * added input_sensor_type to docs * Made defualt topic name empty to cause error * using chorno literal to denote time units * Added small initial test * Fixed linter error, line breaks, enum, logger level, and transform_tolerance issue * fixed segmentation fault in test and added transfrom tolerances to tf_->transform * Got test to pass * Added more tests * removed incorrect parameter declaration * Improved marking while moving tests and added clearing tests * removed general clearing test * changed testing helper import in test * [Test sprint] push nav2_map_server over 90% (#1922) * adding CLI test * adding tests for more lines to map_server * fix last test * adding out of bounds and higher bounds checks * adding planner tests for plugins working * add cleanup * working * ping * [testing sprint] final test coverage and debug logging in planner/controller servers (#1924) * adding CLI test * adding tests for more lines to map_server * fix last test * adding out of bounds and higher bounds checks * adding planner tests for plugins working * add cleanup * working * ping * adding more testing and debug info messages * [testing sprint] remove dead code not used in 10 years from navfn (#1926) * remove dead code not used in 10 years from navfn * ping * inverting period to rate * removing debug statement that could never be triggered by a single non-looping action server * type change * adding removed files * bump to 0.4.2 * add another missing file * add missing files * remove some tests * lint * removing nav2_bringup from binaries Co-authored-by: Michael Equi <32988490+Michael-Equi@users.noreply.github.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Siddarth Gore <siddarth.gore@gmail.com> Co-authored-by: Francisco Martín Rico <fmrico@gmail.com> Co-authored-by: Hunter L. Allen <hunter.allen@ghostrobotics.io> Co-authored-by: Aitor Miguel Blanco <aitormibl@gmail.com> Co-authored-by: Joe Smallman <ijsmallman@gmail.com> Co-authored-by: Marwan Taher <marokhaled99@gmail.com>
* waypoint_follower node has _rclcpp_node as well as base node (#1940) * Add #include <vector> for vector<> (#1946) To fix cpplint * Add 'angles' dependency to nav2_costmap_2d package.xml (#1947) * transform goal to costmap frame (#1949) The plan recieved is usually in global frame, but our local costmap is often in odom frame. This fixes a regression from #1857 * Add mutex lock into inflation layer to avoid thread issue in updating footprint (#1952) Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * Fix being unable to change StandardTrajectoryGenerator parameter vtheta_samples (#1619) * Fix tests declaring parameters real nodes don't Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix loadParameterWithDeprecation not getting initial parameter values Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Create sim_time variable before using it Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Line length < 100 Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Add missing { Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Linter fixes Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * sim_granularity -> time_granularity Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Linter fix Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * update version to 0.4.3 * removing redundant dep on angles Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Shane Loretz <sloretz@openrobotics.org>
* Fix memory leak (#1900) * Fix memory leak in nav2_recoveries * Fix recovery server memory leak (better interface) * Fix costmap2d memory leak * Fix nav2_navfn_planner memory leak * Fix planner server and navfn planner memory leak * Make all rclcpp::Node::SharedPtr argument passing const * Fix controller server and DWB plugins memory leak * Minor fixes * Fix formatting errors * Change all plugin interfaces to use weak_ptr intead of shared_ptr to parent rclcpp::Node * Convert all SharedPtr to WeakPtr * Check shared_ptr after lock and before dereferencing * Smac/Hybrid-A* planner (#2021) * adding smac_planner to navigation2 metapackage * adding params to metapackage * update config files * adding navfn benchmark testing * updates to costmap_2d for flexility * update planner API for new changes * adding ompl to underlay because ros2 master doesn't contain the rosdep key * patching templated footprint collision checker * fix typo * updating readme config file * Analytic expansion (#43) * Use OMPL to generate heuristics The calculation is run at every planning cycle. It does not seem to slow down the planner - the calculation time seems to be quick enough that the improvement in graph expansion accounts for it. * Use OMPL to calculate analytic solution when near goal * Make angles multiples of the bin size to stop looping behaviour * Uncrustify * Use faster std::sqrt function * Fix analytic path so that the collision checker has coordinates to check! * Pre-allocate variables in analytic path expansion * Rename typedef to NodeGetter to more accurately describe function * Use distance rather than heuristic to determine when to perform analytic expansion Also force the analytic expansion to run on first iteration in case path is trivial. * Move the check for motion model into the main A* loop * Add copyright notices * Remove comment about relaxing node match tolerances The analytic expansion removes the need for this. * Correctly reset node coordinates when aborting from analytic expansion * Move analytic expansion logic to separate function * Uncrustify * Remove unneeded call to get goal coordinates * Fix the calculation of intervals in the analytic path Reserve the number of candidate nodes we are expecting. Base calculations on intervals rather than points - makes distances between nodes work properly. * Rescale heuristic so that analytic expansions are based on distance * Repeatedly split analytic path in half when checking for collision * Add parameter to control rate of analytic expansion attempts * Uncrustify * Fix incorrect type in templated function * Cpplint * Revert "Repeatedly split analytic path in half when checking for collision" This reverts commit 94d9ee0. There was a marginal speed gain (perhaps!) and the splitting approach made the code harder to understand and maintain. * Uncrustify * Add doxygen comments * Add parameter description for analytic expansion ratio * Set lower limit of 2 on number of iterations between analytic expansions * Reduce expected number of iterations because of analytic completion * Refactor analytic expansion ratio calcs to make logic easier to understand * add readme color * fix linting * ceil from floor (and speed up) * a few updates * fix smac tests * fixing smoother test * remove cost check - to be readded at another time * working last test from debug issues * Update README.md * Update README.md * adding getUseRadius API doxygen Co-authored-by: James Ward <james@robomo.co> * Adding additional SmacPlanner tests (#2036) * adding some more tests to smac_planner * addtl smac tests * remove unused functions * adding additional constants and smoothers tests (#2038) * Revert "Fix memory leak (#1900)" This reverts commit 681ccfa. * Changed WeakPtr to SharedPtr for compatibility with Foxy Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: James Ward <james@robomo.co>
* initialize variables in inflation layer (#1970) * Fix zero waypoints crash (#1978) * return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating. * Add IsBatteryLow condition node (#1974) * Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list * Initialize inflate_cone_ variable. (#1988) * Initialize inflate_cone_ variable. * initialize inflate_cone_ based on parameter. * Increase the sleep time in the tests makes the costmap test always succeed on my machine. * Add timeouts to all spin_until_future_complete calls (#1998) * Add timeouts to all spin_until_future_complete calls Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update default timeout value Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Controllers should not be influenced by time jumps or slew (#2012) * Controllers should not be influenced by time jumps Therefore use rclcpp::GenericRate<std::chrono::steady_clock> instead of rclcpp::Rate Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Change to using `rclcpp::WallRate` for better readability Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Fix max path cycles for case where map has larger Y dimension than X dimension (#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues * fix minor cherry pick conflict mistake * bump version to 0.4.4 Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Wilco Bonestroo <w.j.bonestroo@saxion.nl> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Martijn Buijs <Martijn.buijs@gmail.com> Co-authored-by: justinIRBT <69175069+justinIRBT@users.noreply.github.com>
Use rclcpp::FutureReturnCode::SUCCESS replace rclcpp::executor::FutureReturnCode::SUCCESS
* Fix recovery action collision check. * Fix linting issue.
Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com>
* Added transient local subscription qos profile parameter to map saver (#1871) * Added transient local subscription qos profile parameter to map saver * Made transient local default true * Fixed linter problem * switched back house world to waffle model * Make transient map subscribe backwards compatible for foxy Co-authored-by: Michael Equi <32988490+Michael-Equi@users.noreply.github.com>
Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com>
* merge conflict * Add groot monitoring behavior tree visualization (#1958) * include ZMQ publisher for Groot very plain integration, should be made optionally through a launch parameter * fix Groot crashing finding custom nodes in monitor mode straight forward working fix. The manifest was missing, so Groot searched custom node IDs that it did not have. This is implemented correctly directly in BT.CPP V3 and should be used instead of an implementation in nav2_bt_engine * refactor buildTreeFromText to createTreeFromText as in BT.CPP v3 * forward XML to createTreeFromText from BT.CPP v3 factory function * Add createTreeFromFile forware to BT-factory function * fix createTreeFromFile args.. * add personal copyright I think this is okay for finding a nasty bug.. :) * move creating ZMQ Publisher from run to dedicated function this way the ZMQ Publisher ca be added to individual trees within the same factory. Should be important for switching trees (XML files) * Add parameter for Groot Monitoring - default true. Also cleanup ZMQ * Move haltAllActions() Implementation from .hpp to .cpp * update Copyright in hpp of BT-engine * make linters happy.. :) * Update Groot parameter naming and chg default=0 * rename resetZMQGrootMonitor -> resetGrootMonitor * add parameter to nav2_params.yaml - default = false * add ZMQ params and logic for server/pub ports * Fix RewrittenYaml ignoring Integers Integers where converted as floats before which crashes get_parameter.. fun thing.... * add launch based tests for params and ZMQ * Activate Dijkstra and A* switching tests, thanks to RewrittenYaml * add pyzmq==19.0.2 via pip3 to CI test_workspace * make flake8 linter happy * make cpp linters happy * add personal copyright * add GoalUpdated BT node description in order to view the full default BT only affects editor mode of Groot and not live monitoring * make linter happy (unused import) * remove unused groot-port replacement functions in test_system_launch.py * add groot parameters to params.md * get reloading BTs to work nicely with Groot * pretty space for smac :) * switch from unsinged to uint16_t * fix converting string into float or int * Revert "add pyzmq==19.0.2 via pip3 to CI test_workspace" This reverts commit 7bca081. * Switch to 4 spaces indent and other linter stuff for RewrittenYaml * removed prints in test_system_launch.py * linter stuff * add python-zmq as test_depend in package.xml (instead of .CI_conf) * enable groot monitoring by default * remove ZMQ from naming (function / variable) * remove variable zmq ports from testing scripts * remove default ports in BT_engine, as they are set through (def-)params * Remove complete test for "dynamic" ZMQ ports testing * fix python-zmq depend location * fix style * swap missing Groot to default True * fix rosdep zmq + flake8 fixes in system_tests * remove debug logs + c_str() * remove final debug_log * return failure on plugin failure (#2119) * Move voxel publisher activation into conditional that its on * fix boundary point exclusion in convexFillCells (#2161) * Regulated pure pursuit controller (#2152) * regulated pure pursuit migration commit * adding speed limit API * adding review comments + adding rotate to goal heading * adding test dir * add some initial tests * more tests * remove old comment * improve readme * fix CI * first attempt at changing algos in tests * allowing full path parameter substitutions * adding integration tests * enable SMAC testing too with new changes * swap algos * revert * Update angular velocity after constraining linear velocity (#2165) This ensures the robot moves towards the lookahead point more closely. If the angular velocity is not updated, then the robot tries to take cuts while turning, which could lead to collisions when near obstacles Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Update cost scaling heuristic to vary speed linearly with distance (#2164) * Update cost scaling to vary linearly with distance instead of relying on costmap cost Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Resolve suggested changes Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Add documentation for cost scaling parameters Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Improve parameter descriptions Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Comment cost scaling tests since layered costmap is not initialized A valid layered costmap reference is needed to get the inscribed radius Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> Co-authored-by: Shrijit Singh <shrijitsingh99@gmail.com> * Updating example yaml to include extra params (#2183) * Fixing control_frequency to controller_frequency typo (#2182) * Write doxygen for navfn (#2184) * Write doxygen for navfn * Remove forward slashes * expose dwb's shorten_transformed_plan param * Adding RPP to metapackage.xml * [NavFn] Make the 3 parameters changeable at runtime (#2181) * make the 3 params changeable at runtime * use parameter events callbacks * doxygen * lint * Install test_updown to lib/ (#2208) * Remove optimization check on carrot, incorrect optimization (#2209) * [RPP] Remove dependency on collision checking to carrot location (#2211) * Remove dependency on collision checking to carrot location * Fix i removal * changing API to be consistent with collision updates * fix typo in regulated pure pursuit readme (#2228) * Rviz state machine waypoint follower updates (#2227) * working on canceling state machine for waypoint mode * fixing cancelation logic * fix linting isue * adding cherry pick fixes Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Florian Gramß <6034322+gramss@users.noreply.github.com> Co-authored-by: ChristofDubs <christof.dubs@gmx.ch> Co-authored-by: Shrijit Singh <shrijitsingh99@gmail.com> Co-authored-by: Phone Thiha Kyaw <mlsdphonethk@gmail.com> Co-authored-by: simutisernestas <35775651+simutisernestas@users.noreply.github.com> Co-authored-by: G.Doisy <doisyg@users.noreply.github.com> Co-authored-by: Uladzslau <79460842+Uladzslau@users.noreply.github.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com>
Changed to the latest tire mesh file names for waffle as per the latest `turtlebot3_gazebo` package. This results in faster loading and resolves the errors that come in `gazebo --verbose`
* Update list of nodes with nodes compiled in the branch and excluding unexistant to prevent runtime exceptions. * Updated documentation Co-authored-by: Pau Carre <paucarre@cm-robotics.com>
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