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* Add particle cloud display rviz plugin Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * General refactoring * Fix header guards * Update bringup rviz files and default values
* Add nav2_behavior_tree::BtActionServer Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix cpplint errors Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Remove unnecessary statements in BtActionServer Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Make nav2_behavior_tree::BtActionServer a composable object * Add comments * Add on preempt callback, fix naming issues, and move tf to bt navigator * Add separate implementation header for BtActionServer * Fix cpplint error * Pass plugin library names as argument to BtActionServer * Remove action server getter and update onPreempt to not load BT * Fix unnecessary include * Fix function names Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix typo
* Changed FollowWaypoints to follow_waypoints * Updated the msg name as follow_waypoints * Reversed changes to cmakelist * Updated the use of follow_waypoints just as action name * Replace follow_waypoints * Update * Updated ros info with the right syntax * Debugging
…2126) * Adding minimum range parameter for raytrace clearing * Comments in tests * Uncrustify checks * Modified default value of raytrace_min_range param and moved computation below plugin layer * Tests for voxel layer raytracing * Uncrustify checks * Addressed pull request #2126 comments * Using min range parameter for marking also * Correcting build warnings * Correct build fails * Merging changes * Adding comments * Added unit tests for obstacle layer and addressed PR comments * Addressed flake errors * Flake8 errors * Correcting W291 Flake8 error * Variable name and comments changes * Added raytracing params to the params files * Modifying parameter names for obstacle marking
* adding tests for wp follower * adding C++ 14 min requirement * trying linking
* attempt at bringing up CI * try adding SDF element for IMU initial_orientation_as_reference * adding more initial orientation as reference * turning initial_orientation_as_reference false
* 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>
… complete their required tasks or not (#1855) * modified such that if the recovery is aborted due to potential collision, the return status will be FAILED * Changed from SequenceStar to RoundRobin to mask any failure that might occur in the execution of the recovery action * Change Backup recovery test such that the aborted recovery is expected and checked for * fixing linting error * Change depricated argument for backup recovery test * added backup to the recovery actions, using defaults from the BackUp header * Update nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Reverting changes to BT. Seq. Star control node is in line to what we want * checkpoitn commit * Changed collision failure critera as backup collision abortion occurs @ -0.2 m as well. This was previously not caught as the server always returned SUCCESS * bool to control whether fake costmap should be generated * added fake tester nodes * Fake costmap passed through environmental variable now * Fake Footprint being sent out * breadcrumbs of fake spin tests * fake odom * launch file was messed up * still troubleshooting spin * trying to fake spin, goal keeps on getting rejected * goal is now being accepted * Fake spin not working well when asking for PI radians out * playing around with timing wehn publishing fake transforms * BT changes, testing TBD * [WIP] Fix CI build issues (#2076) * update to use on my fork to test changes to bondcpp * using chrono literals in lifecycle manager * nav2_rviz_plugins using chrono literals for API change * using chrono literals in costmap_2d package from API change * using chrono literals in observation buffer * chrono literals for tests costmap * chrono literal API changes * changing API * changing API * API changes * API change * API change * API change * API change test * API change test * remove * api updates * update test values * Patch for PhotoAtWaypoint plugin (#2067) * nav2_way_point_follower; introduce photo at waypoint arrivals plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve cmake lint errors Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve requested chages of first review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * minor corrections on photo_at_waypoint header * resolve requested changes of second review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * update default save_dir Signed-off-by: jediofgever <fetulahatas1@gmail.com> * move directory checking code to initialize() * add try catch block to catch possible execeptions while creating a directory for photo at waypoint plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * adding logging and disabling * Update nav2_waypoint_follower/plugins/photo_at_waypoint.cpp Co-authored-by: Fetullah Atas <fetulahatas1@gmail.com> * Update photo_at_waypoint.cpp Co-authored-by: jediofgever <fetulahatas1@gmail.com> * Fix for double free issue in map server testcases (#2078) * Support in keepout filter for mask and costmap published in different… (#2054) * Support in keepout filter for mask and costmap published in different frames This fixes incorrect keepouts position issue when filter mask and current costmap layer are published in different frames. This might appear (but not restricted only to) when keepout filter is enabled for local costmap with rolling window. * Add transform initialization * Enhance transform failure message * Loop fix (#2068) * Abort analytic expansion if crossing through already visited node * Check that we are not creating an infinite loop at the goal node * Mark nodes in analytic expansion as visited for the sake of completeness * Move checking of already visited nodes to final stage of analytic expansion * test if action server failures correctly propagate into BT context * change recovery subtree so that RoundRobin replaces SequenceStar for good * uncrustify and line nav2_behavior_tree changes * uncrustify and linting * adding clearing actions to own subtree * more linting * reduced testing value to see if that will stop the robot from aborting due to potential collision * tighten up tolerance on backup since the requested backup is so small * delint * cleaned up spin recovery such that we simulate the robot slowly spinning into place, now I just have to simulate collision scenarios * linting * change order of Spin and Wait to match original * fake spin failing due to potential collision even when empty costmap * lint * more lint * can get all the spins to pass now * spin test strangely passing all cases even though costmap is populated * spin recovery * commmit before I try to visualize this * now I know that there are two things publishing to the same footprint * 1) figured out conflicting pubs to footprint, 2) why can't I get costmap occupancy to cause collision * Fake Spin Test shows failure correctly for angles greater than pi / 2. change launch file such that two publishers are not generating costmaps * fake launch lint * check in with linting to show the structure * Add overall behavior tree system tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add RecoverySubtreeGoalUpdated BT test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update readme and docs * Add tests to check if BT XML files are well-formed Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Uncomment tests that were commented out Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: James Ward <james.ward@appliedev.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
* Write doxygen for navfn * Remove forward slashes
* Adding RPP to metapackage.xml * Remove excessive exec depend
* Fix recovery action collision check. * Fix linting issue.
* make the 3 params changeable at runtime * use parameter events callbacks * doxygen * lint
* Add support of absolute limits to Speed Filter * Fix review items * Fix comment * Support for nav2_regulated_pure_pursuit_controller
* Remove dependency on collision checking to carrot location * Fix i removal * changing API to be consistent with collision updates
Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com>
* adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table
* adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * adding galactic to readme table * removing dashing as EOL
…k called (#2356) * Fix SEGV caused by goal_handle_ which is nullptr while result_callback called * Ignoring the goal result if a new goal request sent
This was being done accidentally by tf2 before, but we should make sure to include what we use. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Revert CI to osrf/ros2:nightly * Rename and remove dockerhub files * Use single image for both debug and release jobs * Wipe entire overlay before checkout to now avoid passing image overlay files into ci caches * Split out tester stage * Do not install recommends or suggests packages from apt-get or rosdep install * Only target builder stage for CI image * Rename folder to builder * Update colcon-cache
Missing from #2348
* Use fastcov
* Revert to testing image for CI * Use ompl from testing repo and modify Dockerfile to account for empty underlay * Clean up RUN directive for caching * Revert #2025 now that ompl issue is resolved ompl/ompl#753 * Continue checkout if ccache doesn't yet exist
* Install colcon clean extension * Clean install path for packages to rebuild * Clean test result path for packages to retest * Set entrypoint for builder stage to update time stamp used for breaking caches do so at end of builder stage to capture overlay dependencies * Set test-result-base for clean package verb * Reinstate copy test results step * Set default test-result-base for all verbs * Drop copy step for test results * Use parallel executor for testing to print Processing status to stdout and avoid CI timeouts but limit parallel-workers to 1 to be like sequential * Remove entrypoint for builder stage as lockfiles capture installed dependency versions and colcon cache can ensure underlay sourse correspond to ws build thus updates to builder stage layers need not break cache
* Cache ccache folder in workspace and move ccache_stats command into setup_workspace * Store ccache logs in colcon build log path * Updates to cache ccache folder in workspace
* Use dpkg --list to format stdout to lockfile to make list of installed package more readable * Line formating space new line after each lockfile checksum * Specify ROS distro for rosdep update * Strip ros distro install fom AMENT_PREFIX_PATH to force rosdep to resolve and list apt installed package dependencies and to not skip them as if they are in the catkin workspace * Prevent dpkg from listing all installed pacakge when set of dependencies happens to be empty * Account single entry case AMENT_PREFIX_PATH * Unset AMENT_PREFIX_PATH if only ros install path to prevent rosdep from erroring out on empty var
as ccache doesn't seem to work otherwise with relative paths
* adding nav2_python_commander package * adding readme * launch files for the python commander examples * renaming to nav2_simple_commander * resolve review comments * fixing rosdep key * fixing up linters
* Working on improve coverage for waypoint_follower package * Fix typo * Fix cpplint and uncrustify errors * Fix nav_2d_utils/src/conversions.cpp include order errors (#2407) * Improve coverage for wait_at_waypoint plugin * Improve coverage for photo_at_waypoint plugin
… work (#2404) * major smac planner collision checking speedups and improvements * fix linting errors * wireframe for state lattice node * finishing boilerplate changes * adding more context to each TODO and notes about path to completion * prototype for the base plugin + refactor out common logic for all planners * commiting speed up work in progress * adding in improvements to overall user quality of life * pushing updates to 2D for faster / smoother; hybrid for smoother and new heuristic function; a bit of rearchitecture; deprecating smoother to make room for a new one * adding smoother prototype * adding orientation guestimator * correcing 2d * done with smoother * enabling collision checking full SE2 only when under inscribed cost according to current exponential decay function * adding doxgyen on new function * linting * testing working * fixing looping at end of paths + simplifying code * fixed cost-based issue in smoother * finishing touches on smoothing * smoother recursion fix + crashing issue resolved * incremental changes * completed hybrid A* plannern * adding images * purge state lattice work to merge in just Hybrid-A* improvements * linting
Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com>
* Include filter only by packge name as using package source paths can exclude coverage from other packages such as header files reported usign under workspace's install path * formating * Process gcno Process both gcno and gcda coverage files. This option is useful for capturing untested files in the coverage report. * Validate sources Check if every source file exists * Dump statistic Dump total statistic at the end * Branch coverage Include only the most useful branches in the coverage report. * Fix install path * Explicitly exclude packages to ignore rviz package but still explicitly include packages as the include filter is what mostly speeds up processing * Revert "Branch coverage" This reverts commit 20f2894. * Keep path fixes relative to workspace As the working directory used for running code coverage report script is already at the root of the colcon workspace, avoiding the use of unnecessary path globbing
….hpp) (#2425) * in observation.hpp fixed operator= * style fix
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