commenting out unused validPointPotential #1854
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shivaang12
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Jul 7, 2020
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I don't mind removing this part of the code if it is not being used, but I didn't find the similar implementation in Navigation package or at least here https://github.com/ros-planning/navigation/blob/melodic-devel/navfn/src/navfn.cpp
Assuming that it's been added here by the person who ported this planner from ROS 1, I would suggest to get some feedback from them before removing or commenting.
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Its here: https://github.com/ros-planning/navigation/blob/melodic-devel/navfn/src/navfn_ros.cpp#L96 in the same analog file to this one (the planner plugin file, not the planner algorithm file) (also, I ported it :-) ) I swear in another PR I had already removed this in some previous version back in like Crystal, but not sure why or how it got back. Maybe a bad merge or conflict resolution at some point 🤷♂️ |
Codecov Report
@@ Coverage Diff @@
## master #1854 +/- ##
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+ Coverage 69.25% 69.33% +0.07%
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Files 218 218
Lines 10604 10586 -18
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- Hits 7344 7340 -4
+ Misses 3260 3246 -14
Continue to review full report at Codecov.
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Cool! Approving ;-) |
shivaang12
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Jul 7, 2020
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* 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>
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Increase coverage rates since this is unused. To be removed in future distributions if it continues to not have value.
I leave it in since its been here since ROS1 and I don't want to delete an algorithm outright that might find use down the line.
@shivaang12 @fmrico can you sanity check this?