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(WIP) Recoveries always return success, regardless if they're able to complete their required tasks or not #1855

Merged
merged 67 commits into from
Feb 12, 2021
Merged

(WIP) Recoveries always return success, regardless if they're able to complete their required tasks or not #1855

merged 67 commits into from
Feb 12, 2021

Commits on Jul 9, 2020

  1. modified such that if the recovery is aborted due to potential collis… 

    …ion, the return status will be FAILED
    @vinnnyr
    vinnnyr committed Jul 9, 2020
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Commits on Jul 11, 2020

  1. Changed from SequenceStar to RoundRobin to mask any failure that migh… 

    …t occur in the execution of the recovery action
    @vinnnyr
    vinnnyr committed Jul 11, 2020
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Commits on Jul 12, 2020

  1. Change Backup recovery test such that the aborted recovery is expecte… 

    …d and checked for
    @vinnnyr
    vinnnyr committed Jul 12, 2020
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  2. fixing linting error

    @vinnnyr
    vinnnyr committed Jul 12, 2020
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  3. Change depricated argument for backup recovery test

    @vinnnyr
    vinnnyr committed Jul 12, 2020
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Commits on Jul 19, 2020

  1. added backup to the recovery actions, using defaults from the BackUp … 

    …header
    @vinnnyr
    vinnnyr committed Jul 19, 2020
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Commits on Jul 21, 2020

  1. Update nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_rec… 

    …overy.xml

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
    @vinnnyr @SteveMacenski
    vinnnyr and SteveMacenski authored Jul 21, 2020
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Commits on Aug 13, 2020

  1. Merge branch 'main' of https://github.com/ros-planning/navigation2 in… 

    …to 1779-00-change-recovery-behavior
    @vinnnyr
    vinnnyr committed Aug 13, 2020
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Commits on Aug 16, 2020

  1. Reverting changes to BT. Seq. Star control node is in line to what we… 

    … want
    @vinnnyr
    vinnnyr committed Aug 16, 2020
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Commits on Sep 26, 2020

  1. sync with main

    @vinnnyr
    vinnnyr committed Sep 26, 2020
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Commits on Oct 11, 2020

  1. Merge branch 'main' into 1779-00-change-recovery-behavior

    @vinnnyr
    vinnnyr committed Oct 11, 2020
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  2. checkpoitn commit

    @vinnnyr
    vinnnyr committed Oct 11, 2020
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  3. 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
    @vinnnyr
    vinnnyr committed Oct 11, 2020
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  4. bool to control whether fake costmap should be generated

    @vinnnyr
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  5. Merge branch '1779-00-change-recovery-behavior' into scratch/spintest

    @vinnnyr
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  6. added fake tester nodes

    @vinnnyr
    vinnnyr committed Oct 11, 2020
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  7. Fake costmap passed through environmental variable now

    @vinnnyr
    vinnnyr committed Oct 11, 2020
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Commits on Oct 12, 2020

  1. Fake Footprint being sent out

    @vinnnyr
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  2. breadcrumbs of fake spin tests

    @vinnnyr
    vinnnyr committed Oct 12, 2020
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  3. fake odom

    @vinnnyr
    vinnnyr committed Oct 12, 2020
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  4. launch file was messed up

    @vinnnyr
    vinnnyr committed Oct 12, 2020
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Commits on Oct 13, 2020

  1. still troubleshooting spin

    @vinnnyr
    vinnnyr committed Oct 13, 2020
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  2. trying to fake spin, goal keeps on getting rejected

    @vinnnyr
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  3. goal is now being accepted

    @vinnnyr
    vinnnyr committed Oct 13, 2020
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  4. Send odom again during default test, not able to get spin recovery ac… 

    …tion to stop"
    @vinnnyr
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Commits on Oct 22, 2020

  1. Fake spin not working well when asking for PI radians out

    @vinnnyr
    vinnnyr committed Oct 22, 2020
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  2. Merge branch 'main' into 1779-00-change-recovery-behavior

    @vinnnyr
    vinnnyr committed Oct 22, 2020
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Commits on Oct 27, 2020

  1. Merge branch 'main' into 1779-00-change-recovery-behavior

    @vinnnyr
    vinnnyr committed Oct 27, 2020
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  2. playing around with timing wehn publishing fake transforms

    @vinnnyr
    vinnnyr committed Oct 27, 2020
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Commits on Nov 1, 2020

  1. Merge branch 'main' into 1779-00-change-recovery-behavior

    @vinnnyr
    vinnnyr committed Nov 1, 2020
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  2. BT changes, testing TBD

    @vinnnyr
    vinnnyr committed Nov 1, 2020
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Commits on Nov 9, 2020

  1. [WIP] Fix CI build issues (ros-navigation#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
    @SteveMacenski @vinnnyr
    SteveMacenski authored and vinnnyr committed Nov 9, 2020
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  2. Patch for PhotoAtWaypoint plugin (ros-navigation#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>
    @SteveMacenski @jediofgever @vinnnyr
    2 people authored and vinnnyr committed Nov 9, 2020
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  3. Fix for double free issue in map server testcases (ros-navigation#2078)

    @AlexeyMerzlyakov @vinnnyr
    AlexeyMerzlyakov authored and vinnnyr committed Nov 9, 2020
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  4. Support in keepout filter for mask and costmap published in different… ( 

    ros-navigation#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
    @AlexeyMerzlyakov @vinnnyr
    AlexeyMerzlyakov authored and vinnnyr committed Nov 9, 2020
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  5. Loop fix (ros-navigation#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
    @vinnnyr
    James Ward authored and vinnnyr committed Nov 9, 2020
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  6. test if action server failures correctly propagate into BT context

    @vinnnyr
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  7. Merge branch 'main' into 1779-00-change-recovery-behavior

    @vinnnyr
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  8. change recovery subtree so that RoundRobin replaces SequenceStar for … 

    …good
    @vinnnyr
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  9. uncrustify and line nav2_behavior_tree changes

    @vinnnyr
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Commits on Nov 10, 2020

  1. uncrustify and linting

    @vinnnyr
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  2. adding clearing actions to own subtree

    @vinnnyr
    vinnnyr committed Nov 10, 2020
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  3. more linting

    @vinnnyr
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  4. reduced testing value to see if that will stop the robot from abortin… 

    …g due to potential collision
    @vinnnyr
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  5. tighten up tolerance on backup since the requested backup is so small

    @vinnnyr
    vinnnyr committed Nov 10, 2020
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  6. delint

    @vinnnyr
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  7. cleaned up spin recovery such that we simulate the robot slowly spinn… 

    …ing into place, now I just have to simulate collision scenarios
    @vinnnyr
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  8. linting

    @vinnnyr
    vinnnyr committed Nov 10, 2020
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  9. change order of Spin and Wait to match original

    @vinnnyr
    vinnnyr committed Nov 10, 2020
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  10. fake spin failing due to potential collision even when empty costmap

    @vinnnyr
    vinnnyr committed Nov 10, 2020
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Commits on Nov 18, 2020

  1. lint

    @vinnnyr
    vinnnyr committed Nov 18, 2020
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  2. more lint

    @vinnnyr
    vinnnyr committed Nov 18, 2020
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  3. can get all the spins to pass now

    @vinnnyr
    vinnnyr committed Nov 18, 2020
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  4. spin test strangely passing all cases even though costmap is populated

    @vinnnyr
    vinnnyr committed Nov 18, 2020
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Commits on Nov 22, 2020

  1. spin recovery

    @vinnnyr
    vinnnyr committed Nov 22, 2020
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  2. commmit before I try to visualize this

    @vinnnyr
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Commits on Nov 23, 2020

  1. now I know that there are two things publishing to the same footprint

    @vinnnyr
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  2. 1) figured out conflicting pubs to footprint, 2) why can't I get cost… 

    …map occupancy to cause collision
    @vinnnyr
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Commits on Nov 24, 2020

  1. Fake Spin Test shows failure correctly for angles greater than pi / 2… 

    …. change launch file such that two publishers are not generating costmaps
    @vinnnyr
    vinnnyr committed Nov 24, 2020
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Commits on Nov 25, 2020

  1. fake launch lint

    @vinnnyr
    vinnnyr committed Nov 25, 2020
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Commits on Dec 7, 2020

  1. check in with linting to show the structure

    @vinnnyr
    vinnnyr committed Dec 7, 2020
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Commits on Feb 7, 2021

  1. Merge branch 'main' into 1779-00-change-recovery-behavior

    @naiveHobo
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Commits on Feb 9, 2021

  1. Add overall behavior tree system tests 

    Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
    @naiveHobo
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  2. Add RecoverySubtreeGoalUpdated BT test 

    Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
    @naiveHobo
    naiveHobo committed Feb 9, 2021
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Commits on Feb 10, 2021

  1. Update readme and docs

    @naiveHobo
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Commits on Feb 12, 2021

  1. Add tests to check if BT XML files are well-formed 

    Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
    @naiveHobo
    naiveHobo committed Feb 12, 2021
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  2. Uncomment tests that were commented out 

    Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>
    @naiveHobo
    naiveHobo committed Feb 12, 2021
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