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- Modified findVelocitySignChange method to transform cusp into robot… #3036

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merged 15 commits into from
Jun 23, 2022

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… frame before returning distance_to_cusp


Basic Info

Info Please fill out this column
Ticket(s) this addresses #3035
Primary OS tested on Ubuntu 20.04 Focal Fossa
Robotic platform tested on Simulation

Description of contribution in a few bullet points

Added a step where the identified cusp pose in the global plan (map frame) is transformed into the robot_pose frame (odom frame) before the distance to cusp is returned.

Description of documentation updates required from your changes


Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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mergify bot commented Jun 21, 2022

@stevenbrills, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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mergify bot commented Jun 21, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Steven Brills added 5 commits June 22, 2022 09:41
…n different nav2 branch.

- Now a placeholder pose, input pose and desired frame id is passed.
…n different nav2 branch.

- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>
…an in robot's frame

- Removed need to pass pose to the findVelocitySignChange function
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mergify bot commented Jun 22, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

…dVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
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mergify bot commented Jun 22, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

…object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
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mergify bot commented Jun 22, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
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@stevenbrills the tests for RPP failed (or crash / hung) on findVelocitySignChange. Once the tests pass, happy to merge

…nce transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
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mergify bot commented Jun 22, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>
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mergify bot commented Jun 22, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

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Please check out the branch locally do to development and commit and push when things are compiling please 😄

We only have so many resources for CI and the maintainers also get emails for every failed build

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mergify bot commented Jun 23, 2022

@stevenbrills, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

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The tests for RPP are passing now.

@SteveMacenski SteveMacenski merged commit 99bec08 into ros-navigation:main Jun 23, 2022
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SteveMacenski commented Jun 23, 2022

Thanks for the patch and contribution from a fellow Steven!

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stevenbrills commented Jun 23, 2022

Thanks for the patch and contribution from a fellow Steven!
Glad I could contribute!

mergify bot pushed a commit that referenced this pull request Jun 24, 2022
#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Missing ; in test method

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

Co-authored-by: Steven Brills <sbrills@aethon.com>
(cherry picked from commit 99bec08)
SteveMacenski pushed a commit that referenced this pull request Jun 24, 2022
#3036) (#3041)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Missing ; in test method

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

Co-authored-by: Steven Brills <sbrills@aethon.com>
(cherry picked from commit 99bec08)

Co-authored-by: stevenbrills <90438581+stevenbrills@users.noreply.github.com>
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022
ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Missing ; in test method

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

Co-authored-by: Steven Brills <sbrills@aethon.com>
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Dec 14, 2022
ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Missing ; in test method

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

Co-authored-by: Steven Brills <sbrills@aethon.com>
borongyuan added a commit to borongyuan/navigation2 that referenced this pull request Jan 4, 2023
ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <sbrills@hotmail.com>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* - Missing ; in test method

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <stevenbrills@hotmail.com>

Co-authored-by: Steven Brills <sbrills@aethon.com>

(cherry picked from commit 99bec08)
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2 participants