Assisted teleop simple commander #3198

jwallace42 · 2022-09-18T00:27:57Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo

Description of contribution in a few bullet points

Add the "assisted teleop" action to the robot navigator api. The contribution also includes a demo for calling the assisted teleop action.

Description of documentation updates required from your changes

The updates to the documentation can be found here ros-navigation/docs.nav2.org#345.

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

mergify · 2022-09-18T00:28:29Z

@jwallace42, 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

SteveMacenski

LGTM largely, add to navigation.ros.org docs for migration guide. I've forgotten recently to have people do that since back from vacation 😆 WIll need to update the migration guide myself at the end of the week for all recent changes

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

nav2_simple_commander/nav2_simple_commander/example_assisted_teleop.py

nav2_simple_commander/launch/assisted_teleop_example_launch.py

mergify · 2022-09-20T18:33:02Z

@jwallace42, 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).

mergify · 2022-09-20T19:10:28Z

@jwallace42, 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).

mergify · 2022-09-20T19:18:19Z

@jwallace42, 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).

mergify · 2022-09-20T19:28:20Z

@jwallace42, 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).

mergify · 2022-09-20T19:40:14Z

@jwallace42, 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).

jwallace42 · 2022-09-20T19:44:33Z

CI seems to be stuck looking for a file that got renamed...

error: can't copy 'launch/assisted_teleop_demo_launch.py': doesn't exist or not a regular file

SteveMacenski · 2022-09-20T21:13:09Z

Do the file permissions look like the other python launch files?

mergify · 2022-09-21T19:44:51Z

@jwallace42, 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).

SteveMacenski · 2022-09-21T20:08:54Z

Cloned and checked, yes I think the permissions are correct. This is odd. Did you try to create a new file and copy the contents over (or replace the contents of this file with another file we know works, to see if its the content's fault?)

Though, when I clone locally it seems to build fine. Do you see this issue locally?

If not, might be worth breaking the cache and trying again. In .circleci directory, change all the vN to vN+1s (I think we're on v11 or v12 and there 3 instances of it)

jwallace42 · 2022-09-21T20:30:16Z

I don't see it locally, but it was building correctly before I push up the flake 8 fix(then it failed again).

It seems to be working now :(.

SteveMacenski · 2022-09-21T20:31:41Z

You have to change all v11's to v12, not just the first one

jwallace42 · 2022-09-21T21:10:34Z

You have to change all v11's to v12, not just the first one

Flipping! Thanks!

SteveMacenski

Otherwise LGTM if things are turning over now

nav2_simple_commander/package.xml

SteveMacenski · 2022-09-23T17:52:43Z

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -222,6 +223,26 @@ def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10):
        self.result_future = self.goal_handle.get_result_async()
        return True

+    def assistedTeleop(self, time_allowance=0):


What default did we set in the cpp files? I don't think the infinite period is a good default. Maybe 30 seconds?

Switched, there is no default in the cpp file :). So I just set it to 30 sec.

mergify · 2022-09-23T23:05:06Z

This pull request is in conflict. Could you fix it @jwallace42?

SteveMacenski · 2022-09-23T23:29:24Z

Fixed some linting errors in the simple commander that were making CI not green, sorry about that.

codecov · 2022-09-25T22:04:08Z

Codecov Report

Base: 82.81% // Head: 82.68% // Decreases project coverage by -0.13% ⚠️

Coverage data is based on head (2cc7158) compared to base (af72761).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3198      +/-   ##
==========================================
- Coverage   82.81%   82.68%   -0.14%     
==========================================
  Files         339      339              
  Lines       15296    15296              
==========================================
- Hits        12668    12647      -21     
- Misses       2628     2649      +21

Impacted Files	Coverage Δ
...ehaviors/include/nav2_behaviors/timed_behavior.hpp	`84.93% <100.00%> (ø)`
...av2_dwb_controller/dwb_critics/src/oscillation.cpp	`72.00% <0.00%> (-22.67%)`	⬇️
..._planner/include/nav2_smac_planner/node_hybrid.hpp	`92.85% <0.00%> (-7.15%)`	⬇️
..._amcl/src/sensors/laser/likelihood_field_model.cpp	`95.00% <0.00%> (-2.50%)`	⬇️
...ostmap_2d/plugins/costmap_filters/speed_filter.cpp	`94.49% <0.00%> (-1.84%)`	⬇️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

* add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance

* standalone assisted teleop (#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add the support of range sensors to Collision Monitor (#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix #3152: Costmap extend did not include Y component (#3153) * missing nodes added to nav2_tree_nodes.xml (#3155) * Change deprecated ceres function (#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (#3162) * bugfix (#3109) deadlock when costmap receives new map (#3145) * bugfix (#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * simple command costmap api - first few functions (#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix trailing underscores Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix missing dependency on nav2_collision_monitor (#3175) * fixed start (#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Updated-by: Jaehun Kim <k9632441@gmail.com> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (#3183) * [Smac] check if a node exists before creating (#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (#3218) * removing hypotf from smac planner heuristic computation (#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (#3219) * Disable Output Buffering (#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Joshua Wallace <47819219+jwallace42@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Abdullah Enes BEDİR <46785079+enesbedir1@users.noreply.github.com> Co-authored-by: Tobias Fischer <info@tobiasfischer.info> Co-authored-by: Tejas Kumar Shastha <tejas.kumar.shastha@ipa.fraunhofer.de> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Lukas Fanta <63977366+fantalukas@users.noreply.github.com> Co-authored-by: Jackson9 <k9632441@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: Nicolas Rocha Pacheco <n.nicolas98@hotmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com>

* standalone assisted teleop (ros-navigation#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add the support of range sensors to Collision Monitor (ros-navigation#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153) * missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155) * Change deprecated ceres function (ros-navigation#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (ros-navigation#3162) * bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145) * bugfix (ros-navigation#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * simple command costmap api - first few functions (ros-navigation#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix trailing underscores Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix missing dependency on nav2_collision_monitor (ros-navigation#3175) * fixed start (ros-navigation#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (ros-navigation#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (ros-navigation#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (ros-navigation#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Updated-by: Jaehun Kim <k9632441@gmail.com> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (ros-navigation#3183) * [Smac] check if a node exists before creating (ros-navigation#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (ros-navigation#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (ros-navigation#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (ros-navigation#3218) * removing hypotf from smac planner heuristic computation (ros-navigation#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (ros-navigation#3219) * Disable Output Buffering (ros-navigation#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (ros-navigation#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (ros-navigation#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (ros-navigation#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (ros-navigation#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (ros-navigation#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (ros-navigation#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (ros-navigation#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (ros-navigation#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Joshua Wallace <47819219+jwallace42@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Abdullah Enes BEDİR <46785079+enesbedir1@users.noreply.github.com> Co-authored-by: Tobias Fischer <info@tobiasfischer.info> Co-authored-by: Tejas Kumar Shastha <tejas.kumar.shastha@ipa.fraunhofer.de> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Lukas Fanta <63977366+fantalukas@users.noreply.github.com> Co-authored-by: Jackson9 <k9632441@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: Nicolas Rocha Pacheco <n.nicolas98@hotmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com>

* add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance

* standalone assisted teleop (ros-navigation#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add the support of range sensors to Collision Monitor (ros-navigation#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153) * missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155) * Change deprecated ceres function (ros-navigation#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (ros-navigation#3162) * bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145) * bugfix (ros-navigation#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * simple command costmap api - first few functions (ros-navigation#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix trailing underscores Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix missing dependency on nav2_collision_monitor (ros-navigation#3175) * fixed start (ros-navigation#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (ros-navigation#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (ros-navigation#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (ros-navigation#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Updated-by: Jaehun Kim <k9632441@gmail.com> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (ros-navigation#3183) * [Smac] check if a node exists before creating (ros-navigation#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (ros-navigation#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (ros-navigation#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (ros-navigation#3218) * removing hypotf from smac planner heuristic computation (ros-navigation#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (ros-navigation#3219) * Disable Output Buffering (ros-navigation#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (ros-navigation#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (ros-navigation#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (ros-navigation#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (ros-navigation#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (ros-navigation#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (ros-navigation#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (ros-navigation#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (ros-navigation#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <daisukes@cmu.edu> Signed-off-by: Stevedan Omodolor <stevedan.o.omodolor@gmail.com> Co-authored-by: Joshua Wallace <47819219+jwallace42@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Abdullah Enes BEDİR <46785079+enesbedir1@users.noreply.github.com> Co-authored-by: Tobias Fischer <info@tobiasfischer.info> Co-authored-by: Tejas Kumar Shastha <tejas.kumar.shastha@ipa.fraunhofer.de> Co-authored-by: Daisuke Sato <43101027+daisukes@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Lukas Fanta <63977366+fantalukas@users.noreply.github.com> Co-authored-by: Jackson9 <k9632441@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: Nicolas Rocha Pacheco <n.nicolas98@hotmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com>

jwallace42 added 3 commits September 17, 2022 19:25

add assisted teleop to python api

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cleanup

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assisted teleop demo

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jwallace42 force-pushed the assisted_teleop_simple_commander branch from 913252d to 40a833f Compare September 20, 2022 18:29

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mergify bot mentioned this pull request Sep 21, 2022

Ci issue test assisted teleop #3207

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jwallace42 added 2 commits September 21, 2022 17:11

moved all v11 to v12

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jwallace42 added 3 commits September 25, 2022 16:38

remove package dep

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change default time allowance

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SteveMacenski merged commit 28676d6 into ros-navigation:main Sep 26, 2022

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Humble sync 2: Nov 8 (#3274) andreaostuni/navigation2#1

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Fix flaky costmap filters tests #3754

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Assisted teleop simple commander #3198

Assisted teleop simple commander #3198

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Assisted teleop simple commander #3198

Assisted teleop simple commander #3198

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