Adding new Nav2 Smoother: Savitzky-Golay Smoother #3264
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Codecov ReportBase: 82.45% // Head: 82.80% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #3264 +/- ##
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+ Coverage 82.45% 82.80% +0.35%
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Files 340 343 +3
Lines 15395 15459 +64
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+ Hits 12694 12801 +107
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SteveMacenski
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Nov 8, 2022
* 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
SteveMacenski
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Nov 8, 2022
* 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>
7 tasks
hyunseok-yang
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Nov 23, 2022
* 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
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Nov 30, 2022
* 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
SteveMacenski
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Dec 8, 2022
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
SteveMacenski
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Dec 9, 2022
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
jwallace42
pushed a commit
to jwallace42/navigation2
that referenced
this pull request
Dec 14, 2022
* 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
jwallace42
added a commit
to jwallace42/navigation2
that referenced
this pull request
Dec 14, 2022
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
jwallace42
added a commit
to jwallace42/navigation2
that referenced
this pull request
Dec 14, 2022
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
andrewlycas
pushed a commit
to StratomInc/navigation2
that referenced
this pull request
Feb 23, 2023
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
andrewlycas
pushed a commit
to StratomInc/navigation2
that referenced
this pull request
Feb 23, 2023
* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * 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> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
shrijitsingh99
pushed a commit
to moss-ag/navigation2
that referenced
this pull request
Mar 4, 2023
* 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>
shrijitsingh99
pushed a commit
to moss-ag/navigation2
that referenced
this pull request
Mar 4, 2023
* 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>
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Per #3246
TODO