Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over #3333

andriimaistruk · 2022-12-20T08:20:57Z

Basic Info

Info	Correct exception message when action server is not up within a specified interval
Ticket(s) this addresses	#3331
Primary OS tested on	Ubuntu
Robotic platform tested on	custom

Description of contribution in a few bullet points

fixed using non-existent std::string constructor

Description of documentation updates required from your changes

None

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 · 2022-12-20T08:21:30Z

@andriimaistruk, 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 · 2022-12-20T17:51:47Z

CI is complaining about linting errors. Can you take a look and resolve the styling disputes?

SteveMacenski · 2022-12-22T21:48:19Z

Any update?

andriimaistruk · 2022-12-26T11:36:41Z

added code styles changes, will see whether they fix it

andriimaistruk · 2022-12-26T13:38:42Z

the code style is ok now as I can see from circleci logs, some nav2_behavior_tree tests fail now. I don't see how my exception message changes would make that happen.

…happens when waiting for action server is over (#3333) * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp

* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (#3333) * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (#3356) * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap When clearing entirely a costmap (see the `clear_entirely_*` service), its layers are reset. This sets their `current_` attribute to False, until they are updated (`updateCosts()`). However, for disabled plugins/filters, the `updateCosts()` is bypassed so that the `current_` attribute is never reset to True, and the costmap never becomes "current" again; because of that the controller_server used to get stuck in an endless loop (see `while (!costmap_ros_->isCurrent())` in `ControllerServer::computeControl()`). This patch fixes that by adding a condition for not considering disabled plugins/filters in the `LayeredCostmap::isCurrent()`. * Add forgotten Layer::isEnabled() definition * Export ompl include directories from nav2_smac_planner. (#3358) * Update default w_smooth to 2M (#3341) * Fix nav2_velocity_smoother for sim time (#3360) * Fix nav2_velocity_smoother for sim time * Update nav2_velocity_smoother/src/velocity_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * catch general exceptions (#3373) * catch general exceptions * Update controller_server.cpp * nav2_tree_nodes: rename "service_name" input port for action nodes (#3370) Classes inheriting from nav2_behavior_tree::BtActionNode use "server_name" as input port. The "service_name" input port is reserved to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be a confusion in the nav2_tree_nodes.xml file. * Fixing Theta* test failures (#3380) * adding printouts since can't see locally * one more to isolate * request in bounds * remove prints * Fix SpeedController (#3378) * Fix SpeedController * Using blackboard get() method that does not throw error * Share odom_smoother on the blackboard Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Fix SpeedController linting and test errors Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * node_name change during initialization (#3387) * Added missing conditions to nav2_tree_nodes (#3401) * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes * Update nav2_tree_nodes.xml --------- Co-authored-by: blanker <you@example.com> * Fix multi-robot launch issues (#3383) * Fix multi-robot launch issues: * Use full name of composable nodes container * Correct and update BT plugins and error codes list * Fix and update local and global costmap used plugins parameters * Do not publish voxel map for multi-robot case * Update controller_server.cpp * Update nav2_smoother.cpp --------- Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Andrii Maistruk <71632363+andriimaistruk@users.noreply.github.com> Co-authored-by: milidam <milidam@users.noreply.github.com> Co-authored-by: Marc Alban <marcalban@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Austin Greisman <92941098+austin-InDro@users.noreply.github.com> Co-authored-by: muttistefano <mutti.stefano.jp@gmail.com> Co-authored-by: blanker <you@example.com>

…happens when waiting for action server is over (ros-navigation#3333) * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp

* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (ros-navigation#3333) * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Update bt_action_node.hpp * Update bt_cancel_action_node.hpp * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (ros-navigation#3356) * Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap When clearing entirely a costmap (see the `clear_entirely_*` service), its layers are reset. This sets their `current_` attribute to False, until they are updated (`updateCosts()`). However, for disabled plugins/filters, the `updateCosts()` is bypassed so that the `current_` attribute is never reset to True, and the costmap never becomes "current" again; because of that the controller_server used to get stuck in an endless loop (see `while (!costmap_ros_->isCurrent())` in `ControllerServer::computeControl()`). This patch fixes that by adding a condition for not considering disabled plugins/filters in the `LayeredCostmap::isCurrent()`. * Add forgotten Layer::isEnabled() definition * Export ompl include directories from nav2_smac_planner. (ros-navigation#3358) * Update default w_smooth to 2M (ros-navigation#3341) * Fix nav2_velocity_smoother for sim time (ros-navigation#3360) * Fix nav2_velocity_smoother for sim time * Update nav2_velocity_smoother/src/velocity_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * catch general exceptions (ros-navigation#3373) * catch general exceptions * Update controller_server.cpp * nav2_tree_nodes: rename "service_name" input port for action nodes (ros-navigation#3370) Classes inheriting from nav2_behavior_tree::BtActionNode use "server_name" as input port. The "service_name" input port is reserved to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be a confusion in the nav2_tree_nodes.xml file. * Fixing Theta* test failures (ros-navigation#3380) * adding printouts since can't see locally * one more to isolate * request in bounds * remove prints * Fix SpeedController (ros-navigation#3378) * Fix SpeedController * Using blackboard get() method that does not throw error * Share odom_smoother on the blackboard Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Fix SpeedController linting and test errors Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * node_name change during initialization (ros-navigation#3387) * Added missing conditions to nav2_tree_nodes (ros-navigation#3401) * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes * Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes * Update nav2_tree_nodes.xml --------- Co-authored-by: blanker <you@example.com> * Fix multi-robot launch issues (ros-navigation#3383) * Fix multi-robot launch issues: * Use full name of composable nodes container * Correct and update BT plugins and error codes list * Fix and update local and global costmap used plugins parameters * Do not publish voxel map for multi-robot case * Update controller_server.cpp * Update nav2_smoother.cpp --------- Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Andrii Maistruk <71632363+andriimaistruk@users.noreply.github.com> Co-authored-by: milidam <milidam@users.noreply.github.com> Co-authored-by: Marc Alban <marcalban@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Austin Greisman <92941098+austin-InDro@users.noreply.github.com> Co-authored-by: muttistefano <mutti.stefano.jp@gmail.com> Co-authored-by: blanker <you@example.com>

andriimaistruk added 2 commits December 20, 2022 09:12

Update bt_action_node.hpp

3c5ab8c

Update bt_cancel_action_node.hpp

bdd5503

SteveMacenski approved these changes Dec 20, 2022

View reviewed changes

andriimaistruk added 2 commits December 26, 2022 12:05

Update bt_action_node.hpp

e2cc1bc

Update bt_cancel_action_node.hpp

bf97f31

SteveMacenski merged commit 204cab3 into ros-navigation:main Dec 27, 2022

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Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over #3333

Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over #3333

andriimaistruk commented Dec 20, 2022

mergify bot commented Dec 20, 2022

SteveMacenski commented Dec 20, 2022

SteveMacenski commented Dec 22, 2022

andriimaistruk commented Dec 26, 2022

andriimaistruk commented Dec 26, 2022

Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over #3333

Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over #3333

Conversation

andriimaistruk commented Dec 20, 2022

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

mergify bot commented Dec 20, 2022

SteveMacenski commented Dec 20, 2022

SteveMacenski commented Dec 22, 2022

andriimaistruk commented Dec 26, 2022

andriimaistruk commented Dec 26, 2022