nav2_tree_nodes: rename "service_name" input port for action nodes #3369
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Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* fixed tests * undo
Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
Lifecycle status for global and local cost nodes not correct. ros2 lifecycle/service commands shows unconfigured for these two. This is due to directly calling on_configure/on_activate/on_cleanup calls in parent node. This PR to replace on_xxxxxx() to configure()/activate()/cleanup() calls of lifecycle base. Signed-off-by: Arshad <arshad.mehmood@intel.com>
…ros-navigation#3000) * Get parameters on configure transition Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Remove past setting of parameters Signed-off-by: MartiBolet <mboletboixeda@gmail.com> * Expose transition functions to public for test Signed-off-by: MartiBolet <mboletboixeda@gmail.com>
ros-navigation#2994) * fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp * Update navigate_through_poses_action.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* WIP velocity smoother with ruckig * a few comments * vel smoother prototype * updating defaults * adding defaults to readme * removing note from readme * updates to velocity smoother TODO items * adding unit tests * finishing system tests * adding failure to change parameters tests * fix last bits * fixing negative sign bug * lint * update tests * setting defaults * Adding warning * Update velocity_smoother.cpp
* adding timeout for action client initialization Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com> * adding constant 1s timeout, catching exception Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>
ros-navigation#3036) * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. Signed-off-by: Steven Brills <sbrills@hotmail.com> * Failed lint check due to stray blank line. Removed the blank line * - Modified findVelocitySignChange function to take the transformed plan in robot's frame - Removed need to pass pose to the findVelocitySignChange function * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - transformGlobalPlanWrapper call bug fix Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Missing ; in test method Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead Signed-off-by: Steven Brills <stevenbrills@hotmail.com> Co-authored-by: Steven Brills <sbrills@aethon.com>
* cleanup warnings * removed referenc
* first draft for goal updated controller Signed-off-by: relffok <57466265+relffok@users.noreply.github.com> * added goal_updated_controller to all yamls * added GoalUpdatedController API * added GoaUpdatedController to default plugins * removed first_time param * added test for GoalUpdatedController * linter fix
* accepting empty yaml_filename if no initial map is available * invalid load_map-request does not invalidate existing map, added Testcase * style * finish PR 2929 * finish linting * removing change * removing change * Update test_map_server_node.cpp * Update test_map_server_node.cpp Co-authored-by: Nikolas Engelhard <nikolas.engelhard@gmail.com>
* forward porting ros-navigation#3053 * adding TF warning suggestion
…name of action for BT action nodes (ros-navigation#3071) * adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes * fix linting * remove inline comment * adding goal updated controller node to test
* removing 4-connected option from smac; fixing 2D heuristic and traversal function from other planner's changes * fix name of variable since no longer a neighborhood * partial test updates * ported unit tests fully * revert to no costmap downsampling
* Add Collision Monitor node * Meet review items * Fix next review items * Code cleanup * Support dynamic footprint. More optimizations. * Switch to multiple footprints. Move variables. Remove odom subscriber. Add 0-velocity optimization * Update nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/params/collision_monitor_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Meet smaller review items * Add fixes found during unit test development * Fix uncrustify issues * Add unit tests * Fix number of polygons points * Move tests * Add kinematics unit test * Minor tests fixes * Remove commented line * Add edge case checking testcase and references * Update comment * Add README.md * Fixed table * Minor changes in README.md * Fix README.md for documentation pages * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Meet review items * Meet review items (part 2) * Update polygons picture for README * Change simulation_time_step to 0.1 * Fix bounding boxes to fit the demo from README.md * Terminology fixes Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* minimum error code set * test for invalid smoother * undo * added rest of error tests * 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 * removed changes to simple_smoother * reverted simple_smoother * revert * revert * updated constrained smoother * revert * added smoother error for invalid path * linting * invalid path test * added error codes * Timeout exception thrown by smoothers * code review Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com>
Co-authored-by: Joshua Wallace <josho.wallace.com>
* building * update name * lint * lint round 2 :) * revert * fix test * fixed test * code review trigger build farm * added odom and map frame for behaviors * lint * add parameters * lint error * rename frame param * only use resources required by plugins * code review * lint * lint * code review Co-authored-by: Joshua Wallace <josho.wallace.com>
…ion#3280) * 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 * Initial commit for python collision checker * Initial commit for footprint_collision_checker * Added docstrings and renamed the validity function * implemented worldToMapValidated and added tests * fixed wrong imports * Fixed test cases linting errors * Fixed one line comment error * Fixed docstring colon error * Fixed docstring dashed line error * Added return None to keep consistent docstrings * Changed worldToMapValidated to 1 call only * Fixed linting error and added none-zero cost test case * Fixed linting errors * Fixed linting errors Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com>
…n#3330) Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com>
…" (ros-navigation#3336) This reverts commit 90ae5cc.
…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
Copyrights for the implemented function (World2MapValidated) in costmap_2d and email correction.
* initial prototype * linting
* able to loop, load and save wp using json * replacing the file format to yaml from json * feedback received and ready to be handled for pause and resume * handling loops in waypoint follower server and adding the corresponding variables in the waypoint action * handling goal_index * adding pause and resume functionality for waypoint following * handling loops and making it available only for nav through poses * handling exceptions when invalid files are loaded * input the file name in which waypoints need to be saved * satisfying linters * update * publish waypoints after loading * add logs for the loops * handling everything at the panel level * fix missing * handling loops from the wp follower * fixing linters * removing rclcpp expression * setting the default of goal_index to 0 * adding comments * correction * Update nav2_waypoint_follower/src/waypoint_follower.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * update review * add the missing feedback * fixes * adding a pause state indicator, handling zero waypoints, handling cancel during pause * greying out number of loops during nav_through_poses * handling edge cases * adding option to save waypoints while paused * checking for the validity of waypoint, if it is inside the map and not in an obstacle w.r.t global costmap * Fix pre_initial states * solving further edge cases * sanity check for the loaded waypoints * clearing loaded acumulated poses, when navigating to single goal * function name change * renaming variable * handling invalid punctuation * making costmap_subs as uniqur_ptrs * checking if the selected waypoints will be in collision - also considered footprint collsion * jumping to accumulating state once waypoint or nav_through_pose is complete * updates for handling 1st goal in the 1st loop + fixed pausing issue * updates after review + adding small logo * review fix - 1 * map frame is derived from accumulated_poses and base_frame has the option to take it from params or the default * removing mistakes from merge * re-add reset for navigation feedback indicator * minors * review update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* rough outline for condition node * completed error code condition * behavior tree with error codes * created generic code ex * test for error_code_condition * generic error code bt node * remove error code condition * updates * updated error code condition * would a controller recovery help * rename * added planner recovery condition * initial draft * complete with one error code as input * revert cmake * bt conversion test * code review * code review * code review * refactor behavior tree tests * cleanup * final cleanup * uncomment * removed logger * function header update * update bt to include would a planner recovery help * copyright cleanup * added bt node for smoother recovery * smoother test * costmap filter test fix * remove include * test if commit counted * update copyright * code review Co-authored-by: Joshua Wallace <josho.wallace.com>
…ethod 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
* Fix nav2_velocity_smoother for sim time * Update nav2_velocity_smoother/src/velocity_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Changed step_size to 0.5 in collision checker * Updated docstring for new step_size value
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@DylanDeCoeyer-Quimesis, all pull requests must be targeted towards the |
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@DylanDeCoeyer-Quimesis, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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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.
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This pull request is in conflict. Could you fix it @DylanDeCoeyer-Quimesis? |
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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.
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