WIP: Make BT nodes have configurable wait times. #3960

embeddedadam · 2023-11-13T09:24:54Z

The previous solution provided a hardcoded 1s value.
Right now the value can be configured for BT
Action, Cancel, and Service nodes.

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3920
Primary OS tested on	(Ubuntu)
Robotic platform tested on	(None)

Description of contribution in a few bullet points

Added configurable wait times for BT nodes.

Description of documentation updates required from your changes

Added a new parameter which is configurable with the time value.
Needs documentation of its meaning and usage.

Future work that may be required in bullet points

(To consider):
Even the value can be provided from the outside and can be configured,
there should be also a default one being set if no one plans to configure this parameter,
so the old applications maintain the same way of using this software and it makes it more
robust in the case of unintended usage.

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

Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

SteveMacenski

That's all right for the nodes themselves, but a question for you to search into: Where are variables set on the blackboard and how can we use that method to also set this timeout value so that users can control it?

I know the answer, but its better for you to find it understand how the system works. If you get stumped let me know and I can point you in the right direction

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp

Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

SteveMacenski

Otherwise a small typo, looks good to me! If you fix this + open the docs PR, I can merge the pair!

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

nav2_bringup/params/nav2_multirobot_params_1.yaml

SteveMacenski · 2023-11-14T21:46:49Z

You have lots of test failures: https://app.circleci.com/pipelines/github/ros-planning/navigation2/10446/workflows/befffbd1-f698-4d7f-b19e-819cdd7a3490/jobs/32990/tests. Beyond the linting errors, I think you need to make sure you update the tests that rely on these BT nodes to have it set in their blackboards as well!

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

SteveMacenski · 2023-11-17T20:46:33Z

Broken tests are the main thing now! After that, this PR is no longer WIP and ready to be removed from draft status!

Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

codecov · 2023-11-19T16:15:25Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (e066ed1) 90.30% compared to head (e5e08e4) 90.31%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3960      +/-   ##
==========================================
+ Coverage   90.30%   90.31%   +0.01%     
==========================================
  Files         415      415              
  Lines       18462    18471       +9     
==========================================
+ Hits        16673    16683      +10     
+ Misses       1789     1788       -1

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* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com>

tonynajjar · 2024-02-28T09:53:02Z

Cool PR, I don't know why we didn't think of making it configurable back then and just gave up on it: #3259

tonynajjar · 2024-02-28T10:02:54Z

Actually I have a nitpick, wait_for_service_timeout seems biased towards services but we actually also use it for action servers. Wouldn't wait_for_server_timeout have been a better name? Even then, having server_timeout and wait_for_server_timeout is confusing as they sound similar. Maybe server_response_timeout and server_bringup_timeout would be better suitable? It would probably be a pain to deprecate server_timeout though

tonynajjar · 2024-02-28T15:31:31Z

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -93,7 +95,7 @@ class BtActionNode : public BT::ActionNodeBase

    // Make sure the server is actually there before continuing
    RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
      RCLCPP_ERROR(
        node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",


you missed changing this from 1 s to "wait_for_service_timeout_" seconds

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

christophfroehlich · 2024-03-25T09:17:18Z

We also had issues with the fixed timeouts, and want to use this PR in our projects. @SteveMacenski would it be possible to backport this to humble+iron? Though, I'm not sure if this could break ABI, but it could be fine because all the nodes are loaded dynamically and not linked against a released binary?

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* WIP: Make BT nodes have configurable wait times. (#3960) * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Adam Gałecki <73710544+embeddedadam@users.noreply.github.com> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de>

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

christophfroehlich · 2024-06-07T10:45:35Z

@SteveMacenski May I ping you again and ask for a backport to humble? Or maybe #4261 from iron.

SteveMacenski · 2024-06-07T15:56:37Z

wait_for_service_timeout does not appear to be declared to work properly as-is for a migration. It looks like it was added later to resolve that bug 1ef462e

So, I'm a little nervous about back porting this one since there were bugs identified that we missed on review / development and I haven't taken a deep look through the git history since this was merged to see if other bug fixes need to be applied with this to also make it work.

But, same with the manual backports. If I can do another review on this and have a second set of eyes (with that patch applied) then we can try. No promises on this one though.

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

… (#4409) * WIP: Make BT nodes have configurable wait times. (#3960) * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * fix missing param declare (#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Fix error messages (#4411) Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Adam Gałecki <73710544+embeddedadam@users.noreply.github.com> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: nelson <kaichie.lee@gmail.com>

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

ros-navigation#4178 ros-navigation#4203) (ros-navigation#4409) * WIP: Make BT nodes have configurable wait times. (ros-navigation#3960) * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Fix error messages (ros-navigation#4411) Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Adam Gałecki <73710544+embeddedadam@users.noreply.github.com> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: nelson <kaichie.lee@gmail.com>

* replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) (ros-navigation#4305) * replace throw-error with error-log to avoid UAF * fix typo --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Cherry-pick from 15c9be0 (ros-navigation#4317) Convert all wall timers and wall rates to ROS clock respecting rates and timers (ros-navigation#4000) * Convert all wall timers and wall rates to ROS clock respecting rates and timers * linty mclint face * WPF wait plugin respect time * move duration metrics to use local clocks * bumping version for cache to break it * complete timing refactor * remove old variable * Add dynamic parameter (ros-navigation#4319) To fix ros-navigation#4315 Signed-off-by: Huy Nguyen Van <34271857+Huyhust13@users.noreply.github.com> * Humble release 11: May 23, 2024 (ros-navigation#4365) * Scale cost critic's weight when dynamically updated (ros-navigation#4246) * Scale cost critic's weight when dynamically updated Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co> * sign off Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co> --------- Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co> * Add expanding the ~/ to the full home dir of user in the path to the map yaml. (ros-navigation#4258) * Add user home expander of home sequence Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Add passing home dir as string instead of const char* Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Add docs Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Fix function declaration Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Fix linter issues Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Uncrustify linter Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Uncrustify linter Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Uncrustify linter: remove remove whitespace Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> --------- Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> * Implement Critic for Velocity Deadband Hardware Constraints (ros-navigation#4256) * Adding new velocity deadband critic. - add some tests - cast double to float - add new features from "main" branch - fix formating - add cost test - fix linting issue - add README Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> * Remove velocity deadband critic from defaults Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> * remove old weight Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> * fix velocity deadband critic tests Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> --------- Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> * removing clearable layer param (unused) (ros-navigation#4280) * provide message validation check API (ros-navigation#4276) * provide validation_message.hpp Signed-off-by: goes <GoesM@buaa.edu.cn> * fix typo Signed-off-by: goes <GoesM@buaa.edu.cn> * add test_validation_messages.cpp Signed-off-by: goes <GoesM@buaa.edu.cn> * change include-order Signed-off-by: goes <GoesM@buaa.edu.cn> * reformat Signed-off-by: goes <GoesM@buaa.edu.cn> * update test Signed-off-by: goes <GoesM@buaa.edu.cn> --------- Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Add footprint clearing for static layer (ros-navigation#4282) * Add footprint clearing for static layer Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix flckering --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix ros-navigation#4268 (ros-navigation#4296) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update README.md of nav2_bt_navigator (ros-navigation#4309) Update link to docs Signed-off-by: João Britto <cbn.joao@gmail.com> * Fix undefined symbols in `libpf_lib.so` (ros-navigation#4312) When I build `nav2_amcl` with `-Wl,--no-undefined` I noticed `libpf_lib.so` has undefined symbols. This PR correctly links `libpf_lib.so` to `libm` so all symbols can be found. You can verify this by executing the following command: ``` ldd -r ./build/nav2_amcl/src/pf/libpf_lib.so linux-vdso.so.1 (0x00007ffd1f8c0000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000074e909a00000) /lib64/ld-linux-x86-64.so.2 (0x000074e909e60000) undefined symbol: ceil (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: atan2 (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sin (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: hypot (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: cos (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: log (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sqrt (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: floor (./build/nav2_amcl/src/pf/libpf_lib.so) ``` Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> * msg validation check for `/initialpose` in `nav2_amcl` (ros-navigation#4301) * add validation check for PoseWithCovarianceStamped Signed-off-by: goes <GoesM@buaa.edu.cn> * remove rebundant check before Signed-off-by: goes <GoesM@buaa.edu.cn> * reformat Signed-off-by: goes <GoesM@buaa.edu.cn> * typo fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * change the type-name Signed-off-by: goes <GoesM@buaa.edu.cn> * update test Signed-off-by: goes <GoesM@buaa.edu.cn> * reformat Signed-off-by: goes <GoesM@buaa.edu.cn> * . Signed-off-by: goes <GoesM@buaa.edu.cn> * add comment Signed-off-by: goes <GoesM@buaa.edu.cn> * update comment Signed-off-by: goes <GoesM@buaa.edu.cn> * change header Signed-off-by: goes <GoesM@buaa.edu.cn> * update test Signed-off-by: goes <GoesM@buaa.edu.cn> * typo fixed Signed-off-by: goes <GoesM@buaa.edu.cn> --------- Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * 4320: Changed precision of calculations of the HybridNode MotionTable::getClosestAngularBin. (ros-navigation#4324) Signed-off-by: Krzysztof Pawełczyk <k.t.pawelczyk@gmail.com> Co-authored-by: Krzysztof Pawełczyk <kpawelczyk@autonomous-systems.pl> * [LifecycleNode] add bond_heartbeat_period (ros-navigation#4342) * add bond_heartbeat_period Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Update path_longer_on_approach.cpp (ros-navigation#4344) Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose Signed-off-by: StetroF <120172218+StetroF@users.noreply.github.com> * [LifecycleManagerClient] clean set_initial_pose and navigate_to_pose (ros-navigation#4346) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Move projectState after getPointsInside (ros-navigation#4356) * Modify test to check fix Signed-off-by: Brice <brice.renaudeau@gmail.com> * Add static polygon check before simulation Signed-off-by: Brice <brice.renaudeau@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> * adding final pose in analytic expansion to check (ros-navigation#4353) * fix sync merge conflicts * bump humble to 1.1.15 for release * Revert "[LifecycleNode] add bond_heartbeat_period (ros-navigation#4342)" This reverts commit 6e44178. --------- Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co> Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: João Britto <cbn.joao@gmail.com> Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> Signed-off-by: Krzysztof Pawełczyk <k.t.pawelczyk@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: StetroF <120172218+StetroF@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com> Co-authored-by: Sokolov Denis <52282102+perchess@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: goes <GoesM@buaa.edu.cn> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: João Britto <cbn.joao@gmail.com> Co-authored-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> Co-authored-by: AzaelCicero <k.t.pawelczyk@gmail.com> Co-authored-by: Krzysztof Pawełczyk <kpawelczyk@autonomous-systems.pl> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: StetroF <120172218+StetroF@users.noreply.github.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> * adding mutex lock around map resizing due to dynamic parameter changes and associated processes (ros-navigation#4373) (ros-navigation#4378) (cherry picked from commit b0abc78) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Make BT nodes have configurable wait times (Backport ros-navigation#3960 ros-navigation#4178 ros-navigation#4203) (ros-navigation#4409) * WIP: Make BT nodes have configurable wait times. (ros-navigation#3960) * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Fix formatting errors Signed-off-by: Adam Galecki <embeddedadam@gmail.com> * Update system tests to match new parameter Signed-off-by: Adam Galecki <embeddedadam@gmail.com> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Fix error messages (ros-navigation#4411) Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> --------- Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Adam Gałecki <73710544+embeddedadam@users.noreply.github.com> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: nelson <kaichie.lee@gmail.com> * Enable reloading BT xml file with same name (ros-navigation#4209) (ros-navigation#4422) * Let BtActionServer overwrite xml * Make a ROS parameter for it * Rename flag to always reload BT xml file --------- Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Co-authored-by: Johannes Huemer <johannes.huemer@ait.ac.at> * fix bug mentioned in ros-navigation#3958 (ros-navigation#3972) (ros-navigation#4463) * bug fixed * add space * Update planner_server.cpp * add space for code style * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode to costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add childLifecycleNode mode in costmap_2d_ros * add ChildLifecycleNode mode in costmap_2d_ros * NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * fit to NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * fit to NodeOption: is_lifecycle_follower * fit to NodeOption: is_lifecycle_follower * fit reorder Werror * fix wrong use of is_lifecycle_follower * remove blank line * NodeOption: is_lifecycle_follower_ * NodeOption: is_lifecycle_follower_ * Add files via upload * NodeOption: is_lifecycle_follower_ * NodeOption:is_lifecycle_follower_ * NodeOption:is_lifecycle_follower * NodeOption:is_lifecycle_follower * NodeOption:is_lifecycle_follower * change default * add NodeOption for costmap_2d_ros * add node options for costmap2dros as an independent node * code style reformat * fit to NodeOption of Costmap2DROS * fit to NodeOption of Costmap2DROS * fit to NodeOption of Costmap2DROS * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * changes * comment changes * change get_parameter into =false * comment modification * missing line * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp * delete last line * change lifecycle_test fit to NodeOption --------- Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bt_service_node and bt_action_node: Don't block BT loop (backport ros-navigation#4214) (ros-navigation#4408) (ros-navigation#4475) * bt_service_node and bt_action_node: Don't block BT loop (ros-navigation#4214) * Set smaller timeout for service node * Fix timeout calculation for service node * Add a feasible timeout also for action node --------- * Increasing test count from timeout handling changes (ros-navigation#4234) --------- Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Behavior tree node for extracting pose from path (ros-navigation#4518) (ros-navigation#4525) * add get pose from path action Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * cleanup from PR suggestions Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * Updates for main compatibility Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * Lint and build fix Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * More Lint and warnings Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * More Lint and build Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * remove code left over from older file Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * fix test blackboard var name Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * only populate pose frame if empty Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * lint Signed-off-by: MarcM0 <marc.morcos9@gmail.com> --------- Signed-off-by: MarcM0 <marc.morcos9@gmail.com> (cherry picked from commit 12a9c1d) Co-authored-by: Marc Morcos <30278842+MarcM0@users.noreply.github.com> * Make ros-navigation#4525 compile on humble (ros-navigation#4526) * Make it compile on humble Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Remove formatting Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> --------- Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Fix backward motion for graceful controller (ros-navigation#4527) (ros-navigation#4566) * Fix backward motion for graceful controller Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update smooth_control_law.cpp Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> (cherry picked from commit d1ad640) Co-authored-by: Alberto Tudela <ajtudela@gmail.com> * nav2_collision_monitor dynamic parameters polygon and source enabled for Humble (ros-navigation#4615) * Copy modification from c2d84df into humble collision_monitor for dynamic parameter enabled in polygon * Add the enabled dynamic parameter for source. Signed-off-by: Enzo Ghisoni <enzo.ghisoni@hotmail.fr> * Start backport action_state_ declaration in collision_monitor_node_test.cpp Signed-off-by: EnzoGhisoni <enzo.ghisoni@botronics.be> --------- Signed-off-by: EnzoGhisoni <enzo.ghisoni@botronics.be> Co-authored-by: EnzoGhisoni <enzo.ghisoni@botronics.be> * Humble release 12: August 23 (ros-navigation#4644) * Add configure and cleanup transitions to lifecycle manager and client (ros-navigation#4371) Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> * [RotationShimController] Rotate to goal heading (ros-navigation#4332) When arriving in the goal xy tolerance, the rotation shim controller takes back the control to command the robot to rotate in the goal heading orientation. The initial goal of the rotationShimController was to rotate the robot at the beginning of a navigation towards the paths orientation because some controllers are not good at performing in place rotations. For the same reason, the rotationShimController should be able to rotate the robot towards the goal heading. Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> * [RotationShimController] Fix test for rotate to goal heading (ros-navigation#4289) (ros-navigation#4391) * Fix rotate to goal heading tests Signed-off-by: Antoine Gennart <gennartan@disroot.org> * reset laser_scan_filter before reinit (ros-navigation#4397) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Warn if inflation_radius_ < inscribed_radius_ (ros-navigation#4423) * Warn if inflation_radius_ < inscribed_radius_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * convert to error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * chore: cleanup ros1 leftovers (ros-navigation#4446) Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * precomputeDistanceHeuristic is now computed once (ros-navigation#4451) Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> * shutdown services in destructor of `ClearCostmapService` (ros-navigation#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (ros-navigation#4507) Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * min_turning_r_ getting param fix (ros-navigation#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> --------- Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (ros-navigation#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * check nullptr in smoothPlan() (ros-navigation#4544) * check nullptr in smoothPlan() Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn> * bump to 1.1.15 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Add configure and cleanup transitions to lifecycle manager and client (ros-navigation#4371)" This reverts commit 06ec958. * fix merge conflict with humble sync * fix merge conflict with humble sync --------- Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> Signed-off-by: Antoine Gennart <gennartan@disroot.org> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: Joni Pöllänen <jonipol@users.noreply.github.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: goes <GoesM@buaa.edu.cn> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: Vincent <46542431+VincidaB@users.noreply.github.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Ivan Radionov <45877502+JJRedmond@users.noreply.github.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com> * Fixing ros-navigation#4661: MPPI ackermann reversing taking incorrect sign sometimes (ros-navigation#4664) (ros-navigation#4668) * Fixing ros-navigation#4661: MPPI ackermann reversing taking incorrect sign sometimes Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing unit test for type implicit cast Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 7eb47d8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Huy Nguyen Van <34271857+Huyhust13@users.noreply.github.com> Signed-off-by: pepisg <pedro.gonzalez@eia.edu.co> Signed-off-by: Wiktor Bajor <wiktorbajor1@gmail.com> Signed-off-by: Denis Sokolov <denis.sokolov48@gmail.com> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: João Britto <cbn.joao@gmail.com> Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> Signed-off-by: Krzysztof Pawełczyk <k.t.pawelczyk@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: StetroF <120172218+StetroF@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Adam Galecki <embeddedadam@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at> Signed-off-by: EnzoGhisoni <enzo.ghisoni@botronics.be> Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> Signed-off-by: Antoine Gennart <gennartan@disroot.org> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Benjamin-Tan <tan.benjaminkx@gmail.com> Co-authored-by: Huy Nguyen Van <34271857+Huyhust13@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com> Co-authored-by: Sokolov Denis <52282102+perchess@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: João Britto <cbn.joao@gmail.com> Co-authored-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> Co-authored-by: AzaelCicero <k.t.pawelczyk@gmail.com> Co-authored-by: Krzysztof Pawełczyk <kpawelczyk@autonomous-systems.pl> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: StetroF <120172218+StetroF@users.noreply.github.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Adam Gałecki <73710544+embeddedadam@users.noreply.github.com> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix 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Make BT nodes have configurable wait times.

8fde00d

Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

SteveMacenski requested changes Nov 13, 2023

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nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp Outdated Show resolved Hide resolved

nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp Outdated Show resolved Hide resolved

Make BT nodes have configurable wait times.

2812ce2

Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

SteveMacenski requested changes Nov 14, 2023

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Fix typos, linting errors and value type from float to int

99a5f89

SteveMacenski requested changes Nov 17, 2023

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nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp Outdated Show resolved Hide resolved

Fix extra underscores

db767d6

SteveMacenski requested changes Nov 17, 2023

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nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated Show resolved Hide resolved

Fix extra underscore

9fb2da9

embeddedadam added 3 commits November 19, 2023 14:03

Update unit tests with blackboard parameter

6507a60

Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

Fix formatting errors

aa9492b

Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

Update system tests to match new parameter

e5e08e4

Signed-off-by: Adam Galecki <embeddedadam@gmail.com>

embeddedadam marked this pull request as ready for review November 19, 2023 16:16

SteveMacenski approved these changes Nov 20, 2023

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SteveMacenski merged commit 6f27d01 into ros-navigation:main Nov 20, 2023
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embeddedadam deleted the feature/make_bt_nodes_have_configurable_wait_times branch November 20, 2023 19:25

tonynajjar reviewed Feb 28, 2024

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bektaskemal mentioned this pull request Apr 12, 2024

Backport/wait for server timeout #4261

Merged

christophfroehlich mentioned this pull request Jun 8, 2024

Make BT nodes have configurable wait times (Backport #3960 #4178 #4203) #4409

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WIP: Make BT nodes have configurable wait times. #3960

WIP: Make BT nodes have configurable wait times. #3960

embeddedadam commented Nov 13, 2023 •

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SteveMacenski commented Jun 7, 2024

WIP: Make BT nodes have configurable wait times. #3960

WIP: Make BT nodes have configurable wait times. #3960

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embeddedadam commented Nov 13, 2023 • edited Loading

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