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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> [behavior_tree] support both ports and blackboard (ros-navigation#4060) * check result of blackboard->get and use halTree Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * remove unused header Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * BT: add port inputs when missing and use getInputPortOrBlackboard Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * add description Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * change return value of getInputPortOrBlackboard Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * updated tree XML Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> adding new Friends of Nav2 Sponsors! Update README.md (ros-navigation#4114) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> CI green P3 (ros-navigation#4117) Refactors `possible_inscribed_cost` to `possible_circumscribed_cost` in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118) * Utilizes circumscribed radius to assess potential collision points on the robot. * Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage. Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123) * Added cast to float to getClosestAngularBin return for behavior consistency. Signed-off-by: Hunter Song <hsong@macleanengineering.com> * Revised test name Signed-off-by: Hunter Song <hsong@macleanengineering.com> --------- Signed-off-by: Hunter Song <hsong@macleanengineering.com> Adding context to MPPI readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> [behavior_tree] Add generate_nav2_tree_nodes_xml (ros-navigation#4073) * Add generate_nav2_tree_nodes_xml Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * behavior_tree: removed list of plugins from yaml Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * check result of get_parameter(plugin_lib_names) Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix previous commit (uncrustify) Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * revert change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Fix compilation with clang (ros-navigation#4131) Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl> code improvement based on feedback. Name changes and minor code improvement Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Fix goal handle was not freed correctly (ros-navigation#4137) * Fix goal handle was not freed correctly * Update nav2_util/include/nav2_util/simple_action_server.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ziohang <hang.zhou@agvsz.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Adding Nvidia as Gold Sponsor! (ros-navigation#4144) Prevent a possible segmentation fault (ros-navigation#4141) (ros-navigation#4147) * Prevent a possible segmentation fault Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> * Cleanup Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> --------- Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> Updating stereolabs logo (ros-navigation#4158) Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> behavior_tree: migration to BT.CPP 4.5.x (ros-navigation#4128) * behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix formatting Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix lint warning Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * handle SKIPPED state Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix SequenceStar Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * add tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix unit tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fit test Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * remove SequenceStar Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * remove SequenceStar Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * fix compilation Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> bug fix (ros-navigation#4160) Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com> Stop planner if the goal is cancelled (ros-navigation#4148) * Add support for stopping planners when the action is cancelled Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Support cancel in Smac planner Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Support cancel in Theta* planner Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Support cancel in Navfn planner Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Update nav2_system_tests to use cancel checker Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Add terminal_checking_interval parameter Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Handle timeout and cancel check on the same branch and default to 5000 iterations Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Add system tests for cancel Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Improvement on the wat the distance heuristic is calculated Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Fix BT.CPP import (ros-navigation#4165) Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> nav2_controller: add loop rate log (ros-navigation#4171) * update smac_planner README Signed-off-by: ARK3r <kermani.areza@gmail.com> * added current controller loop rate logging Signed-off-by: ARK3r <kermani.areza@gmail.com> * linting Signed-off-by: ARK3r <kermani.areza@gmail.com> * uncrustify lint Signed-off-by: ARK3r <kermani.areza@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> improvement based on feedback Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
enricosutera
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>
Marc-Morcos
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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