chore(nav2_behavior_tree): log actual wait period in bt_action_node timeout error message #4178
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Signed-off-by: Felix <felix@fzeltner.de>
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* nav2_controller: add loop rate log (#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> * completely shutdown inital_pose_sub_ (#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * 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> * replace throw-error with error-log to avoid UAF mentioned in #4175 (#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <GoesM@buaa.edu.cn> * fix typo Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix missing param declare (#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> * Revert "nav2_controller: add loop rate log (#4171)" (#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (#4207) Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * nav2_controller: add loop rate log (#4228) * added current loop rate printout Signed-off-by: ARK3r <kermani.areza@gmail.com> * remove empty line Signed-off-by: ARK3r <kermani.areza@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> * bump to 1.2.7 for iron sync * change pointer free order in amcl to avoid use-after-free bug mentioned in #4068 (#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (#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> * Change costmap_queue to shared library (#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in #4078 (#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix typo (#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> * Add velocity based polygon (#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <kaichie.lee@gmail.com> * update review comments and description Signed-off-by: nelson <kaichie.lee@gmail.com> * add VelocityPolygon to detector node Signed-off-by: nelson <kaichie.lee@gmail.com> * review update Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> * add velocity polygon tests Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * add in-line comment Signed-off-by: nelson <kaichie.lee@gmail.com> * fix push back Signed-off-by: nelson <kaichie.lee@gmail.com> * minor change and update README Signed-off-by: nelson <kaichie.lee@gmail.com> * update README Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * avoid implicit type case (#4098) * adding progress checker selector BT node (#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (#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 (#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: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (#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 #4068 (#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 (#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" (#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 (#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 (#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 (#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 (#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> * Use ament_export_targets for all targets (#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> * Update default recommendation from Obstacles to Cost critic in MPPI (#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix merge conflict * Revert "Add velocity based polygon (#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Signed-off-by: Davide Faconti <davide.faconti@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: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.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: Kino <cybao292261@163.com> Co-authored-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.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>
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…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
bektaskemal
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…os-navigation#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>
ajtudela
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…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
SteveMacenski
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* 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>
enricosutera
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May 19, 2024
…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> Signed-off-by: enricosutera <enricosutera@outlook.com>
christophfroehlich
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…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
christophfroehlich
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…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
christophfroehlich
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…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
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…os-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>
SteveMacenski
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… (#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>
maksymdidukh
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* 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> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * 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> * replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <GoesM@buaa.edu.cn> * fix typo Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> * Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (ros-navigation#4207) Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * nav2_controller: add loop rate log (ros-navigation#4228) * added current loop rate printout Signed-off-by: ARK3r <kermani.areza@gmail.com> * remove empty line Signed-off-by: ARK3r <kermani.areza@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> * bump to 1.2.7 for iron sync * 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> * 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> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix typo (ros-navigation#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> * Add velocity based polygon (ros-navigation#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <kaichie.lee@gmail.com> * update review comments and description Signed-off-by: nelson <kaichie.lee@gmail.com> * add VelocityPolygon to detector node Signed-off-by: nelson <kaichie.lee@gmail.com> * review update Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> * add velocity polygon tests Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * add in-line comment Signed-off-by: nelson <kaichie.lee@gmail.com> * fix push back Signed-off-by: nelson <kaichie.lee@gmail.com> * minor change and update README Signed-off-by: nelson <kaichie.lee@gmail.com> * update README Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * avoid implicit type case (ros-navigation#4098) * adding progress checker selector BT node (ros-navigation#4109) * 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: 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> * 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> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix merge conflict * Revert "Add velocity based polygon (ros-navigation#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Signed-off-by: Davide Faconti <davide.faconti@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: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.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: Kino <cybao292261@163.com> Co-authored-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.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>
Marc-Morcos
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this pull request
Jul 4, 2024
* 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> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * 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> * replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <GoesM@buaa.edu.cn> * fix typo Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> * Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (ros-navigation#4207) Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * nav2_controller: add loop rate log (ros-navigation#4228) * added current loop rate printout Signed-off-by: ARK3r <kermani.areza@gmail.com> * remove empty line Signed-off-by: ARK3r <kermani.areza@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> * bump to 1.2.7 for iron sync * 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> * 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> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix typo (ros-navigation#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> * Add velocity based polygon (ros-navigation#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <kaichie.lee@gmail.com> * update review comments and description Signed-off-by: nelson <kaichie.lee@gmail.com> * add VelocityPolygon to detector node Signed-off-by: nelson <kaichie.lee@gmail.com> * review update Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> * add velocity polygon tests Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * add in-line comment Signed-off-by: nelson <kaichie.lee@gmail.com> * fix push back Signed-off-by: nelson <kaichie.lee@gmail.com> * minor change and update README Signed-off-by: nelson <kaichie.lee@gmail.com> * update README Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * avoid implicit type case (ros-navigation#4098) * adding progress checker selector BT node (ros-navigation#4109) * 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: 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> * 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> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix merge conflict * Revert "Add velocity based polygon (ros-navigation#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Signed-off-by: Davide Faconti <davide.faconti@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: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.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: Kino <cybao292261@163.com> Co-authored-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.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> Signed-off-by: MarcM0 <marc.morcos9@gmail.com>
Manos-G
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Aug 1, 2024
…os-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de>
RBT22
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Sep 26, 2024
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>
emilnovak
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this pull request
Sep 27, 2024
* 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 <felix@fzeltner.de> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Johannes Huemer <johannes.huemer@ait.ac.at> Co-authored-by: Marc Morcos <30278842+MarcM0@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Enzo Ghisoni <33607172+EnzoGhisoni@users.noreply.github.com> Co-authored-by: EnzoGhisoni <enzo.ghisoni@botronics.be> Co-authored-by: Joni Pöllänen <jonipol@users.noreply.github.com> Co-authored-by: Saitama <gennartan@users.noreply.github.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>
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Basic Info
Description of contribution in a few bullet points
The error message for BT Action Node discovery timeout was still hardcoded to 1s. Probably an oversight from when the configuration option was introduced.
Description of documentation updates required from your changes
None
Future work that may be required in bullet points
None
For Maintainers: