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provide message validation check API #4206

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wants to merge 39 commits into from
Closed

provide message validation check API #4206

wants to merge 39 commits into from

Commits on Apr 24, 2024

  1. provide message validation check in nav2_util 

    add validation check for map-message in `nav2_amcl`

Signed-off-by: goes <GoesM@buaa.edu.cn>
    goes authored and goes committed Apr 24, 2024
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  2. update conditions 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  3. translate 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  4. reformat 

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  5. add check for map-msg 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  6. add msg-validation check 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  7. using real-stamp in updateMsgHeader() 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  8. using RCL_ROS_TIME as time-stamp 

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  9. typo fixed: ignored "!" 

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  10. fix typo 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  11. Revert "nav2_controller: add loop rate log (#4171)" (#4210) 

    This reverts commit 4737462.

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  12. Add uint suffix (#4213) 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
    @MikeWrock
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  13. Enable reloading BT xml file with same name (#4209) 

    * Let BtActionServer overwrite xml

Co-authored-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Make a ROS parameter for it

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Rename flag to always reload BT xml file

Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>

---------

Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>
Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Co-authored-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @huemerj @christophfroehlich
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  14. bt_service_node and bt_action_node: Don't block BT loop (#4214) 

    * Set smaller timeout for service node

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Fix timeout calculation for service node

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

* Add a feasible timeout also for action node

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>

---------

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @christophfroehlich
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  15. 45% performance improvement in MPPI (#4174) 

    * 18.5% performance improvement in MPPI

* adding in path angle update

* path align improvements

* adding views

* more updates with some TODOs

* massive improvements to cost critic

* remove TODOs

* removing some jitter

* updates

* use fabs

* 1ms saved baby!

* completed optimizations

* remove TODO

* linting

* fixing test failure

* indexing fix

* fix bug

* make MPPI default for Jazzy

* Adding higher velocity limits

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  16. removed RPP dependency (#4222) 

    Signed-off-by: jncfa <20467009+jncfa@users.noreply.github.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @jncfa
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  17. 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>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @anaelle-sw
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  18. allowing costmap to change with new costmap resolutions (#4223) 

    * allowing costmap to change with new costmap resolutions

* add test

* fix test

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  19. Improving stability of action feedback (#4225) 

    * Improving stability of feedback

* Adding Nsv through poses

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  20. 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>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @ARK3r
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  21. Attempt to fix Rolling 22.04 CI Until 24.04 Comes of Age (#4229) 

    * attempt to fix 22.04 CI

* adding inline comment reminder

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  22. Add API to gracefully cancel a controller (#4136) 

    * Add API to gracefully cancel a controller

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>

* Add `cancel_deceleration` to RegulatedPurePursuitController

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>

* Update nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Ramon Wijnands <ramon.wijnands007@gmail.com>

---------

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Signed-off-by: Ramon Wijnands <ramon.wijnands007@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @Rayman @SteveMacenski
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  23. Refactor plugins to use double colons for consistency (#4220) 

    * Refactor the plugin names for bt_navigator to use double colons

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

* Refactor the plugin names for planner_server to use double colons

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

* Refactor the plugin names for behavior_server to use double colons

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

---------

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @alanxuefei
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  24. Nacho/cleanup get transform util (#4181) 

    * remove unused header

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* First step. Return an optional value instead of user provided output.

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Second step, update the consumers of this utility function

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Third step: swap source/target to make it consistent with tf lookups

Otherwise is very confusing for any user who is user to the
tf2::Buffer::lookupTransform method

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* transform tolerance -> transform timeout

I find this "transform tolerance" to specify something else. Once
again, I believe that sticking to tf2 name conventions is better and
improve readability for users already used to the tf2 API

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Last step, convert functions to template functions

This allow us to also query for the TransformStamped message from the
lookupTransform method.

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Add nodiscard to avoid confusiong API calls

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Update docs

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Revert "transform tolerance -> transform timeout"

This reverts commit ca7d06b.

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Fix linter 🤦

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* reset to main

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Add 2 new utils functions to query transforms using messages

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Move utility function to base class to reuse implementation

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

* Fix Typo

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>

---------

Signed-off-by: Ignacio Vizzo <ignacio@dexory.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @nachovizzo
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  25. Increasing test count from timeout handling changes (#4234) 

    Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  26. Adding config file for DWB to exercise in system tests from MPPI defa… 

    …ult migration (#4236)

* Adding config file for DWB to exercise in system tests from MPPI default migration

* adding collision monitor

* EOF line

* correct plugin names

* removing excess plugin defs

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  27. Scale cost critic's weight when dynamically updated (#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>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @pepisg
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  28. Fix compiler warning ‘error_level’ may be used uninitialized (#4253) 

    Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @Timple
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  29. Add expanding the ~/ to the full home dir of user in the path to the … 

    …map yaml. (#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>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @Wiktor-99
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  30. Smac Planner Optimizations; 9.1% improvement in speed (#4257) 

    * optimizations

* Update test_nodehybrid.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  31. Set start and goal as float (#4255) 

    * Set start and goal as float

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix worldToMapContinuous type

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* add static_cast<float>

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix linting

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* floor float to check start = goal

Signed-off-by: Brice <brice.renaudeau@gmail.com>

---------

Signed-off-by: Brice <brice.renaudeau@gmail.com>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @BriceRenaudeau
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  32. Implement Critic for Velocity Deadband Hardware Constraints (#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>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @perchess
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  33. Completing #4259 (#4273) 

    * changed slam launch file according to the comments for the PR #4211

Signed-off-by: Ibrahim Özcan <ibrahim.ozcan@rwth-aachen.de>

* Fixing litning problems

---------

Signed-off-by: Ibrahim Özcan <ibrahim.ozcan@rwth-aachen.de>
Co-authored-by: Ibrahim Özcan <ibrahim.ozcan@rwth-aachen.de>
Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  34. Revert "Revert "adding base footprint publisher to nav2_util (#3860)" (… 

    …#3994)" (#3995)

This reverts commit ef85df2.

Signed-off-by: goes <GoesM@buaa.edu.cn>
    @SteveMacenski
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  35. remove zero-time-stamp check 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  36. remove comments 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  37. add copyright(c) 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  38. changes following suggestion from cpplint 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
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  39. change include_order following standard 

    Signed-off-by: goes <GoesM@buaa.edu.cn>
    goes authored and goes committed Apr 24, 2024
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