Enable reloading BT xml file with same name #4209

huemerj · 2024-03-22T21:05:55Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	Inhouse AGV & Gazebo
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Current state: In the current implementation of the BtActionServer, a new BT is not loaded if its xml name is the same as the current one. This means that if you want to change and then test a BT xml file (while keeping the same filename), you need to restart the action server each time the file changes.
This PR: Adds a boolean parameter always_reload_bt_xml (defaults to false) to decide if a new BT should always be loaded, even if the xml names are the same. This allows keeping the action server running while changing/developing the xml file.

Description of documentation updates required from your changes

Might be necessary to add the new parameter always_reload_bt_xml to the Behavior-Tree Navigator docs.

Future work that may be required in bullet points

Would be nice to backport this PR to Humble/Iron.

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify · 2024-03-22T21:06:36Z

This pull request is in conflict. Could you fix it @huemerj?

mergify · 2024-03-22T21:07:37Z

@huemerj, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-03-22T21:17:47Z

@huemerj, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-03-22T21:21:44Z

@huemerj, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

Rename to always_reload_bt_xml and add to the Nav2 configuration / migration guides and this LGTM

Please heed the DCO bot (sign commits -s)

mergify · 2024-03-23T09:29:27Z

@huemerj, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

huemerj · 2024-03-23T10:29:43Z

Rename to always_reload_bt_xml and add to the Nav2 configuration / migration guides and this LGTM

Please heed the DCO bot (sign commits -s)

Done. ros-navigation/docs.nav2.org#534

SteveMacenski · 2024-03-23T18:15:55Z

@huemerj please heed the DCO bot, all commits need to be signed, then I can merge this. If you click on the CI job, it'll give you instructions about how to adjust your previous commits

I'm going to merge this but I'd like to note for future onlookers of this: This is useful for the context @huemerj brings it up in and probably others. If you're using this because you have a BT that isn't properly resetting its state with your custom BT nodes, so using this to hard reset everything, I highly suggest fixing your underlying issues which could be causing other issues on the blackboard which could possibly persist in some cases. This may seem like an easy solution, but I suggest spending a little bit of time to look into the proper solution, especially in robotics where small mistakes in odd cases can cause real headaches.

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>

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

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

christophfroehlich · 2024-03-25T11:32:15Z

@SteveMacenski we fixed the DCO now.

* 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>

huemerj · 2024-03-27T20:23:46Z

@SteveMacenski Would be nice if you could please backport this to Humble/Iron.

SteveMacenski · 2024-03-27T21:25:58Z

Next release cycle it will be

* 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>

* 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: enricosutera <enricosutera@outlook.com>

christophfroehlich · 2024-06-07T10:45:29Z

Next release cycle it will be

@SteveMacenski May I ping you again and ask for a backport?

SteveMacenski · 2024-06-07T15:51:28Z

If it wasn't backported (which it looks like it could have been?) it was due to huge merge conflicts on cherry picking. If you'd like this in iron, please submit a PR against iron making these changes manually and I can merge that and have it released in the next sync.

Sorry about the manual-ness, the automated tools must have failed badly enough that I judged it not possible at the time.

* 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>

* 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>

* 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>

…s-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>

* 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>

SteveMacenski requested changes Mar 23, 2024

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huemerj mentioned this pull request Mar 23, 2024

Add docs for new BtActionServer/Navigator parameter ros-navigation/docs.nav2.org#534

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christophfroehlich and others added 3 commits March 25, 2024 08:10

Let BtActionServer overwrite xml

306ea18

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

d8e5319

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

Rename flag to always reload BT xml file

43bca51

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

christophfroehlich force-pushed the reload_xml_master branch from ca12196 to 43bca51 Compare March 25, 2024 11:29

SteveMacenski merged commit a1997db into ros-navigation:main Mar 25, 2024
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christophfroehlich deleted the reload_xml_master branch March 25, 2024 18:51

christophfroehlich mentioned this pull request Jun 8, 2024

Enable reloading BT xml file with same name (backport #4209) #4407

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christophfroehlich mentioned this pull request Jun 12, 2024

Enable reloading BT xml file with same name (backport #4209) #4422

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Enable reloading BT xml file with same name #4209

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Enable reloading BT xml file with same name #4209

Enable reloading BT xml file with same name #4209

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