Straight analytic expansions #4549
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Signed-off-by: James Ward <j.ward@sydney.edu.au>
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Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <j.ward@sydney.edu.au>
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SteveMacenski
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* Add test to verify analytic expansions are straight Signed-off-by: James Ward <j.ward@sydney.edu.au> * Use continuous scaling of angle when performing analytic expansion Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <j.ward@sydney.edu.au> --------- Signed-off-by: James Ward <j.ward@sydney.edu.au>
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* Updated README Table once Jazzy jobs turn over (#4482) * add new Jazzy matrix * missing header * test toolg * retry * done! * trim * trim * fix OS[0] * shutdown services in destructor of `ClearCostmapService` (#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * adjusting backup speed to be more reasonable (#4501) * Adding Costmap filters to system tests and cleaning up old gazebo classic files (#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root * Dock panel (#4458) * Initial docking panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Only one goal status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added dock pose Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix size of text Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update rviz Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update rviz config Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix default view (#4504) * Fix logo in nav2 panel (#4505) * Fix logo in nav2 panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Move icon Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix world to map coordinate conversion (#4506) Signed-off-by: HovorunBh <fipogh@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add dock id (#4511) * Implement dock id Signed-off-by: redvinaa <redvinaa@gmail.com> * Update tests Signed-off-by: redvinaa <redvinaa@gmail.com> * Update docs Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix virtual override error Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (#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 (#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> * fixing gz sim launch file by using gz directly (#4514) * port wait behavior to new gazebo (#4471) Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Completely rewritten spin, backup, and drive on heading tests to remove flakiness (#4515) * port backup behavior to new gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * port drive on heading behavior to new gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * completely rewritten spin test * lint * complete flaky test rewrite --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: stevedan <stevedan.o.omodolor@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * Fix error_code_id (#4522) Signed-off-by: redvinaa <redvinaa@gmail.com> * completely shutdown dyn_params_handler_ (s) (#4521) * completely shutdown dny_params_handler_ in nav2_amcl Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> * completely shutdown dyn_param_handler_ in controller_server Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_params_handler in nav2_costmap_2d Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_param_handler in nav2_docking Signed-off-by: goes <GoesM@buaa.edu.cn> * completely shutdown dyn_params_handler in nav2_velocity_smoother Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_param_handler in waypoint_follower Signed-off-by: goes <GoesM@buaa.edu.cn> * typo fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * graceful-controller & dwb_controller Signed-off-by: goes <GoesM@buaa.edu.cn> * mppi-controller Signed-off-by: goes <GoesM@buaa.edu.cn> * navfn_planner & regulated_..controller Signed-off-by: goes <GoesM@buaa.edu.cn> * rotation_..controller & samc_planners Signed-off-by: goes <GoesM@buaa.edu.cn> * A*planner Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * 1 Signed-off-by: goes <GoesM@buaa.edu.cn> * fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * fix the usage of weak_ptr Signed-off-by: goes <GoesM@buaa.edu.cn> * code-style Signed-off-by: goes <GoesM@buaa.edu.cn> * weak_ptr released Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style update Signed-off-by: goes <GoesM@buaa.edu.cn> * back Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase conflict resovled Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase error fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * fixed2 Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase fixed 3 Signed-off-by: goes <GoesM@buaa.edu.cn> * 33 Signed-off-by: goes <GoesM@buaa.edu.cn> * shared_ptr into weak_ptr Signed-off-by: GoesM <goesm@buaa.edu.cn> * remove adundant node.resest() Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * check nullptr in smoothPlan() (#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> * check nullPtr in `computeControl()` (#4548) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Straight analytic expansions (#4549) * Add test to verify analytic expansions are straight Signed-off-by: James Ward <j.ward@sydney.edu.au> * Use continuous scaling of angle when performing analytic expansion Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <j.ward@sydney.edu.au> --------- Signed-off-by: James Ward <j.ward@sydney.edu.au> * Rviz tool to get cost of costmap cell (#4546) * Added GetCost srv Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Service in costmap_2d Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Rviz tool Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Styling Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Styles and Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Bool use_footprint to srv Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added unit test for costmap costcell cost service Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed unit test script Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added theta, Updated unit test, Updated rviz tool service call logic Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Updated requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> --------- Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Switch to new-style static_transform_publisher arguments. (#4563) These arguments have been the preferred way to use things since at least Humble. This avoids warnings when running it for the tests. Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Updated slack link (#4565) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update README.md (#4589) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix flickering visualization (#4561) * Fix Flickering visualization Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring costmap_2d_ros.cpp Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Update costmap_2d_publisher.cpp Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Change map_vis_z from float to double Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Add comment to map_vis_z_ parameter Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> --------- Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Copy fix-terminate diff from opennav_docking repo (#4598) * Copy fix-terminate diff from opennav_docking repo Signed-off-by: redvinaa <redvinaa@gmail.com> * Lint Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix race condition in AMCL for #4537 (#4605) * Fixed timed_behavior.hpp (#4602) Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Adding new Nav2 loopback simulator (#4614) * adding Nav2 loopback sim Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * drop performance by half * lintin * Add multirobot usecase comment * fixing copy paste error * fixing review comments --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Added laser data from map in nav2_loopback_sim (#4617) * Added laser data from map Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed few requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added parameters and fixed requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added scan using LineIterator Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * LineIterator max_distance or range_max Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * min of max_distance or range_max Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * final updates working correctly Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fix lint Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Making base frame ID for map to base link transform based on base frame ID parameter (#4632) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update Smac Planner for rounding to closest bin rather than flooring (#4636) * adding stamped option for loopbacks im (#4637) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: HovorunBh <fipogh@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: GoesM <goesm@buaa.edu.cn> Signed-off-by: James Ward <j.ward@sydney.edu.au> Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Bohdan <72872431+HovorunBh@users.noreply.github.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.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: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com> Co-authored-by: James Ward <j.ward@sydney.edu.au> Co-authored-by: Jatin Patil <89979346+JatinPatil2003@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com>
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* Add test to verify analytic expansions are straight Signed-off-by: James Ward <j.ward@sydney.edu.au> * Use continuous scaling of angle when performing analytic expansion Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <j.ward@sydney.edu.au> --------- Signed-off-by: James Ward <j.ward@sydney.edu.au>
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