Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

PoseStamped vector specialization #4607

Merged
merged 9 commits into from
Sep 4, 2024

Conversation

tonynajjar
Copy link
Contributor

@tonynajjar tonynajjar commented Aug 8, 2024


Basic Info

Info Please fill out this column
Ticket(s) this addresses #4388
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes


Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.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

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
@tonynajjar
Copy link
Contributor Author

PR is not done, will ping once ready for review. I just need to open a PR to remember finishing it :)

@SteveMacenski
Copy link
Member

@tonynajjar hidy ho, any chance we can get this in soon? 🙃

@tonynajjar
Copy link
Contributor Author

I thrive on pings, I'll try to resume it this week. I got stuck on something but forgot on what.

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
@tonynajjar tonynajjar marked this pull request as ready for review August 23, 2024 15:20
@tonynajjar
Copy link
Contributor Author

tonynajjar commented Aug 23, 2024

Pretty much ready for a first review, one thing I couldn't get to the bottom of yet is why test_goal_updated_controller suddenly fails with these changes. (At least locally, let's see in CI)

Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I retriggered CI, if it fails again, then its a real issue -- those tests are pretty simple API use so if that's broken, there's a real possibility the actual BT node is broken too and not just a test update

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp Outdated Show resolved Hide resolved
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
This reverts commit 51f54eb.
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
@@ -36,8 +36,6 @@ class GoalUpdatedControllerTestFixture : public nav2_behavior_tree::BehaviorTree
poses1.push_back(goal1);
config_->blackboard->set("goal", goal1);
config_->blackboard->set("goals", poses1);
config_->input_ports["goals"] = "";
Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@SteveMacenski these were causing the test to fail, I see they were added there by you I believe, do you remember what were you solving with these lines?

Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

There were issues in the 24.04 migration about ports not being set, so I set them all to something in the tests. It doesn't need to be "", but needs to be initialized as something to stop BT.CPP update from throwing an uninitialized port error due to how the tests are structured

Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Is this good to go from your previous comments above?

@tonynajjar
Copy link
Contributor Author

CI is happy I'm happy

@tonynajjar tonynajjar merged commit 3ab6312 into ros-navigation:main Sep 4, 2024
11 checks passed
SteveMacenski pushed a commit that referenced this pull request Nov 8, 2024
* PoseStamped vector specialization

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* merge master

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* add path

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix size check

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Revert "fix test"

This reverts commit 51f54eb.

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

---------

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
SteveMacenski added a commit that referenced this pull request Nov 8, 2024
* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627)

* adding non-charging dock support to docking server

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

* docs and linting

* adding unit tests

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

---------

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

* Publish optimal trajectory as a Path message (#4640)

* Publish optimal trajectory as a Path message

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* move publish_optimal_path to TrajectoryVisualizer + minor refactoring

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* tests added for optimal path publication

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* populate optimal path message in add()

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* move path population in add_marker

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

---------

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* [collision monitor] Select the observation sources used with each polygon (#4227)

* Collision monitor: select specific observation sources for polygon

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

* optimization

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

* add tests

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

---------

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>
Co-authored-by: asarazin <anaelle.sarazin@robocc.com>

* Restore exported BT test utils header files after cmake revamp (#4652) (#4654)

Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>

* fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649)

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

* PoseStamped vector specialization (#4607)

* PoseStamped vector specialization

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* merge master

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* add path

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix size check

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Revert "fix test"

This reverts commit 51f54eb.

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

---------

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* [DWB] Option to limit velocity commands in trajectory generator (#4663)

* Option to limit vel cmd through traj generator

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Cleanup

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* fix linting

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Update linting

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* uncrustify

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* uncrustify

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

---------

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Adding planner server timeout for costmap waiting (#4673)

* Adding planner server timeout for costmap waiting

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

* Adding controller server's costmap timeout as well

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

---------

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

* fixing path longer on approach (#4622)

* fixing path longer on approach

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* removing the short circuit

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* adding additional layer of check

Signed-off-by: Pradheep <padhupradheep@gmail.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* fix to bt action server logging before bt execution result being ready (#4677)

Signed-off-by: DreamWest <sirjamestsao@gmail.com>

* Correct paper name for graceful controller

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

* Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698)

* fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

* fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

---------

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

* Fixing SGF in MPPI and Smoother (#4669)

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

* fix: handle transition failures in all servers (#4708)

* fix: handle transition failures in planner/controller/smoother servers

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* adding support for rest of servers + review comments

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

* Replacing throws with error and failed lifecycle transitions

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

* fix vel smoother unit tests

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

* fixing docking server unit testing

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

* fixing last bits

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

---------

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* [RotationShimController] fix: rotate on short paths (#4716)

Add header data to goal for short paths.

Commit d8ae3c1 added the possibility to
the rotation shim controller to rotate towards the goal when the goal
was closer that the `forward_sampling_distance`. This feature was not
fully working as the goal was missing proper header data, causing the
rotation shim to give back control to the main controller.

Co-authored-by: agennart <antoine.gennart@quimesis.be>

* Added parameter `rotate_to_heading_once` (#4721)

Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com>

* [RotationShimController] fix: rotate to goal heading (#4724)

Add frame_id to goal when rotating towards goal heading, otherwise the
transform would fail. This bug was introduced in 30e2cde by not setting
the frame_id.

Signed-off-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: agennart <antoine.gennart@quimesis.be>

* [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726)

* Publish /clock from loopback sim

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS

Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t.
This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data.
In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS)

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* [nav2_smac_planner] fix typos

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Use single quotes

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

---------

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Fix incorrect doxygen comment (#4741)

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>

* Updating error logging in Smac collision detector object (#4743)

* Updating error logging in Smac configs

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

* linting

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

---------

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

* [map_io] Replace std logs by rclcpp logs (#4720)

* replace std logs by rclcpp logs

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* RCLCPP_DEBUG to RCLCPP_INFO for visibility

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* manual backport to Jazzy of 6b2e244

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

* bump to 1.3.3 for jazzy sync

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

* fixing backport issue

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

* fixing backport of docking linking changes

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

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>
Signed-off-by: asarazin <anaelle.sarazin@robocc.com>
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>
Signed-off-by: Pradheep <padhupradheep@gmail.com>
Signed-off-by: DreamWest <sirjamestsao@gmail.com>
Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>
Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com>
Signed-off-by: agennart <antoine.gennart@quimesis.be>
Signed-off-by: Adi Vardi <adi.vardi@enway.ai>
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: alyquantillion <158563995+alyquantillion@users.noreply.github.com>
Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com>
Co-authored-by: asarazin <anaelle.sarazin@robocc.com>
Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com>
Co-authored-by: Alan <alan.xuefei@googlemail.com>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com>
Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com>
Co-authored-by: DreamWest <sirjamestsao@gmail.com>
Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com>
Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Co-authored-by: Saitama <gennartan@users.noreply.github.com>
Co-authored-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com>
Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com>
Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
josephduchesne pushed a commit to josephduchesne/navigation2 that referenced this pull request Dec 10, 2024
* PoseStamped vector specialization

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* merge master

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* add path

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix size check

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Revert "fix test"

This reverts commit 51f54eb.

* fix test

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

---------

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

test_decorator_speed_controller complains about not finding template specialization (but succeeds)
2 participants