Adding disengagement threshold to rotation shim controller (backport #4699) #4702
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* adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086)
nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
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…r.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
RBT22
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…os-navigation#4699) (ros-navigation#4702) * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
emilnovak
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* Adding disengagement threshold to rotation shim controller (backport ros-navigation#4699) (ros-navigation#4702) * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix(nav2_theta_star_planner) Fix crash on Humble when goal is outside map bounds (ros-navigation#4706) * Humble sync 13: Nov 8, 2024 (ros-navigation#4748) * [DWB] Option to limit velocity commands in trajectory generator (ros-navigation#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> * fix to bt action server logging before bt execution result being ready (ros-navigation#4677) Signed-off-by: DreamWest <sirjamestsao@gmail.com> * fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * [RotationShimController] fix: rotate to goal heading (ros-navigation#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> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#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> * bump to 1.1.17 for humble sync Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> Signed-off-by: DreamWest <sirjamestsao@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: DreamWest <sirjamestsao@gmail.com> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> 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> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> Signed-off-by: DreamWest <sirjamestsao@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: brayanpa <brayanspallares@gmail.com> Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: DreamWest <sirjamestsao@gmail.com> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> 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>
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#4690
@sandeepdutta please review! I updated the default for my parameter to be half of the threshold (22.5) instead of a third (15), but you can change that in your own config file if you prefer that behavior.
For the backport, I'll have to make the default 45 degrees so we don't change the default behavior, but you can again set it to 1/3 (or otherwise) in your configuration file to change that behavior for your application on Humble
This is an automatic backport of pull request #4699 done by Mergify.