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…avigation#5727) * Backport RouteTool RViz plugin to Jazzy (ros-navigation#5663) Adds the RouteTool panel to nav2_rviz_plugins for creating and editing route graphs in RViz2. Changes: - Add route_tool.hpp/cpp with Jazzy-compatible namespaces - Add nav2_route dependency to nav2_rviz_plugins - Fix nav2_route include export paths - Add UI resources and launch files for RouteTool Jazzy compatibility fixes: - Use nav2_util::LifecycleNode instead of nav2::LifecycleNode - Use rclcpp::Subscription instead of nav2::Subscription Tested: Builds successfully, plugin loads in RViz2 Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * fix Linting: added newline at end of file Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix linting: remove blank line at end of Python file Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix uncrustify formatting for route_tool files Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Updated nav2_route/CMakeLists.txt to original Jazzy Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> * Fix RouteTool backport to jazzy - Changed nav2::LifecycleNode to nav2_util::LifecycleNode (correct namespace for jazzy) - Fixed plugins_description.xml: changed base_class_type from rviz_common::Tool to rviz_common::Panel Tested in RViz - plugin loads correctly and creates route graph nodes/edges. Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com> --------- Signed-off-by: Prathmesh Atkale <atkaleprathmesh@gmail.com>
…for Route Server in Jazzy, and minimal BT for navigation. (ros-navigation#5755) * Backported GetCurrentPose, ConcatenatePaths and ArePosesNear BT nodes to Jazzy Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Created minimum BT for navigation using RouteServer, without replanning Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose and ArePosesNear use deconflictPortAndParamFile for frames Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Apply cpplint and uncrustify formatting corrections for new BT nodes Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Original copyright Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Added test for GetCurrentPose, ConcatenatePaths and ArePosesNear Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Correct copyright for GetCurrentPose Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose heritages from BT::ActionNodeBase Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * ArePosesNear uses isStatusActive Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Added route_server to server_handler for BT test in building Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * GetCurrentPose, ArePosesNear and ConcatenatePaths closer to main branch structure Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed new BT with routes and nav2_system_tests additions for testing this tree, back to original Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed override of halt function for get_current_pose_action.cpp Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> * Removed default values for input ports of GetCurrentPose Signed-off-by: Pau Reverté <pau.reverte@eurecat.org> --------- Signed-off-by: Pau Reverté <pau.reverte@eurecat.org>
* Groot monitoring support back ported to jazzy Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * add test_json_utils to CMakeLists.txt Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove WaypointStatus tests from JsonTest Removed tests related to WaypointStatus from JsonTest class. Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON parsing support for key conversion in bt_utils Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add Groot monitoring support in system tests and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix uncrustify and flake8 errors Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Fix extra blank line in nav_to_pose_tester_node.py Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unused Groot-related code and parameters Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Add JSON type registration for ports in behavior tree plugins Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Update JSON type registration to use `std::vector<geometry_msgs::msg::PoseStamped>` instead of `nav_msgs::msg::Goals` Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Include `json_export` header in behavior tree plugins to enable JSON export functionality Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Revert header include order Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> * Remove unnecessary blank line in header file Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be> * Remove extra blank lines Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> --------- Signed-off-by: Mike Slembrouck <mike.slembrouck@zygo.be> Signed-off-by: mikeslembrouckZYGO <mike.slembrouck@zygo.be>
…ion#5775) * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix tests for jazzy Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>
Signed-off-by: EricoMeger <ericomeger9@gmail.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com> Co-authored-by: Johannes Plapp <johannes.plapp@logivations.com>
…avigation#5833) (ros-navigation#5848) * Add symmetric goal for goal checker and mppi goal angle critic * Lint * Update nav2_mppi_controller/README.md --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…ibers (ros-navigation#5807) * Optimize MPPI visualization to skip processing when no subscribers - Added subscription count check in TrajectoryVisualizer::add Signed-off-by: SatArw <satwik090202@gmail.com> * Update nav2_mppi_controller/src/trajectory_visualizer.cpp Remove redundant brackets in the if statement. Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> --------- Signed-off-by: SatArw <satwik090202@gmail.com> Signed-off-by: Satwik Arawalli <96329337+SatArw@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…amp of TwistStamped messages (ros-navigation#5858) * Add new parameter to nav2_velocity_smoother that updates the timestamp of the smoothed velocity header message Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Update parameter description of stamp_smoothed_velocity_with_smoothing_time in nav2_velocity_smoother/README.md Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Add new parameter stamp_smoothed_velocity_with_smoothing_time in parameter examples in nav2_bringup Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Fix lines too long cpplint issues in velocity_smoother.cpp Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rephrase parameter description for improved clarity Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Rename delta time variable for clarity. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Make the time-smoothing computation more concise. Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> * Change code to 1) not write the timestamp in the cmd_vel->header twice and 2) make the difference explicit between using and not using the new parameter Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com> --------- Signed-off-by: Andrei Costinescu <andreicostinescu96@gmail.com>
…ros-navigation#5868) (cherry picked from commit 018dca9) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>
* No need to spam the logs (ros-navigation#5674) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * Conditionally call onLoop based on node status (ros-navigation#5700) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Allow for no progress checkers to be configured (ros-navigation#5701) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix: wait for drive_on_heading_client instead of backup_client (ros-navigation#5724) The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * Fix: reset controller_server loop_rate when missed desired rate ros-navigation#5712 (ros-navigation#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * temporary fix bug null pointer (ros-navigation#5749) * temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> * fix: change warning to exception when goal poses cannot be transformed (ros-navigation#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * [mppi] Don't reset zone-based speed limits (ros-navigation#5768) * [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Bugfix inactive publishers (ros-navigation#5748) * Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (ros-navigation#5865) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bump jazzy to 1.3.11 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>
* Fix parameters in route server (backport Jazzy) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
…gation#5903) * Add cancel timeout when cancelling actions (backport Jazzy) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Declare parameter Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update cancel timeout Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
* Increase docking coverage && fix backward docking (backport Jazzy) (ros-navigation#5097) * Increase docking coverage && fix backward docking (backport Jazzy) Signed-off-by: Iacopo Moles <iacopo@icpmol.es> Increase docking coverage && fix backward docking (ros-navigation#5097) * Add dock_database tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add utils test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve filter tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added simple charging tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve comments Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix backward and redo main test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Change test period to reduce test time Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Revert "Change test period to reduce test time" This reverts commit ef1555e. Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Delete print pose Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Iacopo Moles <iacopo@icpmol.es> * bump package versions Signed-off-by: Iacopo Moles <iacopo@icpmol.es> * Revert "bump package versions" This reverts commit a35c23d. Signed-off-by: Iacopo Moles <iacopo@icpmol.es> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Iacopo Moles <iacopo@icpmol.es> Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
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Fixes #64
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