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Feature/vector object server#2

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Sushant-Chavan wants to merge 36 commits intomainfrom
feature/vector_object_server
Closed

Feature/vector object server#2
Sushant-Chavan wants to merge 36 commits intomainfrom
feature/vector_object_server

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@Sushant-Chavan Sushant-Chavan commented Aug 5, 2025 •
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Basic Info

Info Please fill out this column
Ticket(s) this addresses ros-navigation#3017
Primary OS tested on Ubuntu
Robotic platform tested on Proprietary (and also in simulation)
Does this PR contain AI generated software? No
Was this PR description generated by AI software? No

Description of contribution in a few bullet points

This PR continues from the open but non-active PR ros-navigation#4680. The following additional updates were performed:

  1. Fix linter issues
  2. Include .hpp instead of .h tf2_ros headers
  3. Fixed a race condition when publishing/subscribing the map published by the vector object server, when testing the feature by following the tutorial
  4. Minor cleanup

Description of documentation updates required from your changes

The PR for the corresponding documentation can be found at: ros-navigation/docs.nav2.org#766

Description of how this change was tested

  1. Tested that the sim-based tutorial works as expected
  2. Tested with additional boiler-plate code on a proprietary robot with keepout and speed-limit filter masks generated by the vector object server.

Future work that may be required in bullet points

N/A

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
  • Should this be backported to current distributions? If so, tag with backport-*.

AlexeyMerzlyakov and others added 23 commits September 17, 2024 14:27
@AlexeyMerzlyakov @ajtudela
Add Vector Object server
4b8c7eb 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Meet review comments
f02a925 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
@AlexeyMerzlyakov @ajtudela
Simplify shapes param configuring
8a506bb 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Rename getROSParameter() to getParameter()
64c63ce 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Return back getMaskData() to nav2_costmap_2d
75ccc4c 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Add composition node support
4467b38 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
@AlexeyMerzlyakov @ajtudela
Remove redundant methods
718a5b3 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @SteveMacenski @ajtudela
Update nav2_map_server/src/vo_server/vector_object_server.cpp
4465258 
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Avoid shapes clearing
79bae1c 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Optimize switchMapUpdate() method
24a87c9 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Switch to vector of shapes
b4b303f 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Minor fixes
724d848 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Meet review comments
3a02878 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Move isPointInside algorithm to nav2_util
1067a56 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Testcases covering new functionality
ebfa990 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Fix linting issues
b33d88a 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Adjust for Vector Objects demonstration
c0025ec 
Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Code clean-up
d579516 
* Corrected headers
* Functions ordering
* Comment fixes

Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@AlexeyMerzlyakov @ajtudela
Additional code facelift
9a05aad 
* Correct licensing years
* Fix Vector Object server dependencies
* Funcion rename for better readability
* Improve/fix comments

Signed-off-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
@ajtudela
Minor fixing after rebase
323410a 
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@ajtudela
Rename vector object server
1a8d07f 
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@ajtudela
Minor changes
906ed7c 
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@ajtudela
Update tests
d101b1e 
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
@Sushant-Chavan Sushant-Chavan force-pushed the feature/vector_object_server branch from aa4c445 to b615ff0 Compare August 5, 2025 14:50
@Sushant-Chavan Sushant-Chavan force-pushed the feature/vector_object_server branch from 07a7b7e to 15a5afd Compare August 14, 2025 09:40
@ajtudela ajtudela mentioned this pull request Aug 15, 2025
Merged
@Sushant-Chavan
Merge remote-tracking branch 'upstream/main' into feature/vector_obje…
98ecea1 
…ct_server
@Sushant-Chavan
Change tf2_ros headers from .h to .hpp
cce1189 
Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>
@Sushant-Chavan
Fix race condition in pub-sub of VO map
189ee11 
Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>
@Sushant-Chavan
Cleanup
7531c47 
Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>
@Sushant-Chavan
Merge remote-tracking branch 'upstream/main' into feature/vector_obje…
bd4c505 
…ct_server
@Sushant-Chavan Sushant-Chavan force-pushed the feature/vector_object_server branch from 15a5afd to bd4c505 Compare August 21, 2025 15:32
DavidG-Develop and others added 4 commits August 21, 2025 08:58
@DavidG-Develop
fix naming for nav2_path_expiring_timer_condition_bt_node (ros-naviga…
8aedf20 
…tion#5471)

Signed-off-by: David G <david.randommail1@gmail.com>
@SteveMacenski @claude
fix: Move SmootherParams declaration outside smooth_path conditional (r…
69a60df 
…os-navigation#5473)

Fixes crash when dynamically changing smooth_path parameter from false to true.
The issue occurred because SmootherParams were only declared when smooth_path
was initially true, causing ParameterModifiedInCallbackException when trying
to declare parameters within the dynamic parameter callback.

Now SmootherParams are always declared, making them available for dynamic
reconfiguration regardless of the initial smooth_path value.

Fixes ros-navigation#5472

Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
@Sushant-Chavan
Remove use of ament_target_dependencies
5ad9e94 
Signed-off-by: Sushant Chavan <sushant.chavan@idealworks.com>
@Sushant-Chavan
Merge remote-tracking branch 'upstream/main' into feature/vector_obje…
e3796c3 
…ct_server
@Sushant-Chavan
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Sushant-Chavan commented Aug 22, 2025

Closing this PR as it will be replaced by the upstream PR: ros-navigation#5479

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5 participants

@Sushant-Chavan @AlexeyMerzlyakov @ajtudela @DavidG-Develop @SteveMacenski