Fix max path cycles for case where map has larger Y dimension than X dimension#2017
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SteveMacenski merged 3 commits intoros-navigation:mainfrom Oct 6, 2020
justinIRBT:fix-path-max-len-small_x
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Fix max path cycles for case where map has larger Y dimension than X dimension#2017SteveMacenski merged 3 commits intoros-navigation:mainfrom justinIRBT:fix-path-max-len-small_x
SteveMacenski merged 3 commits intoros-navigation:mainfrom
justinIRBT:fix-path-max-len-small_x
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SteveMacenski
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I can merge with a little clean up. Just make a const int & variable in the line before this and use it when calling calcPath.
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Also FYI: the new smac planner 2D will not have that problem https://github.com/SteveMacenski/navigation2/tree/nav2_smac_planner/smac_planner/src. Its on my agenda to submit a PR to nav2 this week. The package's readme has more context. |
SteveMacenski
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Oct 6, 2020
Codecov Report
@@ Coverage Diff @@
## main #2017 +/- ##
==========================================
- Coverage 84.59% 84.27% -0.32%
==========================================
Files 294 294
Lines 15056 15058 +2
==========================================
- Hits 12736 12690 -46
- Misses 2320 2368 +48
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SteveMacenski
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Thanks for the patch! |
SteveMacenski
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Nov 4, 2020
…dimension (#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues
SteveMacenski
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* initialize variables in inflation layer (#1970) * Fix zero waypoints crash (#1978) * return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating. * Add IsBatteryLow condition node (#1974) * Add IsBatteryLow condition node * Update default battery topic and switch to battery % * Fix test * Switch to sensor_msgs/BatteryState * Add option to use voltage by default or switch to percentage * Add sensor_msgs dependency in package.xml * Make percentage default over voltage * Update parameter list * Initialize inflate_cone_ variable. (#1988) * Initialize inflate_cone_ variable. * initialize inflate_cone_ based on parameter. * Increase the sleep time in the tests makes the costmap test always succeed on my machine. * Add timeouts to all spin_until_future_complete calls (#1998) * Add timeouts to all spin_until_future_complete calls Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update default timeout value Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Controllers should not be influenced by time jumps or slew (#2012) * Controllers should not be influenced by time jumps Therefore use rclcpp::GenericRate<std::chrono::steady_clock> instead of rclcpp::Rate Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Change to using `rclcpp::WallRate` for better readability Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com> * Fix max path cycles for case where map has larger Y dimension than X dimension (#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues * fix minor cherry pick conflict mistake * bump version to 0.4.4 Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Wilco Bonestroo <w.j.bonestroo@saxion.nl> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Martijn Buijs <Martijn.buijs@gmail.com> Co-authored-by: justinIRBT <69175069+justinIRBT@users.noreply.github.com>
ruffsl
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Jul 2, 2021
…dimension (ros-navigation#2017) * Fix max path cycles for case where map has larger Y dimension than X dimension * Improve readability * fix ament_cpplint and ament_uncrustify issues
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Basic Info
Description of contribution in a few bullet points
My test environment is much larger in length than width, I was frequently getting failed path plans when issuing commands that traversed the length of the environment. I noticed the max cycles to run NavFn::calcPath is derived from the X dimension alone, I changed it to be depending on whether the X or Y dimension is larger.