Foxy sync smac planner#2071
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SteveMacenski merged 6 commits intoros-navigation:foxy-develfrom Nov 4, 2020
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* Fix memory leak in nav2_recoveries * Fix recovery server memory leak (better interface) * Fix costmap2d memory leak * Fix nav2_navfn_planner memory leak * Fix planner server and navfn planner memory leak * Make all rclcpp::Node::SharedPtr argument passing const * Fix controller server and DWB plugins memory leak * Minor fixes * Fix formatting errors * Change all plugin interfaces to use weak_ptr intead of shared_ptr to parent rclcpp::Node * Convert all SharedPtr to WeakPtr * Check shared_ptr after lock and before dereferencing
* adding smac_planner to navigation2 metapackage * adding params to metapackage * update config files * adding navfn benchmark testing * updates to costmap_2d for flexility * update planner API for new changes * adding ompl to underlay because ros2 master doesn't contain the rosdep key * patching templated footprint collision checker * fix typo * updating readme config file * Analytic expansion (ros-navigation#43) * Use OMPL to generate heuristics The calculation is run at every planning cycle. It does not seem to slow down the planner - the calculation time seems to be quick enough that the improvement in graph expansion accounts for it. * Use OMPL to calculate analytic solution when near goal * Make angles multiples of the bin size to stop looping behaviour * Uncrustify * Use faster std::sqrt function * Fix analytic path so that the collision checker has coordinates to check! * Pre-allocate variables in analytic path expansion * Rename typedef to NodeGetter to more accurately describe function * Use distance rather than heuristic to determine when to perform analytic expansion Also force the analytic expansion to run on first iteration in case path is trivial. * Move the check for motion model into the main A* loop * Add copyright notices * Remove comment about relaxing node match tolerances The analytic expansion removes the need for this. * Correctly reset node coordinates when aborting from analytic expansion * Move analytic expansion logic to separate function * Uncrustify * Remove unneeded call to get goal coordinates * Fix the calculation of intervals in the analytic path Reserve the number of candidate nodes we are expecting. Base calculations on intervals rather than points - makes distances between nodes work properly. * Rescale heuristic so that analytic expansions are based on distance * Repeatedly split analytic path in half when checking for collision * Add parameter to control rate of analytic expansion attempts * Uncrustify * Fix incorrect type in templated function * Cpplint * Revert "Repeatedly split analytic path in half when checking for collision" This reverts commit 94d9ee0. There was a marginal speed gain (perhaps!) and the splitting approach made the code harder to understand and maintain. * Uncrustify * Add doxygen comments * Add parameter description for analytic expansion ratio * Set lower limit of 2 on number of iterations between analytic expansions * Reduce expected number of iterations because of analytic completion * Refactor analytic expansion ratio calcs to make logic easier to understand * add readme color * fix linting * ceil from floor (and speed up) * a few updates * fix smac tests * fixing smoother test * remove cost check - to be readded at another time * working last test from debug issues * Update README.md * Update README.md * adding getUseRadius API doxygen Co-authored-by: James Ward <james@robomo.co>
* adding some more tests to smac_planner * addtl smac tests * remove unused functions
nav2_controller/include/nav2_controller/plugins/stopped_goal_checker.hpp
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LGTM, lets see what CI says
| type: git | ||
| url: https://github.com/ros-perception/vision_opencv.git | ||
| version: ros2 | ||
| ros/bond_core: |
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Is bond necessary for foxy?
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This looks good to me - tests that failed aren't your fault and fixed in master branch I believe. Give me a little bit to run some experiments locally to make sure |
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This looks good to me - tests that failed aren't your fault and fixed in master branch I believe. Give me a little bit to run some experiments locally to make sure |
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Merging smac_planner into foxy-devel.
Cherry picking:
f237751Fix memory leakd3fc28afSmac/Hybrid-A* planner3ec1454aAdding additional SmacPlanner testsa1362392adding additional constants and smoothers tests