Behavior tree node for extracting pose from path by Marc-Morcos · Pull Request #4516 · ros-navigation/navigation2

Marc-Morcos · 2024-07-04T04:12:25Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	open-navigation/opennav_coverage#64
Primary OS tested on	(Ubuntu)
Robotic platform tested on	(gazebo simulation of turtlebot)
Does this PR contain AI generated software?	(No)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

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

mergify · 2024-07-04T04:13:08Z

This pull request is in conflict. Could you fix it @MarcM0?

mergify · 2024-07-04T04:14:02Z

@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-07-04T04:17:52Z

@MarcM0, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @iron, but it must be in main
to have these changes reflected into new distributions.

mergify · 2024-07-04T04:28:47Z

This pull request is in conflict. Could you fix it @MarcM0?

mergify · 2024-07-04T04:28:48Z

@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-07-04T04:30:23Z

@MarcM0, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @iron, but it must be in main
to have these changes reflected into new distributions.

SteveMacenski

Overall, looks great!

Three more things:

Styling needs to be updated, we use camel_case not snakeCase in this project, which is important for consistency. There's also alot of linting errors that the CI jobs below will mention I'm sure
Please submit the PR against main, not iron. We can backport to iron but it needs to be in main first so it can be reflected in all other distributions as well
You need to sign your commits -s to have DCO pass - see CI job below for how to resign

SteveMacenski · 2024-07-04T15:21:28Z

nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp

+  const BT::NodeConfiguration & conf)
+: BT::ActionNodeBase(name, conf)
+{
+  getInput("index", poseIndex);


Move to the tick method, someone could plausibly have this also be a port to a variable so that it could change over time

SteveMacenski · 2024-07-04T15:24:28Z

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp

+private:
+  void halt() override {}
+  BT::NodeStatus tick() override;
+  int poseIndex = 0;


This won't need to be a class member when obtained in tick

SteveMacenski · 2024-07-04T15:24:50Z

nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp

+  }
+
+  //out of bounds index
+  if(tempPoseIndex<0 || (unsigned)tempPoseIndex>=inputPath.poses.size()){


Use static_cast

SteveMacenski · 2024-07-04T15:25:08Z

nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp

+    return BT::NodeStatus::FAILURE;
+  }
+
+  int tempPoseIndex = poseIndex;


Temp will not be required once using the input in tick

mergify · 2024-07-04T15:37:53Z

This pull request is in conflict. Could you fix it @MarcM0?

mergify · 2024-07-04T15:37:54Z

@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-07-04T15:42:58Z

@MarcM0 you will need to fix the PR, it now touches 10k+ lines

…igation#3605) * CI test fixing for BT.CPP (paired with BehaviorTree.CPP/579) * lint * fixing smoother unit test failures

* Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform()

…avigation#3693) * moved error code enumerations to the result of action messages * test fixes * code review

* onCycle has access to the result * revert * pr review

* Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * implemented feedback from pull request * fixed RCLCPP_DEBUG error Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> * fixed hpp layout, removed previous code line in distance_controller * fixed all CI/CD errors, modified tests * fixed bt_navigator coding style. Modified behavior trees for updated nodes * implemented comments, fixed distance in distance_controller * updated circleci v14 to v15 --------- Signed-off-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org> Co-authored-by: vboxuser <vboxuser@ros2-humble.myguest.virtualbox.org>

…vigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <1322099375@qq.com>

* adding uid to the logged message Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * less changes Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com>

Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](actions/checkout@v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

…ons (ros-navigation#3752) * adding intial prototype for smac hybrid-A* multiple primitives quantization interpolation * fixing unsigned int issue * cleaning up expansions log * fix primitives to be of equal dist * adding test for expansions getting * fixing tests from changes * adding a theoretical guardrail * updating Hybrid-A* to include directional information in the primitives for enabling multi-primitive planning & accurate traversal cost functions * moving Hybrid-A* specifics to template specialization * expand support for debug visualizations to State Lattice and 2D A*'s * fix some test oddities * dynamic parameters * remove unused variable * minor changes * adding options for downsampling obstacle heurisic and for using quadratic cost penalty functions * fixing unit tests

…rvers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server

* Update collision_monitor_params.yaml * Update collision_monitor_node.cpp * Update default topics in collision_monitor_node.cpp * Update default topics in collision_monitor_params.yaml * Update collision_monitor_params.yaml * Update collision_monitor_node.cpp * Update default topics in collision_monitor_node.cpp * Update default topics in collision_monitor_params.yaml

Bumps [docker/build-push-action](https://github.com/docker/build-push-action) from 4 to 5. - [Release notes](https://github.com/docker/build-push-action/releases) - [Commits](docker/build-push-action@v4...v5) --- updated-dependencies: - dependency-name: docker/build-push-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [docker/login-action](https://github.com/docker/login-action) from 2 to 3. - [Release notes](https://github.com/docker/login-action/releases) - [Commits](docker/login-action@v2...v3) --- updated-dependencies: - dependency-name: docker/login-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Bumps [docker/setup-buildx-action](https://github.com/docker/setup-buildx-action) from 2 to 3. - [Release notes](https://github.com/docker/setup-buildx-action/releases) - [Commits](docker/setup-buildx-action@v2...v3) --- updated-dependencies: - dependency-name: docker/setup-buildx-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

…igation#3860)" (ros-navigation#3994)" (ros-navigation#3995) This reverts commit ef85df2.

* Fix devcontainer * fix * . * . * . * fix * pr comments * bust cache * test with docker image * Revert "test with docker image" This reverts commit 17b434e. * fixes * fixes * remove comment * Update URI for new GitHub org and GHCR repo * replace fix * replace fix * ignore maybe uninitialized error * inline comment * fix linting * Add comments * fix bt test * fix nav2 test * fix waypoint follower test * More improvements towards Jazzy migration * fix more tests * do a few more * last for the day * fix remaining BT tests * fixing last test issues * change linting image * comment out tests needing gazebo * break the cache cuz why not * fix dynamic param test * revert changes to test_bt_utils * fix dyn param * comment out turtlebot3_gazebo * test with spin_all * Update Dockerfile Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update .circleci/config.yml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed build Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feeback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Simplify files Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * update dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

…p option for modern gazebo (ros-navigation#4401) * Initial support to the new Gazebo Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed build Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feeback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fixed physics tag Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix copyright and urdf Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * min range cannot be zero Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Simplify files Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added feedback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Try to reduce load Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed cast shadows Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use Gazebo plugins instead of gz_ros2_control Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * update dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed dependency Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Removed ros2_control and use ogre Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use param file to configure bridge Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use sdf model and change to ogre instead of ogre2 for sensors Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Support Garden and later, performance improvements Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Use xacro for world file (ros-navigation#2) Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> * Reviewer feedback Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add comment explaining temp file Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Fix linter Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Update nav2_bringup/worlds/gz_world_only.sdf.xacro Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * port GZ Classic launch changes to modern GZ and remove GZ Classic launch file * adding changes * changes done for TB4 * tb3 sim prototype * fix missing ref * linting * fix branch name * remove assets * removing refs to turtlebot3_gazebo * update map * add new depot map * Update Nav2 side of multirobot launch files * linting --------- Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>

…ion#4416) * reorder pointers-reset & remove rebundant code Signed-off-by: GoesM <GoesM@buaa.edu.cn> * check the initialpose in map Signed-off-by: GoesM <GoesM@buaa.edu.cn> * back Signed-off-by: GoesM <GoesM@buaa.edu.cn> * remove the redunbant code Signed-off-by: GoesM <GoesM@buaa.edu.cn> * code style Signed-off-by: GoesM <GoesM@buaa.edu.cn> * code style Signed-off-by: GoesM <GoesM@buaa.edu.cn> * code style Signed-off-by: GoesM <GoesM@buaa.edu.cn> * codestyle Signed-off-by: GoesM <GoesM@buaa.edu.cn> * Update nav2_amcl/src/amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_amcl/src/amcl_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

…#4393) This commit does a number of things: 1. Switches to using target_link_libraries everywhere. This gives us finer-grained control over what dependencies are exported to downstream as public, or private. In the particular case of nav2_util, this actually doesn't matter *too* much, but it will help for other packages. 2. Moves the include directory down one level to include/${PROJECT_NAME}, which is best practice in ROS 2 since Humble. 3. Makes sure to export nav2_util as a CMake target, so downstream users of it can use that target. 4. Moves the base_footprint_publisher.hpp header file into the src directory, as it isn't functionality that an external project could use. Signed-off-by: Chris Lalancette <clalancette@gmail.com>

* wip, ported only test_bt_navigator Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * include test_bt_navigator_with dijlstra and test_bt_navigator_2 Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * uncomment some lines Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * More tests Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Include end of line Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * move gz_sim cleanup process to utils nav2_simple_commander Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix linter Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * cleanup Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * removed unused path Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * cleanup Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * more cleanup Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * reduce set initial pose time Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * remove repeated variable Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Remove log Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Remove todo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * use robot publisher Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * use robot publisher Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * include copyright Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * correct year Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com>

* migrate system failures test to new gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * cleanly kill gz sim in gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * use robot publisher and kill gz sim Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

…ros-navigation#4457) * adding docking to multirobot launch files * Use xacro file to plumb namespace into gz topics (ros-navigation#4450) This also removes the `use_simulator` launch argument since it's not needed by spawn_tb3.launch.py Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * fixing collision monitor * add launch files * update tests to use xacro * rever * Bump cache Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update underlay.repos Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

…avigation#4492) * Update package.xml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix Boost build issues and bump to 1.3.1 for jazzy release --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

…ssic files (ros-navigation#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root

* Improve usability of PWAs in Dev Containers (ros-navigation#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin="use-credentials"` in the manifest tag. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (ros-navigation#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Add viz_expansions parameter for debug (ros-navigation#3577) * viz_expansions * lint * switch to unique_ptr * readme update --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix broken symlink for gzweb (ros-navigation#3585) to load world models * (collision monitor) add limit polygon type (ros-navigation#3519) * add LIMIT polygon type * fix unit tests * Fix MIN_POINT doesn't exist * Fix Action type enum * FIX velocity used * FIX unit test point distance increase point distance to not be in limit field * Update collision_monitor_node_test.cpp * fix status name not updated * [MOD] only single linear limit * Apply review comments * Update nav2_collision_monitor/include/nav2_collision_monitor/types.hpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix broken link to contributing guidelines (ros-navigation#3587) The original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant. * Adding Our Sponsors - May 2023 (ros-navigation#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Fix dynamic polygons vertices not updated for different frame (ros-navigation#3591) * Fix dynamic polygons vertices not updated for different frame * Update nav2_collision_monitor/src/collision_monitor_node.cpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing 3586: rviz panel operating in multiple non-standard frames (ros-navigation#3595) * Fixes ros-navigation#3586 on rviz time stamping * removing timing from rviz testing panel * Add CostmapFilterInfoServer as a component (ros-navigation#3596) * adding iron to the readme table statuses (ros-navigation#3598) * adding iron to the readme table statuses * collapsing table * adding citation RPP * Resolve ros-navigation#3532: reset i (ros-navigation#3597) * [MPPI] empty path_follow_critic proper fix (ros-navigation#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Refactor sim_time and composable node usage in Collision Monitor (ros-navigation#3604) * Refactor sim_time and composable node usage in Collision Monitor launch script * Added namespace support * Fix comment * Fix costmap 2D test failures (ros-navigation#3611) * costmap test without action * test2 * try just printing first thing * Update test_costmap_2d_publisher.cpp * Compile flags non-virtual-destructor (ros-navigation#3609) * added compile flags * cleanup * cleanup * cleanup * add virtual destructors * uncrusify * updating to 1.2.1 for release --------- Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

* Only apply Wnon-virtual-dtor if the compile language is CXX (ros-navigation#3614) * https://stackoverflow.com/questions/25525047/cmake-generator-expression-differentiate-c-c-code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * Fix Wshadow errors and enforce it (ros-navigation#3617) * Fix Wshadow errors and enforce it Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove workaround for pluginlib * This was only needed because it was included transitively * By finding and linking properly, the compiler flags get propogated as SYSTEM correctly Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add-Wnull-dereference and fix warnings (ros-navigation#3622) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * correct error message (ros-navigation#3631) * correct error message * clean up * cleanup * remove header * Let Navigators have different error codes (ros-navigation#3642) * Change ERROR to DEBUG * INFO message on init * format code * Replace newlines with spaces * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * Ceres exposes a namespaced export and recommends it in their docs (ros-navigation#3652) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Enable multiple MPPI path angle modes depending on preferences in behavior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX (ros-navigation#3662) * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX * Update CMakeLists.txt * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * fix some new build warnings from sync (ros-navigation#3674) * fix some new build warnings * fixing last issue * Update navigate_through_poses_action.hpp * adding unsigned int to tests * all to unsigned shorts * test new warning resolution * Update * convert unsigned shorts to uint16_t for linter * Fix costmap publisher test (ros-navigation#3679) * added printouts * ignore system tests * fix * cleanup * Update test_costmap_2d_publisher.cpp remove space * remove empty message (ros-navigation#3691) * Collision Monitor fixups (ros-navigation#3696) * Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform() * Use ParameterFile (allow_substs) (ros-navigation#3706) Signed-off-by: ymd-stella <world.applepie@gmail.com> * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * Update costmap_2d_ros.cpp (ros-navigation#3687) * updated nav2_behavior_tree test util install path (ros-navigation#3718) * launch linting (ros-navigation#3729) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * adding tolerance back in for smac lattice and hybrid-A* planners (ros-navigation#3734) * Completing Hybrid-A* visualization of expansion footprints PR (ros-navigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <1322099375@qq.com> * Update README.md (ros-navigation#3736) * Update README.md * Update README.md * sync iron to 1.2.2 to release --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: RBT22 <43723477+RBT22@users.noreply.github.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Aaditya Ravindran <aravindran@locusrobotics.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: xianglunkai <1322099375@qq.com> Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

…n backport) (ros-navigation#3758) * nav2_collision_monitor: collision detector (ros-navigation#3500) * fix Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

* Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Update smac_planner_hybrid.cpp (ros-navigation#3760) * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rename PushRosNamespace to PushROSNamespace (ros-navigation#3763) * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Fixing typo in compute path through poses error codes (ros-navigation#3799) Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> * Fixes for flaky WPF test (ros-navigation#3785) * Fixes for flaky WPF test: * New RewrittenYaml ability to add non-existing parameters * Prune distance fix for WPF test * Treat UNKNOWN status as error in WPF * Clear error codes after BT run * Remove unnecessary setInitialPose() from WPF test * Update nav2_waypoint_follower/src/waypoint_follower.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Clean error code in any situation * Fix UNKNOWN WPF status handling --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix `min_points` comparison check (ros-navigation#3795) * Fix min_points checking * Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * Fix CD configuration link reference (ros-navigation#3811) * Fix CD configuration page reference * Add CM work on 6th ROS Developers Day reference * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * Add nav2_gps_waypoint_follower (ros-navigation#2814) * Add nav2_gps_waypoint_follower * use correct client node while calling it to spin * changed after 1'st review * apply requested changes * nav2_util::ServiceClient instead of CallbackGroup * another iteration to adress issues * update poses with function in the follower logic * add deps of robot_localization: diagnostics * fix typo in underlay.repo * add deps of robot_localization: geographic_info * minor clean-ups * bond_core version has been updated * rotation should also be considered in GPS WPFing * use better namings related to gps wpf orientation * handle cpplint errors * tf_listener needs to be initialized * apply requested changes * apply requested changes 3.0/3.0 * fix misplaced ";" * use run time param for gps transform timeout * change timeout var name * make use of stop_on_failure for GPS too * passing emptywaypont vectors are seen as failure * update warning for empty requests * consider utm -> map yaw offset * fix missed RCLCPP info * reorrect action;s name * waypoint stamps need to be updated * Fix segmentation fault on waypoint follower * Parametric frames and matrix multiplications * Replace oriented navsatfix for geographic_msgs/geopose * Remove deprecated oriented navsatfix message * Update branch name on robot_localization dependency * Fix parametric frames logic * Rename functions and adress comments * fix style in underlay.repos * remove duplicate word in underlay.repos * update dependency version of ompl * Template ServiceClient class to accept lifecycle node * Remove link to stackoverflow answer * Remove yaw offset compensation * Fix API change * Fix styling * Minor docs fixes * Fix style divergences * Style fixes * Style fixes v2 * Style fixes v3 * Remove unused variables and timestam overrides * restore goal timestamp override * WIP: Add follow gps waypoints test * Style fixes and gazebo world inertia fix * Reduce velocity smoother timeout * empty commit to rerun tests * Increment circle ci cache idx * Remove extra space in cmakelists.txt * Fix wrong usage of the global action server * update follow gps waypoints action definition * Fix action definition and looping * update params for the unit testing * WIP: update tests * fix tests * fixes to nav2 simple commander * add robot_localization localizer * Bring back from LL client * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * missing argument in test function * small test error * style fixes nav2 simple commander * rename cartesian action server --------- Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping iron from 1.2.2 to 1.2.3 for release * Update waypoint_follower.cpp --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anna Mannucci <19239559+annamannucci@users.noreply.github.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com> Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

* nav2_controller: add loop rate log (ros-navigation#4171) * update smac_planner README Signed-off-by: ARK3r <kermani.areza@gmail.com> * added current controller loop rate logging Signed-off-by: ARK3r <kermani.areza@gmail.com> * linting Signed-off-by: ARK3r <kermani.areza@gmail.com> * uncrustify lint Signed-off-by: ARK3r <kermani.areza@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> * replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <GoesM@buaa.edu.cn> * fix typo Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix missing param declare (ros-navigation#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> * Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (ros-navigation#4207) Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * nav2_controller: add loop rate log (ros-navigation#4228) * added current loop rate printout Signed-off-by: ARK3r <kermani.areza@gmail.com> * remove empty line Signed-off-by: ARK3r <kermani.areza@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> * bump to 1.2.7 for iron sync * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix typo (ros-navigation#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> * Add velocity based polygon (ros-navigation#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <kaichie.lee@gmail.com> * update review comments and description Signed-off-by: nelson <kaichie.lee@gmail.com> * add VelocityPolygon to detector node Signed-off-by: nelson <kaichie.lee@gmail.com> * review update Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> * add velocity polygon tests Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * add in-line comment Signed-off-by: nelson <kaichie.lee@gmail.com> * fix push back Signed-off-by: nelson <kaichie.lee@gmail.com> * minor change and update README Signed-off-by: nelson <kaichie.lee@gmail.com> * update README Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * avoid implicit type case (ros-navigation#4098) * adding progress checker selector BT node (ros-navigation#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> * Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix merge conflict * Revert "Add velocity based polygon (ros-navigation#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

mergify · 2024-07-04T16:10:04Z

@MarcM0, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Marc-Morcos · 2024-07-04T17:08:33Z

moving to pull request based off of main branch

Marc-Morcos changed the base branch from main to iron July 4, 2024 04:17

Marc-Morcos changed the base branch from iron to main July 4, 2024 04:28

Marc-Morcos changed the base branch from main to iron July 4, 2024 04:29

SteveMacenski requested changes Jul 4, 2024

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Marc-Morcos changed the base branch from iron to main July 4, 2024 15:37

SteveMacenski and others added 16 commits July 4, 2024 12:04

CI test fixing for BT.CPP (paired with BehaviorTree.CPP/579) (ros-nav…

e5b7a28

…igation#3605) * CI test fixing for BT.CPP (paired with BehaviorTree.CPP/579) * lint * fixing smoother unit test failures

Removing nightly connext job (ros-navigation#3676)

0c79a89

Collision Monitor fixups (ros-navigation#3696)

8abde1c

* Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform()

moved error code enumerations to the result of action messages (ros-n…

03e4d95

…avigation#3693) * moved error code enumerations to the result of action messages * test fixes * code review

Behaviors access result (ros-navigation#3704)

8ac5292

* onCycle has access to the result * revert * pr review

nav2_collision_monitor: collision detector (ros-navigation#3500)

ca50707

SteveMacenski and others added 22 commits July 4, 2024 12:04

Revert "Revert "adding base footprint publisher to nav2_util (ros-nav…

c58e235

…igation#3860)" (ros-navigation#3994)" (ros-navigation#3995) This reverts commit ef85df2.

Remove start clear (ros-navigation#4418)

4d3200d

remove multirobot (ros-navigation#4421)

ab94a3d

port to new gazebo (ros-navigation#4469)

d249618

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

port assited teleop behavior to new gazebo (ros-navigation#4474)

c1033d6

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

Remove temp BT.CPP build warning workaround (ros-navigation#4500)

a100614

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

Adding Costmap filters to system tests and cleaning up old gazebo cla…

10694f5

…ssic files (ros-navigation#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root

fixing gz sim launch file by using gz directly (ros-navigation#4514)

99cafa7

nav2_collision_monitor: collision detector (ros-navigation#3500) (Iro…

24e997e

…n backport) (ros-navigation#3758) * nav2_collision_monitor: collision detector (ros-navigation#3500) * fix Signed-off-by: MarcM0 <marc.morcos9@gmail.com>

Marc-Morcos marked this pull request as draft July 4, 2024 16:11

Marc-Morcos closed this Jul 4, 2024

Marc-Morcos mentioned this pull request Jul 4, 2024

Behavior tree node for extracting pose from path #4518

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Behavior tree node for extracting pose from path (backport #4518) #4523

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Behavior tree node for extracting pose from path (backport #4518) #4524

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Behavior tree node for extracting pose from path (backport #4518) #4525

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Marc-Morcos commented Jul 4, 2024

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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