Issue#4400 keepout speed zones#5128
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rohinraj wants to merge 37 commits intoros-navigation:mainfrom
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 65c36fc) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…avigation#4492) (ros-navigation#4493) * 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> (cherry picked from commit 715df8f) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation#4523) * add get pose from path action Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * cleanup from PR suggestions Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * Updates for main compatibility Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * Lint and build fix Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * More Lint and warnings Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * More Lint and build Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * remove code left over from older file Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * fix test blackboard var name Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * only populate pose frame if empty Signed-off-by: MarcM0 <marc.morcos9@gmail.com> * lint Signed-off-by: MarcM0 <marc.morcos9@gmail.com> --------- Signed-off-by: MarcM0 <marc.morcos9@gmail.com> (cherry picked from commit 12a9c1d) Co-authored-by: Marc Morcos <30278842+MarcM0@users.noreply.github.com>
…s-navigation#4553) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> (cherry picked from commit f73fa24) Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
…s-navigation#4554) * Fix backward motion for graceful controller Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update smooth_control_law.cpp Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> (cherry picked from commit d1ad640) Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
…ion#4574) (ros-navigation#4576) Signed-off-by: redvinaa <redvinaa@gmail.com> (cherry picked from commit 57415d6) Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com>
* Updated README Table once Jazzy jobs turn over (ros-navigation#4482) * add new Jazzy matrix * missing header * test toolg * retry * done! * trim * trim * fix OS[0] * shutdown services in destructor of `ClearCostmapService` (ros-navigation#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * adjusting backup speed to be more reasonable (ros-navigation#4501) * Adding Costmap filters to system tests and cleaning up old gazebo classic files (ros-navigation#4502) * removing old files * removing old refs to gazebo classic * porting test body * including in root * Dock panel (ros-navigation#4458) * Initial docking panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Only one goal status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added dock pose Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix size of text Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update rviz Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update rviz config Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix default view (ros-navigation#4504) * Fix logo in nav2 panel (ros-navigation#4505) * Fix logo in nav2 panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Move icon Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix world to map coordinate conversion (ros-navigation#4506) Signed-off-by: HovorunBh <fipogh@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Add dock id (ros-navigation#4511) * Implement dock id Signed-off-by: redvinaa <redvinaa@gmail.com> * Update tests Signed-off-by: redvinaa <redvinaa@gmail.com> * Update docs Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix virtual override error Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (ros-navigation#4507) Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * min_turning_r_ getting param fix (ros-navigation#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> --------- Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fixing gz sim launch file by using gz directly (ros-navigation#4514) * port wait behavior to new gazebo (ros-navigation#4471) Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Completely rewritten spin, backup, and drive on heading tests to remove flakiness (ros-navigation#4515) * port backup behavior to new gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * port drive on heading behavior to new gazebo Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * completely rewritten spin test * lint * complete flaky test rewrite --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: stevedan <stevedan.o.omodolor@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (ros-navigation#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * Fix error_code_id (ros-navigation#4522) Signed-off-by: redvinaa <redvinaa@gmail.com> * completely shutdown dyn_params_handler_ (s) (ros-navigation#4521) * completely shutdown dny_params_handler_ in nav2_amcl Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> * completely shutdown dyn_param_handler_ in controller_server Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_params_handler in nav2_costmap_2d Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_param_handler in nav2_docking Signed-off-by: goes <GoesM@buaa.edu.cn> * completely shutdown dyn_params_handler in nav2_velocity_smoother Signed-off-by: goes <GoesM@buaa.edu.cn> * compeletly shutdown dyn_param_handler in waypoint_follower Signed-off-by: goes <GoesM@buaa.edu.cn> * typo fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * graceful-controller & dwb_controller Signed-off-by: goes <GoesM@buaa.edu.cn> * mppi-controller Signed-off-by: goes <GoesM@buaa.edu.cn> * navfn_planner & regulated_..controller Signed-off-by: goes <GoesM@buaa.edu.cn> * rotation_..controller & samc_planners Signed-off-by: goes <GoesM@buaa.edu.cn> * A*planner Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * 1 Signed-off-by: goes <GoesM@buaa.edu.cn> * fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * fix the usage of weak_ptr Signed-off-by: goes <GoesM@buaa.edu.cn> * code-style Signed-off-by: goes <GoesM@buaa.edu.cn> * weak_ptr released Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style Signed-off-by: goes <GoesM@buaa.edu.cn> * code style update Signed-off-by: goes <GoesM@buaa.edu.cn> * back Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase conflict resovled Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase error fixed Signed-off-by: goes <GoesM@buaa.edu.cn> * fixed2 Signed-off-by: goes <GoesM@buaa.edu.cn> * rebase fixed 3 Signed-off-by: goes <GoesM@buaa.edu.cn> * 33 Signed-off-by: goes <GoesM@buaa.edu.cn> * shared_ptr into weak_ptr Signed-off-by: GoesM <goesm@buaa.edu.cn> * remove adundant node.resest() Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * check nullptr in smoothPlan() (ros-navigation#4544) * check nullptr in smoothPlan() 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> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn> * check nullPtr in `computeControl()` (ros-navigation#4548) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Straight analytic expansions (ros-navigation#4549) * Add test to verify analytic expansions are straight Signed-off-by: James Ward <j.ward@sydney.edu.au> * Use continuous scaling of angle when performing analytic expansion Only applies to Hybrid A* - behaviour in lattice planner is unchanged Signed-off-by: James Ward <j.ward@sydney.edu.au> --------- Signed-off-by: James Ward <j.ward@sydney.edu.au> * Rviz tool to get cost of costmap cell (ros-navigation#4546) * Added GetCost srv Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Service in costmap_2d Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Rviz tool Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Styling Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Styles and Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added Bool use_footprint to srv Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added unit test for costmap costcell cost service Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed unit test script Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added theta, Updated unit test, Updated rviz tool service call logic Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Updated requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> --------- Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Switch to new-style static_transform_publisher arguments. (ros-navigation#4563) These arguments have been the preferred way to use things since at least Humble. This avoids warnings when running it for the tests. Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Updated slack link (ros-navigation#4565) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update README.md (ros-navigation#4589) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix flickering visualization (ros-navigation#4561) * Fix Flickering visualization Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring costmap_2d_ros.cpp Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Refactoring Costmap2DPublisher and Costmap2DROS Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Update costmap_2d_publisher.cpp Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Change map_vis_z from float to double Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Add comment to map_vis_z_ parameter Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> --------- Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Copy fix-terminate diff from opennav_docking repo (ros-navigation#4598) * Copy fix-terminate diff from opennav_docking repo Signed-off-by: redvinaa <redvinaa@gmail.com> * Lint Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix race condition in AMCL for ros-navigation#4537 (ros-navigation#4605) * Fixed timed_behavior.hpp (ros-navigation#4602) Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> * Adding new Nav2 loopback simulator (ros-navigation#4614) * adding Nav2 loopback sim Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * drop performance by half * lintin * Add multirobot usecase comment * fixing copy paste error * fixing review comments --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Added laser data from map in nav2_loopback_sim (ros-navigation#4617) * Added laser data from map Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed few requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fixed linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added parameters and fixed requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * linting Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Added scan using LineIterator Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * LineIterator max_distance or range_max Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * min of max_distance or range_max Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * final updates working correctly Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Fix lint Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * requested changes Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Making base frame ID for map to base link transform based on base frame ID parameter (ros-navigation#4632) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) * adding stamped option for loopbacks im (ros-navigation#4637) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: HovorunBh <fipogh@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: GoesM <goesm@buaa.edu.cn> Signed-off-by: James Ward <j.ward@sydney.edu.au> Signed-off-by: Jatin Patil <jatinpatil2003@gmail.com> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Bohdan <72872431+HovorunBh@users.noreply.github.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Ivan Radionov <45877502+JJRedmond@users.noreply.github.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com> Co-authored-by: James Ward <j.ward@sydney.edu.au> Co-authored-by: Jatin Patil <89979346+JatinPatil2003@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Vladyslav Hrynchak <vladyslav.hrynchak@logivations.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
… sign sometimes (ros-navigation#4664) (ros-navigation#4666) * Fixing ros-navigation#4661: MPPI ackermann reversing taking incorrect sign sometimes Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing unit test for type implicit cast Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 7eb47d8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…vigation#4684) (ros-navigation#4686) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> (cherry picked from commit d4c3faa) Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl>
…port (ros-navigation#4687) * feat(controller-server): `publish_zero_velocity` parameter (ros-navigation#4675) Backport of ros-navigation#4675 Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * Update nav2_controller/src/controller_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rein Appeldoorn <reinzor@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…ation#4699) (ros-navigation#4700) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Added load and save panel * Improved dock_panel state machine * Added loading dock plugins log * Redo UI * Update tooltips * Fix null-dereference --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
…4738) (ros-navigation#4740) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit a64dde1) Co-authored-by: Chris Lalancette <clalancette@gmail.com>
* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (ros-navigation#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Publish optimal trajectory as a Path message (ros-navigation#4640) * Publish optimal trajectory as a Path message Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> * move publish_optimal_path to TrajectoryVisualizer + minor refactoring Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> * tests added for optimal path publication Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> * populate optimal path message in add() Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> * move path population in add_marker Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> --------- Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> * [collision monitor] Select the observation sources used with each polygon (ros-navigation#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <anaelle.sarazin@robocc.com> * optimization Signed-off-by: asarazin <anaelle.sarazin@robocc.com> * add tests Signed-off-by: asarazin <anaelle.sarazin@robocc.com> --------- Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * Restore exported BT test utils header files after cmake revamp (ros-navigation#4652) (ros-navigation#4654) Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (ros-navigation#4649) Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * PoseStamped vector specialization (ros-navigation#4607) * PoseStamped vector specialization Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * merge master Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add path Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix size check Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "fix test" This reverts commit 51f54eb. * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [DWB] Option to limit velocity commands in trajectory generator (ros-navigation#4663) * Option to limit vel cmd through traj generator Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * Cleanup Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * fix linting Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * Update linting Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * uncrustify Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * uncrustify Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> --------- Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> * Adding planner server timeout for costmap waiting (ros-navigation#4673) * Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing path longer on approach (ros-navigation#4622) * fixing path longer on approach Signed-off-by: Pradheep <padhupradheep@gmail.com> * removing the short circuit Signed-off-by: Pradheep <padhupradheep@gmail.com> * adding additional layer of check Signed-off-by: Pradheep <padhupradheep@gmail.com> --------- Signed-off-by: Pradheep <padhupradheep@gmail.com> * fix to bt action server logging before bt execution result being ready (ros-navigation#4677) Signed-off-by: DreamWest <sirjamestsao@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (ros-navigation#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> --------- Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix: handle transition failures in all servers (ros-navigation#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * [RotationShimController] fix: rotate on short paths (ros-navigation#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <antoine.gennart@quimesis.be> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> * [RotationShimController] fix: rotate to goal heading (ros-navigation#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (ros-navigation#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Use single quotes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> * Updating error logging in Smac collision detector object (ros-navigation#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * manual backport to Jazzy of 6b2e244 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing backport issue Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing backport of docking linking changes Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: DreamWest <sirjamestsao@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: alyquantillion <158563995+alyquantillion@users.noreply.github.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Alan <alan.xuefei@googlemail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: DreamWest <sirjamestsao@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
…gation#4758) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> (cherry picked from commit 90a6c8d) Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
* Pass IDLE to on_tick, use that for initialize condition (ros-navigation#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (ros-navigation#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_costmap_2d plugin container layer (ros-navigation#4781) * updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <alex@polymathrobotics.com> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <alex@polymathrobotics.com> * initial commit of plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * fixed plugin namespace Signed-off-by: alexander <alex@polymathrobotics.com> * fixed message_filter Signed-off-by: alexander <alex@polymathrobotics.com> * linting Signed-off-by: alexander <alex@polymathrobotics.com> * modified addPlugin method to also take layer name Signed-off-by: alexander <alex@polymathrobotics.com> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <alex@polymathrobotics.com> * CMake changes to test plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * added helper method to add plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * added initial implementation of plugin container tests Signed-off-by: alexander <alex@polymathrobotics.com> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <alex@polymathrobotics.com> * cleaned up and added additional tests Signed-off-by: alexander <alex@polymathrobotics.com> * added Apache copyrights Signed-off-by: alexander <alex@polymathrobotics.com> * linting for ament_cpplint Signed-off-by: alexander <alex@polymathrobotics.com> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <alex@polymathrobotics.com> * removed unused rolling_window_ member variable Signed-off-by: alexander <alex@polymathrobotics.com> * removed default plugins and plugin types Signed-off-by: alexander <alex@polymathrobotics.com> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <alex@polymathrobotics.com> * removed combined_costmap_ Signed-off-by: alexander <alex@polymathrobotics.com> * fixed layer naming and accomodating tests Signed-off-by: alexander <alex@polymathrobotics.com> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <alex@polymathrobotics.com> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <alex@polymathrobotics.com> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <alex@polymathrobotics.com> * removed unnecessary locks, added default value Signed-off-by: alexander <alex@polymathrobotics.com> * removed unecessary resetMap Signed-off-by: alexander <alex@polymathrobotics.com> * added layer resetting when reset method is called Signed-off-by: alexander <alex@polymathrobotics.com> * swapped logic for isClearable Signed-off-by: alexander <alex@polymathrobotics.com> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <alex@polymathrobotics.com> * consolidated initialization for loops Signed-off-by: alexander <alex@polymathrobotics.com> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <alex@polymathrobotics.com> * added clearArea function Signed-off-by: alexander <alex@polymathrobotics.com> * added clearArea test Signed-off-by: alexander <alex@polymathrobotics.com> * removed TODO message Signed-off-by: alexander <alex@polymathrobotics.com> * removed constructor and destructors since they do nothing Signed-off-by: alexander <alex@polymathrobotics.com> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <alex@polymathrobotics.com> * fixed tests for clearing functionality Signed-off-by: alexander <alex@polymathrobotics.com> * added try catch around initialization of plugins Signed-off-by: alexander <alex@polymathrobotics.com> * fixed indents Signed-off-by: alexander <alex@polymathrobotics.com> --------- Signed-off-by: alexander <alex@polymathrobotics.com> * bumping to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix backporting error: renamed header files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: alexander <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
…navigation#4851) (ros-navigation#4852) * Fixes smac planner non-circular footprint search issue (ros-navigation#4851) * initial prototype to resolve smac planner issue Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit bc9f2bc) # Conflicts: # nav2_smac_planner/src/collision_checker.cpp # nav2_smac_planner/src/node_hybrid.cpp * fix mergify issue Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Mppi goal to critic (ros-navigation#4822) * Add goal pose to CriticData Signed-off-by: redvinaa <redvinaa@gmail.com> * Pass goal pose directly to withinPositionGoalTolerance Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix condition not Signed-off-by: redvinaa <redvinaa@gmail.com> * Add goal positions to tests Signed-off-by: redvinaa <redvinaa@gmail.com> * Use plan stamp Signed-off-by: redvinaa <redvinaa@gmail.com> * Use float instead of auto Signed-off-by: redvinaa <redvinaa@gmail.com> * Throw nav2_core exceptions Signed-off-by: redvinaa <redvinaa@gmail.com> * Set pose frame id in test Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix frame id in test vol 2 Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> (cherry picked from commit d11de56) # Conflicts: # nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp * Update utils.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: redvinaa <redvinaa@gmail.com> (cherry picked from commit 694a222) Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com>
…rformance (ros-navigation#4857) (ros-navigation#4858) * initial prototype to resolve smac planner issue Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * initial prototype for coarse to fine checking for smac: incomplete Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completed initial prototype; for testing and benchmarking now Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding bounds checking for coarse Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * remove coarse to fine checks Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 5ff8cc7) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…4883) * Fix rviz crash if start later Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bring back default rviz launch file Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * New line Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Whitespace Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add log when failed Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> (cherry picked from commit 4192372) Co-authored-by: mini-1235 <58433591+mini-1235@users.noreply.github.com>
…) (ros-navigation#4886) the else condition is a duplication of the one before and was so never executed. Signed-off-by: Georg Flick <georg.flick@enway.ai> (cherry picked from commit 447c8ce) Co-authored-by: Georg Flick <54032815+georgflick@users.noreply.github.com>
(cherry picked from commit 4516a6a) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
* nav2_smac_planner: handle corner case where start and goal are on the same cell (ros-navigation#4793) * nav2_smac_planner: handle corner case where start and goal are on the same cell This case was already properly handled in the smac_planner_2d, but it was still leading to an A* backtrace failure in the smac_planner_hybrid and smac_planner_lattice. Let's harmonize the handling of this case. This commit fixes issue ros-navigation#4792. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: use goal orientation when path is made of one point Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: publish raw path also when start and goal are on the same cell Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: add corner case to unit tests Add a plan where the start and goal are placed on the same cell. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * creating auto-transition option for nav2_util::LifecycleNode (ros-navigation#4804) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix trajectory generation bug in docking controller (ros-navigation#4807) * Fix trajectory in docking controller Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Ceil and remove resolution Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * graceful_controller: implement iterative selection of control points (ros-navigation#4795) * initial pass at iterative Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add v_angular_min_in_place Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add orientation filter, fix remaining TODOs Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * try to increase coverage, fixup minor test issues Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * address review comments Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * review comments * update defaults * rename to in_place_collision_resolution Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * revert change in default Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * fix bug in use of v_angular_min_in_place (ros-navigation#4813) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * publish motion target as pose (ros-navigation#4839) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (ros-navigation#4836) Until now, the NONE error code was returned when exceeding the time allowance. Let's return the more appropriate TIMEOUT error code instead. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * fix bug in orientation filtering (ros-navigation#4840) * fix bug in orientation filtering some global planners output all zeros for orientation, however the plan is in the global frame. when transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * account for floating point error Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * Adapt GoalUpdater to update goals as well (ros-navigation#4771) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adapt goalUpdater to modify goals as well Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change name of msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make input goals be Goals again for compatibility Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "fix" This reverts commit 8303cdc. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * refactoring Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ignore if no timestamps Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * facepalm Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot nodes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * more fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add common_interfaces Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix warn msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improve Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change to info Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix simple smoother failing during final approach (ros-navigation#4817) * new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * Add acc limit consideration to avoid overshooting in RotationShimController (ros-navigation#4864) * Add acc limit consideration to avoid overshoot in RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add acceleration limit tests to RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix flaky ness of opennav_docking test_docking_server (ros-navigation#4878) (ros-navigation#4879) Call publish() (odom -> base_link tf) at startup to kick things off and spin 10 times(1 second) TF, so that it has a chance to propogate to the docking_server so that it will accept an action request. Previously it was only spinning once, hoping the timer would fire and call publish fast enough for it to propogate to the docking_server so that it is able to accept the first 'dock_robot' action request Signed-off-by: Mike Wake <macwake@gmail.com> * [BtActionNode] [BtServiceNode] clear between calls (ros-navigation#4887) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * dwb_critics flaky test - lineCost coordinates must be within costmap (ros-navigation#4889) (ros-navigation#4884) There is no protection/checks in the pathway from lineCost to costmap_2d::getIndex(mx, my) for grid coordinates that exceed the of bounds of the allocated costmap. (presumably for speed) This test was triggering an off by one error attempting to read the the 2500 byte costmap at byte 2503 costmap size 50x50. getIndex(3, 50) = my * size_x_ + mx; = 50 * 50 + 3; = 2503 Signed-off-by: Mike Wake <macwake@gmail.com> * Add option to use open-loop control with Rotation Shim (ros-navigation#4880) * Initial implementation Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * replace feedback param with closed_loop Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Reset last_angular_vel_ in activate method Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add closed_loop parameter to dynamicParametersCallback Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add tests Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Override reset function Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix unstable test in nav2 util (ros-navigation#4894) * Fix unstable test in nav2 util Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Change 5s to 1s Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bt2img syntax and bt pics (ros-navigation#4900) Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> * bumping to 1.3.5 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Adapt GoalUpdater to update goals as well (ros-navigation#4771)" This reverts commit 55d7387. --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Michael Ferguson <mfergs7@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: Mike Wake <macwake@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Ray Ferric <63957587+rayferric@users.noreply.github.com> Co-authored-by: Balint Rozgonyi <43723477+RBT22@users.noreply.github.com> Co-authored-by: ewak <ewak@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: mini-1235 <58433591+mini-1235@users.noreply.github.com>
…igation#4919) (ros-navigation#4920) Signed-off-by: doublebrackets <absolutecasul@gmail.com> (cherry picked from commit 4694386) Co-authored-by: doublebrackets <104829990+glitchhopcore@users.noreply.github.com>
ros-navigation#5013) Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> (cherry picked from commit d9cc4ba) Co-authored-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
…avigation#5027) (ros-navigation#5045) * Halt recovery action when main action succeeds to reset status Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_behavior_tree/plugins/control/recovery_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit e6cef39) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…avigation#5069) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 34a4b7c) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
) (ros-navigation#5074) * Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> (cherry picked from commit 3ec7c33) Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>
* Add short delay before lookup transform in polygon test (ros-navigation#4939) * Add short delay before lookup transform Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Populate stamped command message with now timestamp, if velocity timed out. (ros-navigation#4959) Signed-off-by: Georg Flick <georg.flick@enway.ai> * Integrate ClearCostmapExceptRegion and ClearCostmapAroundRobot Services into the API (ros-navigation#4962) * Add ClearCostmapExceptRegion and ClearCostmapAroundRobot services to BasicNavigator API Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * typo ament_flake8 Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * type fix ament_flake Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> --------- Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * Fix urls in node hybrid (ros-navigation#4973) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Use main function to replace global variable in gtest. (ros-navigation#4978) Signed-off-by: ChenYing Kuo <evshary@gmail.com> * nav2_behavior_tree: fix input port parsing error in AreErrorCodesPresent (ros-navigation#4986) The getInput method does not support std::set<uint16_t> parsing. So, let's replace the type of the input port by std::vector<int> which is supported, and convert the list to a std::set<uint16_t>. This commit fixes issue ros-navigation#4985. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * Change to goal checker orientation for yaw angle (ros-navigation#4988) - Fixed discrepancy in goal checker orientation, which was checking for < tolerance instead of <= tolerance, as all the other limit checks are. - Reduced tolerance time for the progress checker unit tests to 0.1 seconds, to reduce test runtime from ~17 to ~7 seconds. Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> * Declare_parameter_if_not_declared in docking navigator (ros-navigation#5023) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * bumping to 1.3.6 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Georg Flick <georg.flick@enway.ai> Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> Signed-off-by: mattbooker <mattbooker97@gmail.com> Signed-off-by: ChenYing Kuo <evshary@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: mini-1235 <58433591+mini-1235@users.noreply.github.com> Co-authored-by: Georg Flick <54032815+georgflick@users.noreply.github.com> Co-authored-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com> Co-authored-by: Matthew Booker <mattbooker97@gmail.com> Co-authored-by: ChenYing Kuo (CY) <evshary@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: RasmusLar <101558931+RasmusLar@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
* Add keepout filter launch file * Add keepout navigation parameters * Add keepout warehouse map and yaml files
Contributor
Contributor
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This pull request is in conflict. Could you fix it @rohinraj? |
Contributor
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@rohinraj, your PR has failed to build. Please check CI outputs and resolve issues. |
Author
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Created another PR (#5129) from rohinraj:main , Fixed conflicts. |
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