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Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be>
…#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be>
* temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com>
#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
* Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu>
* [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai>
* Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com>
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
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* No need to spam the logs (ros-navigation#5674) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * Conditionally call onLoop based on node status (ros-navigation#5700) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Allow for no progress checkers to be configured (ros-navigation#5701) Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> * Fix: wait for drive_on_heading_client instead of backup_client (ros-navigation#5724) The basic navigator was waiting for the backup_client in the driveOnHeading function. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * Fix: reset controller_server loop_rate when missed desired rate ros-navigation#5712 (ros-navigation#5723) When a single iteration takes longer than the expected period, this impacts the next iterations behavior since they will have less time to perform the control logic, thus increasing the actual controller_frequency. By resetting the loop_rate on sleep() failure, this ensures that each iteration will have a full period to exectue its logic. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> * temporary fix bug null pointer (ros-navigation#5749) * temporary fix bug null pointer Signed-off-by: suifengersan123 <yangabc810@gmail.com> * add return Signed-off-by: suifengersan123 <yangabc810@gmail.com> * remove return Signed-off-by: suifengersan123 <yangabc810@gmail.com> --------- Signed-off-by: suifengersan123 <yangabc810@gmail.com> * fix: change warning to exception when goal poses cannot be transformed (ros-navigation#5759) - Replace RCLCPP_WARN with std::runtime_error exception in onPreempt method - Remove bt_action_server_->terminatePendingGoal() call after accepting goal - Add required stdexcept include for exception handling Fixes issue where navigators accept pending goal but are not properly terminated if rejected during goal pose transformation. Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> * Update obstacle layer usage of max ranges (ros-navigation#5697) * Use cell distance for obstacle marking max range Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Don't raytrace clear the cell containing the current observation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Add tests for max marking and clearing ranges Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix cpplint failures Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Fix distance calculation Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * fix casting, formatting Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * check origin is in map, update CMakeLists Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * use hypot instead of squared dist Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Move origin calc out of loop Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Revert don't raytrace origin if it is observation cell Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * Remove new line Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> --------- Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> * [mppi] Don't reset zone-based speed limits (ros-navigation#5768) * [mppi] Don't reset zone-based speed limits Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [mppi] update motion model params from speed_limit Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * fix linting issue Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Revert: reset speed limits after param change Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Bugfix inactive publishers (ros-navigation#5748) * Do not publish costmap unless active Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix typo Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Use layers isEnabled() to prevent publishing Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix style Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Add missing include for CostmapLayer type Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> * Remove extra scoping Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> --------- Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> * Fix MAX_NON_OBSTACLE_COST in theta star planner (ros-navigation#5865) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Bump jazzy to 1.3.11 for release Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: SteveMacenski <stevenmacenski@gmail.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: suifengersan123 <yangabc810@gmail.com> Signed-off-by: Simon Dathan <simon.dathan@kudan.eu> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: suifengersan123 <136066397+suifengersan123@users.noreply.github.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Co-authored-by: Simon Dathan <simon.dathan@kudan.eu> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Christopher Thompson <pele1410@gmail.com> Co-authored-by: Christopher Thompson <cthompson@metalsharkboats.com> Co-authored-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>
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