diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml index fb5c07c6248..3a01902c3b9 100644 --- a/nav2_amcl/package.xml +++ b/nav2_amcl/package.xml @@ -2,7 +2,7 @@ nav2_amcl - 1.3.10 + 1.3.11

amcl is a probabilistic localization system for a robot moving in diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml index 835dcc2c12b..c129951eeea 100644 --- a/nav2_behavior_tree/package.xml +++ b/nav2_behavior_tree/package.xml @@ -2,7 +2,7 @@ nav2_behavior_tree - 1.3.10 + 1.3.11 Nav2 behavior tree wrappers, nodes, and utilities Michael Jeronimo Carlos Orduno diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp index b18bdef4f46..a9b43c7044e 100644 --- a/nav2_behavior_tree/src/behavior_tree_engine.cpp +++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp @@ -64,7 +64,9 @@ BehaviorTreeEngine::run( result = tree->tickOnce(); - onLoop(); + if (result == BT::NodeStatus::RUNNING || result == BT::NodeStatus::IDLE) { + onLoop(); + } if (!loopRate.sleep()) { RCLCPP_DEBUG_THROTTLE( diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml index 779848b5cc5..df077db5f11 100644 --- a/nav2_behaviors/package.xml +++ b/nav2_behaviors/package.xml @@ -2,7 +2,7 @@ nav2_behaviors - 1.3.10 + 1.3.11 Nav2 behavior server Carlos Orduno Steve Macenski diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml index 7c59a8806af..74d9ce1ad6e 100644 --- a/nav2_bringup/package.xml +++ b/nav2_bringup/package.xml @@ -2,7 +2,7 @@ nav2_bringup - 1.3.10 + 1.3.11 Bringup scripts and configurations for the Nav2 stack Michael Jeronimo Steve Macenski diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml index e4aefe795d7..4592df49089 100644 --- a/nav2_bt_navigator/package.xml +++ b/nav2_bt_navigator/package.xml @@ -2,7 +2,7 @@ nav2_bt_navigator - 1.3.10 + 1.3.11 Nav2 BT Navigator Server Michael Jeronimo Apache-2.0 diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp index d75911b7d1c..7228c5b573d 100644 --- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp +++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp @@ -17,6 +17,7 @@ #include #include #include +#include #include "nav2_bt_navigator/navigators/navigate_through_poses.hpp" namespace nav2_bt_navigator @@ -203,11 +204,9 @@ NavigateThroughPosesNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal) // if pending goal has an empty behavior_tree field, it requests the default BT file // accept the pending goal if the current goal is running the default BT file if (!initializeGoalPoses(bt_action_server_->acceptPendingGoal())) { - RCLCPP_WARN( - logger_, + throw std::runtime_error( "Preemption request was rejected since the goal poses could not be " - "transformed. For now, continuing to track the last goal until completion."); - bt_action_server_->terminatePendingGoal(); + "transformed."); } } else { RCLCPP_WARN( diff --git a/nav2_collision_monitor/package.xml b/nav2_collision_monitor/package.xml index 76fd8ce1fce..74cc85da1c5 100644 --- a/nav2_collision_monitor/package.xml +++ b/nav2_collision_monitor/package.xml @@ -2,7 +2,7 @@ nav2_collision_monitor - 1.3.10 + 1.3.11 Collision Monitor Alexey Merzlyakov Steve Macenski diff --git a/nav2_common/package.xml b/nav2_common/package.xml index 3235bf8308b..60251cd33d1 100644 --- a/nav2_common/package.xml +++ b/nav2_common/package.xml @@ -2,7 +2,7 @@ nav2_common - 1.3.10 + 1.3.11 Common support functionality used throughout the navigation 2 stack Carl Delsey Apache-2.0 diff --git a/nav2_constrained_smoother/package.xml b/nav2_constrained_smoother/package.xml index 51b76ef06fa..9e2f9b3796b 100644 --- a/nav2_constrained_smoother/package.xml +++ b/nav2_constrained_smoother/package.xml @@ -2,7 +2,7 @@ nav2_constrained_smoother - 1.3.10 + 1.3.11 Ceres constrained smoother Matej Vargovcik Steve Macenski diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml index b56d524d457..beae0955d5f 100644 --- a/nav2_controller/package.xml +++ b/nav2_controller/package.xml @@ -2,7 +2,7 @@ nav2_controller - 1.3.10 + 1.3.11 Controller action interface Carl Delsey Apache-2.0 diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp index 82557b1da1d..e1d419b2dce 100644 --- a/nav2_controller/src/controller_server.cpp +++ b/nav2_controller/src/controller_server.cpp @@ -159,6 +159,9 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state) for (size_t i = 0; i != progress_checker_ids_.size(); i++) { progress_checker_ids_concat_ += progress_checker_ids_[i] + std::string(" "); } + if (progress_checker_ids_concat_.empty()) { + progress_checker_ids_concat_ = "(none)"; + } RCLCPP_INFO( get_logger(), @@ -417,6 +420,22 @@ bool ControllerServer::findProgressCheckerId( const std::string & c_name, std::string & current_progress_checker) { + if (progress_checkers_.size() == 0) { + if (c_name.empty()) { + RCLCPP_DEBUG( + get_logger(), + "No progress checker configured and none requested. Progress checking will be bypassed."); + current_progress_checker = ""; + return true; + } else { + RCLCPP_ERROR( + get_logger(), "FollowPath called with progress_checker name %s in parameter" + " 'current_progress_checker', but no progress checkers are configured.", + c_name.c_str()); + return false; + } + } + if (progress_checkers_.find(c_name) == progress_checkers_.end()) { if (progress_checkers_.size() == 1 && c_name.empty()) { RCLCPP_WARN_ONCE( @@ -476,7 +495,9 @@ void ControllerServer::computeControl() } setPlannerPath(goal->path); - progress_checkers_[current_progress_checker_]->reset(); + if (!current_progress_checker_.empty()) { + progress_checkers_[current_progress_checker_]->reset(); + } last_valid_cmd_time_ = now(); rclcpp::WallRate loop_rate(controller_frequency_); @@ -525,6 +546,7 @@ void ControllerServer::computeControl() get_logger(), "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.", controller_frequency_, 1 / cycle_duration.seconds()); + loop_rate.reset(); } } } catch (nav2_core::InvalidController & e) { @@ -629,8 +651,10 @@ void ControllerServer::computeAndPublishVelocity() throw nav2_core::ControllerTFError("Failed to obtain robot pose"); } - if (!progress_checkers_[current_progress_checker_]->check(pose)) { - throw nav2_core::FailedToMakeProgress("Failed to make progress"); + if (!current_progress_checker_.empty()) { + if (!progress_checkers_[current_progress_checker_]->check(pose)) { + throw nav2_core::FailedToMakeProgress("Failed to make progress"); + } } nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist()); @@ -729,7 +753,9 @@ void ControllerServer::updateGlobalPath() get_logger(), "Change of progress checker %s requested, resetting it", goal->progress_checker_id.c_str()); current_progress_checker_ = current_progress_checker; - progress_checkers_[current_progress_checker_]->reset(); + if (!current_progress_checker_.empty()) { + progress_checkers_[current_progress_checker_]->reset(); + } } } else { RCLCPP_INFO( diff --git a/nav2_core/package.xml b/nav2_core/package.xml index cde04619d3e..5a4a75cfa0e 100644 --- a/nav2_core/package.xml +++ b/nav2_core/package.xml @@ -2,7 +2,7 @@ nav2_core - 1.3.10 + 1.3.11 A set of headers for plugins core to the Nav2 stack Steve Macenski Carl Delsey diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp index 97a9c0a4ff8..37ca608dd3b 100644 --- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp +++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp @@ -122,19 +122,11 @@ class Costmap2DPublisher } /** - * @brief Publishes the visualization data over ROS + * @brief Publishes the visualization data over ROS + * @note Only publishes when the associated layer is enabled */ void publishCostmap(); - /** - * @brief Check if the publisher is active - * @return True if the frequency for the publisher is non-zero, false otherwise - */ - bool active() - { - return active_; - } - private: /** @brief Prepare grid_ message for publication. */ void prepareGrid(); @@ -165,7 +157,6 @@ class Costmap2DPublisher unsigned int x0_, xn_, y0_, yn_; double saved_origin_x_; double saved_origin_y_; - bool active_; bool always_send_full_costmap_; double map_vis_z_; diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml index eef7e78e0cd..03f8131b851 100644 --- a/nav2_costmap_2d/package.xml +++ b/nav2_costmap_2d/package.xml @@ -2,7 +2,7 @@ nav2_costmap_2d - 1.3.10 + 1.3.11 This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending diff --git a/nav2_costmap_2d/src/costmap_2d_publisher.cpp b/nav2_costmap_2d/src/costmap_2d_publisher.cpp index d586319783e..7240a23bf06 100644 --- a/nav2_costmap_2d/src/costmap_2d_publisher.cpp +++ b/nav2_costmap_2d/src/costmap_2d_publisher.cpp @@ -37,6 +37,7 @@ * David V. Lu!! *********************************************************************/ #include "nav2_costmap_2d/costmap_2d_publisher.hpp" +#include "nav2_costmap_2d/costmap_layer.hpp" #include #include @@ -59,7 +60,6 @@ Costmap2DPublisher::Costmap2DPublisher( : costmap_(costmap), global_frame_(global_frame), topic_name_(topic_name), - active_(false), always_send_full_costmap_(always_send_full_costmap), map_vis_z_(map_vis_z) { @@ -232,6 +232,11 @@ std::unique_ptr Costmap2DPublisher::createCostmap void Costmap2DPublisher::publishCostmap() { + auto const costmap_layer = dynamic_cast(costmap_); + if (costmap_layer != nullptr && !costmap_layer->isEnabled()) { + return; + } + float resolution = costmap_->getResolution(); if (always_send_full_costmap_ || grid_resolution_ != resolution || grid_width_ != costmap_->getSizeInCellsX() || diff --git a/nav2_costmap_2d/src/costmap_layer.cpp b/nav2_costmap_2d/src/costmap_layer.cpp index 8dbce5017f0..cacb1a9f394 100644 --- a/nav2_costmap_2d/src/costmap_layer.cpp +++ b/nav2_costmap_2d/src/costmap_layer.cpp @@ -57,6 +57,12 @@ void CostmapLayer::matchSize() { std::lock_guard guard(*getMutex()); Costmap2D * master = layered_costmap_->getCostmap(); + if (!master) { + RCLCPP_WARN( + rclcpp::get_logger("nav2_costmap_2d"), + "Cannot match size for layer, master costmap is not initialized yet."); + return; + } resizeMap( master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(), master->getOriginX(), master->getOriginY()); diff --git a/nav2_costmap_2d/src/layered_costmap.cpp b/nav2_costmap_2d/src/layered_costmap.cpp index 33e9fc22aa5..2d099a22370 100644 --- a/nav2_costmap_2d/src/layered_costmap.cpp +++ b/nav2_costmap_2d/src/layered_costmap.cpp @@ -44,6 +44,8 @@ #include #include +#include + #include "nav2_costmap_2d/footprint.hpp" @@ -115,7 +117,9 @@ void LayeredCostmap::resizeMap( for (vector>::iterator plugin = plugins_.begin(); plugin != plugins_.end(); ++plugin) { - (*plugin)->matchSize(); + if (*plugin) { + (*plugin)->matchSize(); + } } for (vector>::iterator filter = filters_.begin(); filter != filters_.end(); ++filter) @@ -146,9 +150,11 @@ void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw) } if (isOutofBounds(robot_x, robot_y)) { - RCLCPP_WARN( + rclcpp::Clock clock{RCL_ROS_TIME}; + RCLCPP_WARN_THROTTLE( rclcpp::get_logger("nav2_costmap_2d"), - "Robot is out of bounds of the costmap!"); + clock, 5000, + "Robot is out of bounds of the costmap"); } if (plugins_.size() == 0 && filters_.size() == 0) { diff --git a/nav2_costmap_2d/test/unit/CMakeLists.txt b/nav2_costmap_2d/test/unit/CMakeLists.txt index 6133002dfb3..3b37976a7c8 100644 --- a/nav2_costmap_2d/test/unit/CMakeLists.txt +++ b/nav2_costmap_2d/test/unit/CMakeLists.txt @@ -66,4 +66,4 @@ ament_add_gtest(obstacle_layer_test obstacle_layer_test.cpp) target_link_libraries(obstacle_layer_test ${PROJECT_NAME}::nav2_costmap_2d_core layers -) \ No newline at end of file +) diff --git a/nav2_docking/opennav_docking/package.xml b/nav2_docking/opennav_docking/package.xml index 995e1c2b5e1..21f7d7096d4 100644 --- a/nav2_docking/opennav_docking/package.xml +++ b/nav2_docking/opennav_docking/package.xml @@ -2,7 +2,7 @@ opennav_docking - 1.3.10 + 1.3.11 A Task Server for robot charger docking Steve Macenski Apache-2.0 diff --git a/nav2_docking/opennav_docking_bt/package.xml b/nav2_docking/opennav_docking_bt/package.xml index 50b2cd7676d..b73a0fb6f55 100644 --- a/nav2_docking/opennav_docking_bt/package.xml +++ b/nav2_docking/opennav_docking_bt/package.xml @@ -2,7 +2,7 @@ opennav_docking_bt - 1.3.10 + 1.3.11 A set of BT nodes and XMLs for docking Steve Macenski Apache-2.0 diff --git a/nav2_docking/opennav_docking_core/package.xml b/nav2_docking/opennav_docking_core/package.xml index 5e03f57a7fb..d486f9bda49 100644 --- a/nav2_docking/opennav_docking_core/package.xml +++ b/nav2_docking/opennav_docking_core/package.xml @@ -2,7 +2,7 @@ opennav_docking_core - 1.3.10 + 1.3.11 A set of headers for plugins core to the opennav docking framework Steve Macenski Apache-2.0 diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml index 2cb7bfcfa85..488eab1756e 100644 --- a/nav2_dwb_controller/costmap_queue/package.xml +++ b/nav2_dwb_controller/costmap_queue/package.xml @@ -1,7 +1,7 @@ costmap_queue - 1.3.10 + 1.3.11 The costmap_queue package David V. Lu!! BSD-3-Clause diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml index 542d273bc11..a14708dd5d4 100644 --- a/nav2_dwb_controller/dwb_core/package.xml +++ b/nav2_dwb_controller/dwb_core/package.xml @@ -2,7 +2,7 @@ dwb_core - 1.3.10 + 1.3.11 DWB core interfaces package Carl Delsey BSD-3-Clause diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml index b8393bd27c6..855b15811a0 100644 --- a/nav2_dwb_controller/dwb_critics/package.xml +++ b/nav2_dwb_controller/dwb_critics/package.xml @@ -1,7 +1,7 @@ dwb_critics - 1.3.10 + 1.3.11 The dwb_critics package David V. Lu!! BSD-3-Clause diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml index 7e643a5f190..4fcd56d9b41 100644 --- a/nav2_dwb_controller/dwb_msgs/package.xml +++ b/nav2_dwb_controller/dwb_msgs/package.xml @@ -2,7 +2,7 @@ dwb_msgs - 1.3.10 + 1.3.11 Message/Service definitions specifically for the dwb_core David V. Lu!! BSD-3-Clause diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml index 2f442fe957c..caebb2f23c5 100644 --- a/nav2_dwb_controller/dwb_plugins/package.xml +++ b/nav2_dwb_controller/dwb_plugins/package.xml @@ -1,7 +1,7 @@ dwb_plugins - 1.3.10 + 1.3.11 Standard implementations of the GoalChecker and TrajectoryGenerators for dwb_core diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml index 3e149004476..a797e350b37 100644 --- a/nav2_dwb_controller/nav2_dwb_controller/package.xml +++ b/nav2_dwb_controller/nav2_dwb_controller/package.xml @@ -2,7 +2,7 @@ nav2_dwb_controller - 1.3.10 + 1.3.11 ROS2 controller (DWB) metapackage diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml index 85f4a7b0703..9a223249299 100644 --- a/nav2_dwb_controller/nav_2d_msgs/package.xml +++ b/nav2_dwb_controller/nav_2d_msgs/package.xml @@ -2,7 +2,7 @@ nav_2d_msgs - 1.3.10 + 1.3.11 Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D. David V. Lu!! BSD-3-Clause diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav2_dwb_controller/nav_2d_utils/package.xml index 8eed8fe0aa2..b1c4a32f1af 100644 --- a/nav2_dwb_controller/nav_2d_utils/package.xml +++ b/nav2_dwb_controller/nav_2d_utils/package.xml @@ -2,7 +2,7 @@ nav_2d_utils - 1.3.10 + 1.3.11 A handful of useful utility functions for nav_2d packages. David V. Lu!! BSD-3-Clause diff --git a/nav2_graceful_controller/package.xml b/nav2_graceful_controller/package.xml index 2ed28d9cb20..3de1189e530 100644 --- a/nav2_graceful_controller/package.xml +++ b/nav2_graceful_controller/package.xml @@ -2,7 +2,7 @@ nav2_graceful_controller - 1.3.10 + 1.3.11 Graceful motion controller Alberto Tudela Apache-2.0 diff --git a/nav2_lifecycle_manager/package.xml b/nav2_lifecycle_manager/package.xml index 1c0868038ea..7e47bdb5b6e 100644 --- a/nav2_lifecycle_manager/package.xml +++ b/nav2_lifecycle_manager/package.xml @@ -2,7 +2,7 @@ nav2_lifecycle_manager - 1.3.10 + 1.3.11 A controller/manager for the lifecycle nodes of the Navigation 2 system Michael Jeronimo Apache-2.0 diff --git a/nav2_loopback_sim/package.xml b/nav2_loopback_sim/package.xml index b3ce0480200..9163dea345c 100644 --- a/nav2_loopback_sim/package.xml +++ b/nav2_loopback_sim/package.xml @@ -2,7 +2,7 @@ nav2_loopback_sim - 1.3.10 + 1.3.11 A loopback simulator to replace physics simulation steve macenski Apache-2.0 diff --git a/nav2_map_server/package.xml b/nav2_map_server/package.xml index 728f0a7549a..a375a2e3605 100644 --- a/nav2_map_server/package.xml +++ b/nav2_map_server/package.xml @@ -2,7 +2,7 @@ nav2_map_server - 1.3.10 + 1.3.11 Refactored map server for ROS2 Navigation diff --git a/nav2_mppi_controller/package.xml b/nav2_mppi_controller/package.xml index ec8a745407a..493e50f724c 100644 --- a/nav2_mppi_controller/package.xml +++ b/nav2_mppi_controller/package.xml @@ -2,7 +2,7 @@ nav2_mppi_controller - 1.3.10 + 1.3.11 nav2_mppi_controller Steve Macenski Aleksei Budyakov diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp index b193d47b240..5a572382435 100644 --- a/nav2_mppi_controller/src/optimizer.cpp +++ b/nav2_mppi_controller/src/optimizer.cpp @@ -202,7 +202,7 @@ bool Optimizer::fallback(bool fail) return false; } - reset(); + reset(false /*Don't reset zone-based speed limits after fallback*/); if (++counter > settings_.retry_attempt_limit) { counter = 0; @@ -503,6 +503,7 @@ void Optimizer::setSpeedLimit(double speed_limit, bool percentage) s.constraints.wz = s.base_constraints.wz * ratio; } } + motion_model_->initialize(settings_.constraints, settings_.model_dt); } models::Trajectories & Optimizer::getGeneratedTrajectories() diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml index 6170db1dc66..a27fee44f10 100644 --- a/nav2_msgs/package.xml +++ b/nav2_msgs/package.xml @@ -2,7 +2,7 @@ nav2_msgs - 1.3.10 + 1.3.11 Messages and service files for the Nav2 stack Michael Jeronimo Steve Macenski diff --git a/nav2_navfn_planner/package.xml b/nav2_navfn_planner/package.xml index 52da4f30fb0..52d6c8021eb 100644 --- a/nav2_navfn_planner/package.xml +++ b/nav2_navfn_planner/package.xml @@ -2,7 +2,7 @@ nav2_navfn_planner - 1.3.10 + 1.3.11 Nav2 NavFn planner Steve Macenski Carlos Orduno diff --git a/nav2_planner/package.xml b/nav2_planner/package.xml index b9385fd205f..0724fe2a79e 100644 --- a/nav2_planner/package.xml +++ b/nav2_planner/package.xml @@ -2,7 +2,7 @@ nav2_planner - 1.3.10 + 1.3.11 Nav2 planner server package Steve Macenski Apache-2.0 diff --git a/nav2_regulated_pure_pursuit_controller/package.xml b/nav2_regulated_pure_pursuit_controller/package.xml index 688823657fb..25a9fa8fbdd 100644 --- a/nav2_regulated_pure_pursuit_controller/package.xml +++ b/nav2_regulated_pure_pursuit_controller/package.xml @@ -2,7 +2,7 @@ nav2_regulated_pure_pursuit_controller - 1.3.10 + 1.3.11 Regulated Pure Pursuit Controller Steve Macenski Shrijit Singh diff --git a/nav2_rotation_shim_controller/package.xml b/nav2_rotation_shim_controller/package.xml index d906b97d65f..29665fc4233 100644 --- a/nav2_rotation_shim_controller/package.xml +++ b/nav2_rotation_shim_controller/package.xml @@ -2,7 +2,7 @@ nav2_rotation_shim_controller - 1.3.10 + 1.3.11 Rotation Shim Controller Steve Macenski Apache-2.0 diff --git a/nav2_route/package.xml b/nav2_route/package.xml index 4421dbd1c89..2fa074ed509 100644 --- a/nav2_route/package.xml +++ b/nav2_route/package.xml @@ -2,7 +2,7 @@ nav2_route - 1.3.10 + 1.3.11 A Route Graph planner to compliment the Planner Server Steve Macenski Apache-2.0 diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml index 33fb69bc7f2..b33b814821d 100644 --- a/nav2_rviz_plugins/package.xml +++ b/nav2_rviz_plugins/package.xml @@ -2,7 +2,7 @@ nav2_rviz_plugins - 1.3.10 + 1.3.11 Navigation 2 plugins for rviz Michael Jeronimo Apache-2.0 diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py index 52463c9991b..ff67b70d27d 100644 --- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py +++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py @@ -313,7 +313,7 @@ def backup(self, backup_dist=0.15, backup_speed=0.025, time_allowance=10): def driveOnHeading(self, dist=0.15, speed=0.025, time_allowance=10): self.debug("Waiting for 'DriveOnHeading' action server") - while not self.backup_client.wait_for_server(timeout_sec=1.0): + while not self.drive_on_heading_client.wait_for_server(timeout_sec=1.0): self.info("'DriveOnHeading' action server not available, waiting...") goal_msg = DriveOnHeading.Goal() goal_msg.target = Point(x=float(dist)) diff --git a/nav2_simple_commander/package.xml b/nav2_simple_commander/package.xml index 9d381b375c7..a659b3a5eba 100644 --- a/nav2_simple_commander/package.xml +++ b/nav2_simple_commander/package.xml @@ -2,7 +2,7 @@ nav2_simple_commander - 1.3.10 + 1.3.11 An importable library for writing mobile robot applications in python3 steve Apache-2.0 diff --git a/nav2_smac_planner/package.xml b/nav2_smac_planner/package.xml index 927e973dfe8..db2e52a3fe8 100644 --- a/nav2_smac_planner/package.xml +++ b/nav2_smac_planner/package.xml @@ -2,7 +2,7 @@ nav2_smac_planner - 1.3.10 + 1.3.11 Smac global planning plugin: A*, Hybrid-A*, State Lattice Steve Macenski Apache-2.0 diff --git a/nav2_smoother/package.xml b/nav2_smoother/package.xml index 46668395b85..915cb3ff6a2 100644 --- a/nav2_smoother/package.xml +++ b/nav2_smoother/package.xml @@ -2,7 +2,7 @@ nav2_smoother - 1.3.10 + 1.3.11 Smoother action interface Matej Vargovcik Steve Macenski diff --git a/nav2_system_tests/package.xml b/nav2_system_tests/package.xml index a9da4f43fb9..8b263818ff4 100644 --- a/nav2_system_tests/package.xml +++ b/nav2_system_tests/package.xml @@ -2,7 +2,7 @@ nav2_system_tests - 1.3.10 + 1.3.11 A sets of system-level tests for Nav2 usually involving full robot simulation Carlos Orduno Apache-2.0 diff --git a/nav2_theta_star_planner/package.xml b/nav2_theta_star_planner/package.xml index d05f1d82034..7dee7230b7a 100644 --- a/nav2_theta_star_planner/package.xml +++ b/nav2_theta_star_planner/package.xml @@ -2,7 +2,7 @@ nav2_theta_star_planner - 1.3.10 + 1.3.11 Theta* Global Planning Plugin Steve Macenski Anshumaan Singh diff --git a/nav2_util/package.xml b/nav2_util/package.xml index 66575ed42d1..5f51b7831b4 100644 --- a/nav2_util/package.xml +++ b/nav2_util/package.xml @@ -2,7 +2,7 @@ nav2_util - 1.3.10 + 1.3.11 Nav2 utilities Michael Jeronimo Mohammad Haghighipanah diff --git a/nav2_velocity_smoother/package.xml b/nav2_velocity_smoother/package.xml index abdd180a9f3..c67f0e13879 100644 --- a/nav2_velocity_smoother/package.xml +++ b/nav2_velocity_smoother/package.xml @@ -2,7 +2,7 @@ nav2_velocity_smoother - 1.3.10 + 1.3.11 Nav2's Output velocity smoother Steve Macenski Apache-2.0 diff --git a/nav2_voxel_grid/package.xml b/nav2_voxel_grid/package.xml index b452f639020..a717bda55ce 100644 --- a/nav2_voxel_grid/package.xml +++ b/nav2_voxel_grid/package.xml @@ -2,7 +2,7 @@ nav2_voxel_grid - 1.3.10 + 1.3.11 voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures. diff --git a/nav2_waypoint_follower/package.xml b/nav2_waypoint_follower/package.xml index fbba3b2d159..155cfc83fe7 100644 --- a/nav2_waypoint_follower/package.xml +++ b/nav2_waypoint_follower/package.xml @@ -2,7 +2,7 @@ nav2_waypoint_follower - 1.3.10 + 1.3.11 A waypoint follower navigation server Steve Macenski Apache-2.0 diff --git a/navigation2/package.xml b/navigation2/package.xml index 4892d47ac59..651db4579ba 100644 --- a/navigation2/package.xml +++ b/navigation2/package.xml @@ -2,7 +2,7 @@ navigation2 - 1.3.10 + 1.3.11 ROS2 Navigation Stack