Smac planner orientation non specifity by stevedanomodolor · Pull Request #2 · stevedanomodolor/navigation2

stevedanomodolor · 2024-01-21T17:23:03Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

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

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

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

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

stevedanomodolor added 8 commits December 20, 2023 05:13

WIP

1cc2afe

changes based on comments, WIP

cefc32c

WIP

8385efe

compiled but not test

55d966d

include getgoals

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uncomment

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incude operaootr!=

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wip

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stevedanomodolor changed the base branch from main to smac_planner_expand_orientation February 9, 2024 06:16

fix merge confliuct

1677509

stevedanomodolor closed this Feb 10, 2024

stevedanomodolor deleted the smac_planner_orientation_non_specifity branch February 10, 2024 08:32

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Smac planner orientation non specifity#2

Smac planner orientation non specifity#2
stevedanomodolor wants to merge 9 commits intosmac_planner_expand_orientationfrom
smac_planner_orientation_non_specifity

stevedanomodolor commented Jan 21, 2024

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stevedanomodolor commented Jan 21, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Uh oh!

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