Nav2 Sync 2 Nov 16 #10
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RBT22
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Nov 16, 2023
RBT22
commented
- Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble]
- Log if BT rate is exceeded (ros-planning#3909) (ros-planning#3913)
- Update theta_star_planner.cpp (ros-planning#3918) (ros-planning#3922)
- Fixing subtree issues with blackboard shared resources (3640)
- Handle NaNs in AMCL beam sensor model (ros-planning#3929)
- Fix Wrong Map Pointer (ros-planning#3311)
- Fix NaN in Updated PathAlign (ros-planning#3943)
- Fix for robot footprint collision in obstacles critic (ros-planning#3878
…os-navigation#3897) * Use mutex to protect costmap reads. (ros-navigation#3877) * Use mutex to protect costmap reads. Otherwise costmap can be read during a map update and return 0. * Revert "Use mutex to protect costmap reads." This reverts commit e16a44c. * Lock costmap before running MPPI controller. * Fix typo. * Protect against costmap updates in MPP and RotationShim controllers. --------- Co-authored-by: Leif Terry <leif@peanutrobotics.com> (cherry picked from commit a1c9fd5) # Conflicts: # nav2_mppi_controller/src/controller.cpp * fix merge conflict --------- Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…-navigation#3891 (ros-navigation#3900) (ros-navigation#3902) * image.hpp ros-navigation#3891 * Update image.hpp (cherry picked from commit 7a7c6da) Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
(cherry picked from commit a11cdd8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
) (cherry picked from commit 0629ff3) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation#3911) (ros-navigation#3916) * Fixing subtree issues with blackboard shared resources (3640) (ros-navigation#3911) * fixing subtree issues * Update bt_action_server_impl.hpp (cherry picked from commit 4b4465d) # Conflicts: # nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp * Update bt_action_server_impl.hpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…gation#3937) * Handle NaNs in AMCL beam sensor model Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Use proper isnan check Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> --------- Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> (cherry picked from commit 06c3550) Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com>
…s-navigation#3938) Not assigning fixed map pointer to particle filter, using latest when resample. (cherry picked from commit cc6f205) Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> (cherry picked from commit 85735ea) Co-authored-by: Borong Yuan <yuanborong@hotmail.com>
(cherry picked from commit 3d14d98) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…#3878) (ros-navigation#3947) * Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <leif@peanutrobotics.com> (cherry picked from commit 98af3b9) Co-authored-by: LeifHookedWireless <leif@hookedwireless.com>
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