…tion#1601)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Add eloquent option to build script and made it default

* Add eloquent in the error message

* Remove dashing

the removed code has no effect at all: the status of a node will be its returned value!.

In general, you never set your status to IDLE, unless halted.

* Corrected check to detect collision (ros-navigation#1404)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Changed collision check to detect only lethal and unknown cells (ros-navigation#1404)(ros-navigation#1603)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

…ion#1612)

* corrected wrong indexing in NavfnPlanner::smoothApproachToGoal function

* resolved uncrustify errors

* corrected the condition inside NavfnPlanner::smoothApproachToGoal to replace last pose of computed path

Co-authored-by: chikmagalore.thilak <chikmagalore.thilak@bshg.com>

* Proposed refactoring to avoid issues with CoroAction

* correctly haltAllActions (related to ros-navigation#1600)

* not really needed and will be deprecated soon

* Applying changes suggested in the comments of ros-navigation#1606

- fix haltAllActions
- changes method signature on_success()
- reverts the changes made here:
https://github.com/ros-planning/navigation2/pull/1515/files

* fix warnings and errors

* make uncrustify happy?

* Update bt_navigator.cpp

* Update bt_navigator.cpp

* uncrustify fix

Co-authored-by: daf@blue-ocean-robotics.com <Davide Faconti>

…-navigation#1615)

- `BtServiceNode::check_future()` was created, to encapsulate the logic
where a the output of the BtServiceNode is computed.
- Inherited classes can overload this function according to the requirement
of the user

A BT port is introduced in case the user wants to change the default action_name
of BtActionNode.

) (ros-navigation#1621)

* Added thread synchronization to KinematicParameters (ros-navigation#1459)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Doxygen fix (ros-navigation#1459)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Updated website gifs (ros-navigation#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Created new gifs (ros-navigation#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected gif name (ros-navigation#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

…ros-navigation#1636)

* Changed onCycleUpdate to allow preemption (ros-navigation#1622)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Deleted unnecessary wait and corrected style (ros-navigation#1622)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Nav2 planner plugin tutorial draft 1

* Reduced gif size

* Updated the config code block

* Remove RRTConnect plugin and add StraightLine plugin.

* Address reviewer's comments

* Add information about planners mapping in Navigation2

…on#1637)

…os-navigation#1640)

The problem appears while addressing zero-length path vector
after planner failed to create a plan.

…tion#1649)

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

* [WIP] map_server refactor and cleanup

nav2_map_server/mapio (map input-optput library):
* Move OccupancyGrid messages saving code from MapSaver::mapCallback()
  to saveMapToFile() function
* Rename and move try_write_map_to_file() MapSaver method
  to tryWriteMapToFile() function
* Move map saving parameters into one SaveParameters struct
* Reorganize map saving parameters verification code from MapSaver
  to new checkSaveParameters() function
* Correct logging for incorrect input cases in checkSaveParameters()
* Copy loadMapFromYaml() method from OccupancyGridLoader
* Move loadMapFromFile() method from OccupancyGridLoader
* Rename and move load_map_yaml() OccupancyGrid method
  to loadMapYaml() function
* Move LoadParameters struct from OccupancyGridLoader

nav2_map_server/map_saver:
* Completely re-work MapSaver node:
 - Switch MapSaver from rclcpp::Node to nav2_utils::LifecycleNode
 - Revise MapSaver node parameters model
 - Add saveMapTopicToFile() method for saving map from topic
 - Remove future-promise synchronization model as unnecessary
* Add "save_map" service with new SaveMap service messages
* Rename map_saver_cli.cpp -> map_saver_cli_main.cpp file
  and map_saver -> to map_saver_cli executable
* Add ability to save a map from custom topic ("-t" cli-option)
* Restore support of "--ros-args" remappings
* Update help message in map_saver_cli
* New map_saver_server_main.cpp file and map_saver_server executable:
  continuously running server node
* New launch/map_saver_server.launch.py: map_saver_server launcher

nav2_map_server/map_server:
* Revise MapServer node parameters model
* Rename loadMapFromYaml() -> loadMapResponseFromYaml()
* Add node prefix to "map" and "load_map" service names
* Fix crash: dereferencing nullptr in map_server running as a node
  while handling of incorrect input map name
* Add updateMsgHeader() method for correcting map message header
  when it belongs to instantiated object
* Rename main.cpp -> map_server_main.cpp file
* Minor changes and renames to keep unified code style

nav2_util/map_loader:
* Remove as duplicating of loadMapFromFile() from MapIO library

other:
* Update nav2_map_server/README
* Fix testcases

* Fixes for cpplint, uncrustify, flake8 and test_occ_grid_node failures

* Fixing review comments

* Rename mapio -> map_io
* Move all OccGridLoader functionality into MapServer. Remove OccGridLoader
* Switch all thresholds to be floating-point
* Switch loadMapFromYaml() returning type to LOAD_MAP_STATUS and remove
  duplicating code from loadMapResponseFromYaml()
* Make mapCallback() to be lambda-function
* Make saveMapCallback() to be class method
* Utilize local rclcpp_node_ from LifecycleNode instead of map_listener_.
  Remove map_listener_ and got_map_msg_ variables.
* Rename load_map_callback() -> loadMapCallback() and make it to be class method
* Rename handle_occ_callback() -> getMapCallback() and make it to be class method
* Force saveMapTopicToFile() and saveMapToFile() to work with constant arguments
* map_saver_cli: move arguments parsing code into new parse_arguments() function
* Rename test_occ_grid_node -> test_map_server_node and fix test
* Rename test_occ_grid -> test_occ_grid and fix test
* Fix copyrights
* Fix comments
* Update README

* Increase test coverage

* Fixing review comments

* Separate map_server and map_saver sources
* Fix copyrights
* Suppress false-positive uncrustify failure

* Map Server docs update for Foxy

* Fixes after review

* Add brief description of map_io

Signed-off-by: Pablo Vega <epvega@gmail.com>

Accidental commit into github ui

* Update hyperlinks in readme for new website docs

* Adding link to join slack

* Ignore codecov paths in tests

* adding missing string test case for stripping leading slash

* Update test_string_utils.cpp

* Update test_string_utils.cpp

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

…n#1670)

* Fix infinite rotation in Spin recovery when angle > PI

* Add test for spin recovery

* Fix formatting

* Add general optimizations

* Fix copyright

* Add Particle and ParticleCloud msgs to publish amcl particle cloud with weights

* Add deprecation warning

So we don't have to wait for the nightly parent image to update rosdep

Context: osrf/docker_images#399

…os-navigation#1753)

* Use parameterized frames (ros-planning#1726)

Signed-off-by: ymd-stella <world.applepie@gmail.com>

* Expore frame to ports in GoalReached and add params to bringu yaml files

* Fix recovery interface

* Update launch file and add recovery parameters to bringup yaml

* Remove lifecycle node params

* Update bringup param files

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix cpplint error

* Fix nav2_recoveries cpplint errors

Co-authored-by: ymd-stella <world.applepie@gmail.com>

…gation#1734)

* Consider the goal itself when looking to potential within tolerance region

* Fixed comments

Looks like codecov analytics from merged PRs alone do not update codecov status for the master branch.
Re-enabling nightly debug builds to keep codecov status on master up-to-date

Initial pose is needed for the test to run
so it makes sense to wait for it till it times out.

* Added use of declare_parameter_if_not_declared.

* Fixed column width.

* Whitespace removal

* Style cleanup.

The following is an example of the error.
[ERROR] [1590171638.335693813] [bt_navigator]: Action server failed while executing action callback: "failed to send request: ros_request argument is null, at /opt/ros/src/ros2/rcl/rcl/src/rcl/client.c:278"a bugfix of clear costmap service action

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

…1705)

* Add condition nodes and behavior tree to enable replan on new goal

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix time expired and distance traveled conditions

* Remove new_goal_received from blackboard

* Fix IDLE check condition in new condition nodes

* Fix lint errors

* Fix lint errors

* Address reviewer's comments

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

…os-navigation#1776)

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Update deprecated launch params

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Revert internal python changes

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* adding backup tests

* add negative case

* correct termination logic

* increase speed

* fixish failure test case

* Initial commit

* Added AMCL params and some formatting fixes

* Added some missing params

* Added bt nodes ports

* fixed typo

* Added <> to base names + some reformating

* added default_critic_namespaces param to dwb_local_planner

…n#1790)

Signed-off-by: ymd-stella <world.applepie@gmail.com>

…on#1768)

* Add SLAM launch file

Fix possible collision of laser scan with camera on waffle

* Simplifications and fixes after review

* Increase save_map_timeout to 5 sec to comply with SLAM Toolbox map rate

* include bt_conversions.hpp to convert input properly

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* delete redundant include statement

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* adding a bunch of parameter descriptions

* ading costmap param descriptions

* add AMCL parameters

* adding DWB params

* resolving review questions

* include planner and controller ID parameters

* fixing jack's requests

* Add test

* Add more coverage

* Merge test header file with executable

* Address PR reviewer's comment

* Add some more coverage

* Revert accidental changes to localization_launch.py file.

Parameter ``bt_xml_filename`` has changed to ``default_bt_xml_filename``