[DO NOT MERGE]planner_cspace: update planner_3d to not replan before switchback #448
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Fill `header.frame_id` of the path messages without poses.
* Suppress compile warnings and test with -Werror. * Workaround for invalid macro name bug in PCL(<1.8.1).
Navigation simulation test randomly timed out due to the load increase of the travis-ci. This commit adds -O2 to speed up planning on tests.
* Check that given goal is on the map.
also fix to use a timer instead of ros::spinOnce polling
* Make costmap layers stackable * Use stackable costmap in the test
* Move cost accessor to accessor class and remove self namespace * Use ROS_ASSERT instead of assert * Remove spin function
* Add layer type flag * Add layer type check
* Add stacked costmap class * Add Costmap3dLayerOutput class
* Make costmap layer structure configurable * Use output layer to publish static cspace costmap * Enable multi layer mode in sample launch * Refactoring - Move layer classes into include/costmap_3d_layer/ - Remove layer type specific variables and functions from base class - Fix indent of sample launch file
* Make static layers configurable * Fix naming style of map_overlay_mode and add string to enum converter * Add a static layer to the sample launch
If an overlay map arrives before a root map, overlay map was ignored since frame_id of the root map is not yet given. The commit enables to store overlay map and keep until receiving the root map.
* Added ABORTED state of move_base action * Added test for ABORTED state of move_base action * Passed roslint * Fixed reviewed points
* Update changelog * 0.5.1 Co-authored-by: Atsushi Watanabe <atsushi.w@ieee.org>
* Use fixed frame for accumulating input cloud * Update tests * Minimize tf delay influence * Rename variable
* Update changelog * 0.6.0
Use walltime to detect test timeout.
* Update changelog * 0.7.0 Co-authored-by: Atsushi Watanabe <atsushi.w@ieee.org>
planner_cspace_msgs >= 0.7.0 trajectory_tracker_msgs >= 0.8.0
…les (#446) * Replan immediately when path is blocked by new obstacles * Fix test_abort * Use costmap to check obstacle on previous path
* Update changelog * 0.8.0 Co-authored-by: Atsushi Watanabe <atsushi.w@ieee.org>
[#1284] FAILED on kineticTest failed[#1284] FAILED on melodicTest failed |
Codecov Report
@@ Coverage Diff @@
## master #448 +/- ##
==========================================
- Coverage 80.11% 79.81% -0.31%
==========================================
Files 64 64
Lines 4516 4538 +22
==========================================
+ Hits 3618 3622 +4
- Misses 898 916 +18
Continue to review full report at Codecov.
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[#1285] FAILED on kineticTest failed[#1285] FAILED on melodicTest failed |
[#1286] PASSED on kineticAll tests passed |
Taka-Kazu
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In this PR, I implemented that if
planner_3dgenerates a path containing a switchback point, it will not replan until the robot reaches the vertex of the switchback.Currently,
planner_3ddoes not replan forsw_waitin addition to the normal interval if a path containing a switchback point is generated.However, it does not take into account whether the robot will actually reach the switchback point within that time.
So I changed
Planner3dNode::waitUntil()so that it doesn't depend onsw_wait, but does not replan until the robot reaches the switchback point.I think this PR is related to Issue #312.