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Galactic sync 4 (Sept 15) (#2561)
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* Adding launch_testing_ros dep on nav2 utils to install (#2450)

* Reduce map saver nodes (#2454)

* reduce MapSaver nodes by using callback group/executor combo

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* set use_rclcpp_node false

* a cleaner solution using a future and spin_until_future_complete()

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Update nav2_controller.cpp (#2462)

Add `costmap_thread_.reset()` on the destructor of ControllerServer class

* Reduce lifecycle manager nodes (#2456)

* remove bond_client_node_ in class LifecycleManager

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* clear unused variables

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* fix lint

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use dedicated executor thread

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix building error

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* support to process executor for NodeThread

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* use  NodeThread for LifecycleManager

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

Co-authored-by: William Woodall <william@osrfoundation.org>

* sync with main and use ros_diff_drive in case name changes (#2472)

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* Nav2 Simple (Python3) Commander Library (#2411)

* adding nav2_python_commander package

* adding readme

* launch files for the python commander examples

* renaming to nav2_simple_commander

* resolve review comments

* fixing rosdep key

* fixing up linters

* Python string format (#2466)

* Convert to python format strings for readability

* Merge concatenated strings

* Revert converting generated files

* Single quotes for consistency

* Just print the exception

* Fix Smac cleanup (#2477)

* fix smac2d cleanup

* same for hybrid

* Naming BT client node after action name (#2470)

* Put action name in node namespace instead of node name

* Put namespace remapping in node options

* Rename client node with action name replacing "/" by "_"

* Code formatting

* Code formatting

* fix nav2 params and launch file to publish Local and global costmaps in multi robots example (#2471)

* adjust launch file with needed gazebo plugin and set groot to False for multi-robot params

* correct unwanted changes

* change port and set groot to false

* fix lints

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* [SmacPlanner2D] make tolerance parameter dynamic (#2475)

* make tolerance dyn param

* full reconfigure

* fix typo

* Place function above the variables

* lock param callback

* Modify the BtServiceNode to include an on_success call. (#2481)

* Modify the BtServiceNode to include an on_success call.

* PR: Fix linter error by removing trailing whitespaces.

* PR: Rename on_success() to on_completion() to improve understandability.

* Accept path of length 1 (#2495)

* Fix null pointer in amcl on_cleanup (#2503)

* fix data race: addPlugin() and resizeMap() can be executed concurrently (#2512)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* fix data race: VoxelLayer::matchSize may be executed concurrently (#2513)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* catch runtime_error if the message from laser is malformed (#2511)

* catch runtime_error if the message from laser is malformed

* fix styling

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* Smac planner bad alloc (#2516)

* test(nav2_smac_planner): show short path bad_alloc

When given a goal that is one or zero costmap
cells away, AStarAlgorithm throws std::bad_alloc

* fix(nav2_smac_planner): fixed bad_alloc

* [ObstacleLayer] Use message_filter timeout (#2518)

* , tf2::durationFromSec(transform_tolerance)

* use message_filter timeout in AMCL

* also for sensor_msgs::msg::PointCloud2

* fix possible use-after-free: unsafe shared_ptr in multithread (#2510)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* fix export dependency and library (#2521)

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Add more semantic checks for amcl parameters (#2528)

* Fix null pointer in amcl on_cleanup

* Add more semantic checks for amcl

* fix possible use-after-free: unsafe shared_ptr in multithread (#2530)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* Hot fix rrp slow (#2526)

* review update

* updated the 2nd review comments

* String formatting

* Fix out of voxel grid array regression (#2460)

* Update dwb_local_planner.hpp (#2533)

Add remarks

* Add new test for smac_planner_2d (#2531)

* Add new test for smac_planner_2d

* Fix costmap initialization

* Change set_parameters() with set_parameters_atomically()

* Improving coverage

* Remove debug helper method

* Fix linting issue introduced in #2533 (#2539)

* [All 2D planners] Fix last pose orientation, fix small path and add ignore_goal_orientation parameter (#2488)

* end point orientation

* add ignore_goal_orientation to dyn param

* back()  instead of [path.poses.size() - 1]

* Smac2d use_final_approach_orientation name

* add in NavFn

* add in theta_star

* wip

* deal with navfn double end pose case

* add tests

* back and revert test smac2d

* get path hotfix

* navfn wip

* Corner cases

* Checks consistency accross the 3 2D planners

* comment

* interpolate final orientation in planner instead of smoother

* clarify and homogenize comments

* using same cell test instead of distance compared to resolution

* remove unneeded else

* lint

* fix smac2d goal orientation override

* fix and add tests

* update comment

* typo

* simplify if (_use_final_approach_orientation) block

* Use worldToMapEnforceBounds in clear_costmap_service (#2544)

to avoid buffer overflow

Signed-off-by: zouyonghao <yonghaoz1994@gmail.com>

* Add new test for nav2_regulated_pure_pursuit (#2542)

* unit test for findDirChg

* lint fix

* add test for unchanged direction

* fix  for loop ending

* Enabled runtime configuration of parameters for Hybrid A* (#2540)

* Enabled runtime configuration of parameters for Hybrid A*

* Fix parameter name

* Fix parameter type

* fix pf_ use-before-initial in laserReceived() callback (#2550)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* add semantic checks (#2557)

Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>

* bumping galactic to 1.0.7

* Updates to Nav2 Theta Star Planner docs (#2559)

* - removing 'w_heuristic_cost_' from Nav2 Theta Star Planner as a user configurable parameter
    - updates to `nav2_theta_star_planner/README.md` to remove its reference wherever applicable
    - updates to `nav2_theta_star_planner/src/theta_star_planner.cpp` to set `w_heuristic_cost` as `std::min(1.0, w_euc_cost_)`
- fixed an incorrect check of whether the start and goal pose are the same in `nav2_theta_star_planner/src/theta_star_planner.cpp`

* Update theta_star_planner.hpp

clean up stuff from forced merge

* Update theta_star_planner.cpp

clean up stuff from a forced merge

* Update README.md

* Update theta_star_planner.cpp

Re-adding the goal to ensure, that the last pose, is the goal exactly

* fix linting issues

* Update theta_star_planner.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Fixed vector::reserve exception in smac planner due to precision error (#2563)

- Related issue: #2547

Co-authored-by: gezp <zhenpeng.ge@qq.com>
Co-authored-by: harderthan <kheo1772@gmail.com>
Co-authored-by: William Woodall <william@osrfoundation.org>
Co-authored-by: Yousseflah <53279766+Yousseflah@users.noreply.github.com>
Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: G.Doisy <doisyg@users.noreply.github.com>
Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com>
Co-authored-by: philison <philison.dev@gmail.com>
Co-authored-by: Yong-Hao Zou <yonghaoz1994@gmail.com>
Co-authored-by: easylyou <38713965+easylyou@users.noreply.github.com>
Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com>
Co-authored-by: Adam Aposhian <adam.l.aposhian@gmail.com>
Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: Luca Bonamini <lucabonamini28@gmail.com>
Co-authored-by: Sathakkadhullah <57533054+sathak93@users.noreply.github.com>
Co-authored-by: Anshumaan Singh <anshumaan567@gmail.com>
Co-authored-by: zoltan-lengyel <79632988+zoltan-lengyel@users.noreply.github.com>
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Showing 113 changed files with 3,933 additions and 348 deletions.
2 changes: 1 addition & 1 deletion nav2_amcl/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_amcl</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>
<p>
amcl is a probabilistic localization system for a robot moving in
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38 changes: 33 additions & 5 deletions nav2_amcl/src/amcl_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -234,12 +234,12 @@ AmclNode::on_configure(const rclcpp_lifecycle::State & /*state*/)

initParameters();
initTransforms();
initParticleFilter();
initLaserScan();
initMessageFilters();
initPubSub();
initServices();
initOdometry();
initParticleFilter();
initLaserScan();

return nav2_util::CallbackReturn::SUCCESS;
}
Expand Down Expand Up @@ -335,8 +335,10 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
laser_scan_sub_.reset();

// Map
map_free(map_);
map_ = nullptr;
if (map_ != NULL) {
map_free(map_);
map_ = nullptr;
}
first_map_received_ = false;
free_space_indices.resize(0);

Expand Down Expand Up @@ -1105,6 +1107,25 @@ AmclNode::initParameters()
last_time_printed_msg_ = now();

// Semantic checks
if (laser_likelihood_max_dist_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set laser_likelihood_max_dist to be negtive,"
" this isn't allowed so it will be set to default value 2.0.");
laser_likelihood_max_dist_ = 2.0;
}
if (max_particles_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set max_particles to be negtive,"
" this isn't allowed so it will be set to default value 2000.");
max_particles_ = 2000;
}

if (min_particles_ < 0) {
RCLCPP_WARN(
get_logger(), "You've set min_particles to be negtive,"
" this isn't allowed so it will be set to default value 500.");
min_particles_ = 500;
}

if (min_particles_ > max_particles_) {
RCLCPP_WARN(
Expand All @@ -1113,6 +1134,13 @@ AmclNode::initParameters()
max_particles_ = min_particles_;
}

if (resample_interval_ <= 0) {
RCLCPP_WARN(
get_logger(), "You've set resample_interval to be zero or negtive,"
" this isn't allowed so it will be set to default value to 1.");
resample_interval_ = 1;
}

if (always_reset_initial_pose_) {
initial_pose_is_known_ = false;
}
Expand Down Expand Up @@ -1239,7 +1267,7 @@ AmclNode::initMessageFilters()
rclcpp_node_.get(), scan_topic_, rmw_qos_profile_sensor_data);

laser_scan_filter_ = std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
*laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10, rclcpp_node_);
*laser_scan_sub_, *tf_buffer_, odom_frame_id_, 10, rclcpp_node_, transform_tolerance_);

laser_scan_connection_ = laser_scan_filter_->registerCallback(
std::bind(
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -82,11 +82,16 @@ bool BtActionServer<ActionT>::on_configure()
throw std::runtime_error{"Failed to lock node"};
}

// use suffix '_rclcpp_node' to keep parameter file consistency #1773
// Name client node after action name
std::string client_node_name = action_name_;
std::replace(client_node_name.begin(), client_node_name.end(), '/', '_');
// Use suffix '_rclcpp_node' to keep parameter file consistency #1773
auto options = rclcpp::NodeOptions().arguments(
{"--ros-args",
"-r", std::string("__node:=") + std::string(node->get_name()) + action_name_ + "_rclcpp_node",
"-r",
std::string("__node:=") + std::string(node->get_name()) + client_node_name + "_rclcpp_node",
"--"});

// Support for handling the topic-based goal pose from rviz
client_node_ = std::make_shared<rclcpp::Node>("_", options);

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,16 @@ class BtServiceNode : public BT::ActionNodeBase
{
}

/**
* @brief Function to perform some user-defined operation upon successful
* completion of the service. Could put a value on the blackboard.
* @return BT::NodeStatus Returns SUCCESS by default, user may override to return another value
*/
virtual BT::NodeStatus on_completion()
{
return BT::NodeStatus::SUCCESS;
}

/**
* @brief Check the future and decide the status of BT
* @return BT::NodeStatus SUCCESS if future complete before timeout, FAILURE otherwise
Expand All @@ -158,7 +168,8 @@ class BtServiceNode : public BT::ActionNodeBase
rc = callback_group_executor_.spin_until_future_complete(future_result_, server_timeout_);
if (rc == rclcpp::FutureReturnCode::SUCCESS) {
request_sent_ = false;
return BT::NodeStatus::SUCCESS;
BT::NodeStatus status = on_completion();
return status;
}

if (rc == rclcpp::FutureReturnCode::TIMEOUT) {
Expand Down
2 changes: 1 addition & 1 deletion nav2_behavior_tree/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_behavior_tree</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>TODO</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
Expand Down
5 changes: 3 additions & 2 deletions nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,8 @@ def generate_launch_description():

# Start Gazebo with plugin providing the robot spawing service
start_gazebo_cmd = ExecuteProcess(
cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_factory.so', world],
cmd=[simulator, '--verbose', '-s', 'libgazebo_ros_init.so',
'-s', 'libgazebo_ros_factory.so', world],
output='screen')

# Define commands for spawing the robots into Gazebo
Expand All @@ -123,7 +124,7 @@ def generate_launch_description():
# Define commands for launching the navigation instances
nav_instances_cmds = []
for robot in robots:
params_file = LaunchConfiguration(robot['name'] + '_params_file')
params_file = LaunchConfiguration(f"{robot['name']}_params_file")

group = GroupAction([
IncludeLaunchDescription(
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/bringup/launch/tb3_simulation_launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ def generate_launch_description():
# Specify the actions
start_gazebo_server_cmd = ExecuteProcess(
condition=IfCondition(use_simulator),
cmd=['gzserver', '-s', 'libgazebo_ros_init.so', world],
cmd=['gzserver', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world],
cwd=[launch_dir], output='screen')

start_gazebo_client_cmd = ExecuteProcess(
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/bringup/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_bringup</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>Bringup scripts and configurations for the Nav2 stack</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
Expand Down
4 changes: 4 additions & 0 deletions nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,10 @@ bt_navigator:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
# if enable_groot_monitoring is set to True, ports need to be different for each robot !!
enable_groot_monitoring: False
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
Expand Down
4 changes: 4 additions & 0 deletions nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,10 @@ bt_navigator:
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
# if enable_groot_monitoring is set to True, ports need to be different for each robot !!
enable_groot_monitoring: False
groot_zmq_publisher_port: 1789
groot_zmq_server_port: 1887
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,8 @@ def main():
parser.add_argument('-z', type=float, default=0,
help='the z component of the initial position [meters]')
parser.add_argument('-k', '--timeout', type=float, default=10.0,
help="Seconds to wait. Block until the future is complete if negative. Don't wait if 0.")
help="Seconds to wait. Block until the future is complete if negative. \
Don't wait if 0.")

group = parser.add_mutually_exclusive_group(required=True)
group.add_argument('-t', '--turtlebot_type', type=str,
Expand Down Expand Up @@ -67,7 +68,7 @@ def main():
if args.turtlebot_type is not None:
sdf_file_path = os.path.join(
get_package_share_directory('turtlebot3_gazebo'), 'models',
'turtlebot3_{}'.format(args.turtlebot_type), 'model.sdf')
f'turtlebot3_{args.turtlebot_type}', 'model.sdf')
else:
sdf_file_path = args.sdf

Expand All @@ -78,16 +79,15 @@ def main():
tree = ET.parse(sdf_file_path)
root = tree.getroot()
for plugin in root.iter('plugin'):
# TODO(orduno) Handle case if an sdf file from non-turtlebot is provided
if 'turtlebot3_diff_drive' in plugin.attrib.values():
if 'ros_diff_drive' in plugin.get('filename'):
# The only plugin we care for now is 'diff_drive' which is
# broadcasting a transform between`odom` and `base_footprint`
break

if args.robot_namespace:
ros_params = plugin.find('ros')
ros_tf_remap = ET.SubElement(ros_params, 'remapping')
ros_tf_remap.text = '/tf:=/' + args.robot_namespace + '/tf'
ros_tf_remap.text = f'/tf:=/{args.robot_namespace}/tf'

# Set data for request
request = SpawnEntity.Request()
Expand All @@ -102,10 +102,10 @@ def main():
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future, timeout_sec=args.timeout)
if future.result() is not None:
print('response: %r' % future.result())
print(f'response: {future.result()!r}')
else:
raise RuntimeError(
'exception while calling service: %r' % future.exception())
f'exception while calling service: {future.exception()!r}')

node.get_logger().info('Done! Shutting down node.')
node.destroy_node()
Expand Down
2 changes: 1 addition & 1 deletion nav2_bringup/nav2_gazebo_spawner/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_gazebo_spawner</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>Package for spawning a robot model into Gazebo for Nav2</description>
<maintainer email="carlos.orduno@intel.com">lkumarbe</maintainer>
<maintainer email="lalit.kumar.begani@intel.com">lkumarbe</maintainer>
Expand Down
2 changes: 1 addition & 1 deletion nav2_bt_navigator/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_bt_navigator</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>TODO</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<license>Apache-2.0</license>
Expand Down
2 changes: 1 addition & 1 deletion nav2_common/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_common</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>Common support functionality used throughout the navigation 2 stack</description>
<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
<license>Apache-2.0</license>
Expand Down
1 change: 1 addition & 0 deletions nav2_controller/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ ament_export_libraries(simple_progress_checker
simple_goal_checker
stopped_goal_checker
${library_name})
ament_export_dependencies(${dependencies})
pluginlib_export_plugin_description_file(nav2_core plugins.xml)

ament_package()
2 changes: 1 addition & 1 deletion nav2_controller/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_controller</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>Controller action interface</description>
<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
<license>Apache-2.0</license>
Expand Down
1 change: 1 addition & 0 deletions nav2_controller/src/nav2_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ ControllerServer::~ControllerServer()
progress_checker_.reset();
goal_checkers_.clear();
controllers_.clear();
costmap_thread_.reset();
}

nav2_util::CallbackReturn
Expand Down
2 changes: 1 addition & 1 deletion nav2_core/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_core</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>A set of headers for plugins core to the Nav2 stack</description>
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
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6 changes: 2 additions & 4 deletions nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -146,10 +146,8 @@ class LayeredCostmap
/**
* @brief Add a new plugin to the plugins vector to process
*/
void addPlugin(std::shared_ptr<Layer> plugin)
{
plugins_.push_back(plugin);
}
void addPlugin(std::shared_ptr<Layer> plugin);


/**
* @brief Add a new costmap filter plugin to the filters vector to process
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format ="3">
<name>nav2_costmap_2d</name>
<version>1.0.6</version>
<version>1.0.7</version>
<description>
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
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18 changes: 16 additions & 2 deletions nav2_costmap_2d/plugins/obstacle_layer.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -218,7 +218,7 @@ void ObstacleLayer::onInitialize()

std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>> filter(
new tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>(
*sub, *tf_, global_frame_, 50, rclcpp_node_));
*sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));

if (inf_is_valid) {
filter->registerCallback(
Expand Down Expand Up @@ -252,7 +252,7 @@ void ObstacleLayer::onInitialize()

std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>> filter(
new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
*sub, *tf_, global_frame_, 50, rclcpp_node_));
*sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance)));

filter->registerCallback(
std::bind(
Expand Down Expand Up @@ -291,6 +291,13 @@ ObstacleLayer::laserScanCallback(
global_frame_.c_str(),
ex.what());
projector_.projectLaser(*message, cloud);
} catch (std::runtime_error & ex) {
RCLCPP_WARN(
logger_,
"transformLaserScanToPointCloud error, it seems the message from laser is malformed."
" Ignore this message. what(): %s",
ex.what());
return;
}

// buffer the point cloud
Expand Down Expand Up @@ -327,6 +334,13 @@ ObstacleLayer::laserScanValidInfCallback(
"High fidelity enabled, but TF returned a transform exception to frame %s: %s",
global_frame_.c_str(), ex.what());
projector_.projectLaser(message, cloud);
} catch (std::runtime_error & ex) {
RCLCPP_WARN(
logger_,
"transformLaserScanToPointCloud error, it seems the message from laser is malformed."
" Ignore this message. what(): %s",
ex.what());
return;
}

// buffer the point cloud
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1 change: 1 addition & 0 deletions nav2_costmap_2d/plugins/voxel_layer.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ VoxelLayer::~VoxelLayer()

void VoxelLayer::matchSize()
{
std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
ObstacleLayer::matchSize();
voxel_grid_.resize(size_x_, size_y_, size_z_);
assert(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_);
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4 changes: 2 additions & 2 deletions nav2_costmap_2d/src/clear_costmap_service.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,8 @@ void ClearCostmapService::clearLayerRegion(
double end_point_y = start_point_y + reset_distance;

int start_x, start_y, end_x, end_y;
costmap->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y);
costmap->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y);
costmap->worldToMapEnforceBounds(start_point_x, start_point_y, start_x, start_y);
costmap->worldToMapEnforceBounds(end_point_x, end_point_y, end_x, end_y);

costmap->clearArea(start_x, start_y, end_x, end_y, invert);

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