Fix for voxel grid out-of-range issues due to loss of precision during floating-point calculations #2460

AlexeyMerzlyakov · 2021-07-19T16:16:36Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#2373
Primary OS tested on	Ubuntu 20.04
Robotic platform tested on	TB3 simulation at shared in ticket pre-recorded dataset

Description of contribution in a few bullet points

Fix for floating point precision loss due to double->int->double conversions which are leading to incorrectly calculated data array ranges leading to out-of-array addressing causing segfaults on some configurations.
(Additionally) Correct shift length reduction by min range components instead of absolute min range value.

SteveMacenski · 2021-07-19T19:10:34Z

Retriggering CI, not sure why it failed to build on some caching issues. Anything else you want to do before this is merged? I'll cherry pick to galactic / foxy (does foxy have this?) and do an immediate release, this is a big enough fix we should get something out to users.

SteveMacenski · 2021-07-19T19:11:05Z

@ruffsl there's an error in caching https://app.circleci.com/pipelines/github/ros-planning/navigation2/5679/workflows/86b6fba4-c877-42e8-9a69-ef62a0d290c4/jobs/20826

mv: cannot stat '/root/.ccache': No such file or directory

Exited with code exit status 1

CircleCI received exit code 1

Error computing cache key: template: cacheKey:1:79: executing "cacheKey" at <checksum "/opt/underlay_ws/lockfile.txt">: error calling checksum: open /opt/underlay_ws/lockfile.txt: no such file or directory

ruffsl · 2021-07-19T22:18:26Z

Please rebase from the main branch to ensure the CI config for this PR is up to date, e.g. with fixes from #2403 .

Edit: oh, I think we'll need #2405 as it should fix this issue with colcon cache with ruffsl/colcon-cache#23 .
Let me add some docs to that and get that one merged prior.

SteveMacenski · 2021-07-20T17:08:20Z

You changed the length calculation? Can you explain geometrically what's happening there now?

AlexeyMerzlyakov · 2021-07-20T18:22:58Z

Previous calculations of length = (unsigned int)(scale * abs_dx) - abs(min_shift_x); still may produce incorrect results for some cases due to incorrect min_shift_x truncating. This will be also the cause of loss of precision thus we need to calculate everything in doubles up to the end and then transfer them to ints.

Geometrical example why I've corrected shift calculation in d97bf55 is shown in the picture below:

SteveMacenski · 2021-08-16T19:12:23Z

I know you were on vacation, let me know if there's any update on this crashing issue, its pretty high priority blocking a new sync

AlexeyMerzlyakov · 2021-08-17T15:21:00Z

@SteveMacenski , yes I am back online and then buried oneself in summer school lectures work recent days. Considering the priority of this issue I will continue the investigation as soon as possible.

AlexeyMerzlyakov · 2021-08-24T13:37:21Z

Force-pushed with updated solution. The initial problem as it was supposed was incorrect (x0,y0,z0) point compensation calculations made in 13f518a. However, when I've changed dx/dy/dz types from int to double, I also broke the raytraceLine()->bresenham3D() magic based on assumption that we are operating in integer space of array values. Thus, I resorted to a different solution: to correctly compensate x0, y0 and z0 values in the space and run bresenham3D() algorithm towards these compensated x0_min/y0_min/z0_min values. In other words, the initially working bresenham3D() is running on newly updated (x0_min,y0_min,z0_min)...(x1,y1,z1) boundaries as if they are passed from outside w/o any compensating logic breaking.

For verification you also can compare this change with latest state before the regression: https://github.com/ros-planning/navigation2/compare/7e284a3f02a1b889cadfb6ab402a8278337cf040..332e9c48454ffa998dd3bf8e2345cd3473783adf#diff-d4260e8fd3cbbe31986833c7e04aeebf742a967c6ee0c7854e48733688dfb44f and find out a voxel_grid.hpp in there (maybe there could be a comparison of a single file between two revisions, but I am not good at GitHub UI)

Also, adding a comprehensive regression test for checking the edges of raytraceLine()->bresenham3D() operation (writing this test exactly helped me to came to this solution).

SteveMacenski

Needs verification of fix, but looks plausible to me

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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>

* adding waypoint follower readme information * Run-time system test for keepout_filter (#2030) * Add run-time system test for keepout filter * Add keepout_filter specific logic * Fix review items * Move goal to be on the straight line by plan without keepout * Fix flaky tests (#2047) * Fix flaky tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix shutdown in waypoint follower test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Input at waypoint task executor plugin (#2049) * adding input at waypoint executor * exporting depedency * fixing review suggestions * make input topic a parameter * working input executor * adding docs to params md * nav2_way_point_follower; introduce photo at waypoint arrivals plugin (#2041) * nav2_way_point_follower; introduce photo at waypoint arrivals plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve cmake lint errors Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve requested chages of first review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * minor corrections on photo_at_waypoint header * resolve requested changes of second review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * update default save_dir Signed-off-by: jediofgever <fetulahatas1@gmail.com> * move directory checking code to initialize() * [WIP] Fix CI build issues (#2076) * update to use on my fork to test changes to bondcpp * using chrono literals in lifecycle manager * nav2_rviz_plugins using chrono literals for API change * using chrono literals in costmap_2d package from API change * using chrono literals in observation buffer * chrono literals for tests costmap * chrono literal API changes * changing API * changing API * API changes * API change * API change * API change * API change test * API change test * remove * api updates * update test values * Patch for PhotoAtWaypoint plugin (#2067) * nav2_way_point_follower; introduce photo at waypoint arrivals plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve cmake lint errors Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve requested chages of first review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * minor corrections on photo_at_waypoint header * resolve requested changes of second review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * update default save_dir Signed-off-by: jediofgever <fetulahatas1@gmail.com> * move directory checking code to initialize() * add try catch block to catch possible execeptions while creating a directory for photo at waypoint plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * adding logging and disabling * Update nav2_waypoint_follower/plugins/photo_at_waypoint.cpp Co-authored-by: Fetullah Atas <fetulahatas1@gmail.com> * Update photo_at_waypoint.cpp Co-authored-by: jediofgever <fetulahatas1@gmail.com> * Fix for double free issue in map server testcases (#2078) * Support in keepout filter for mask and costmap published in different… (#2054) * Support in keepout filter for mask and costmap published in different frames This fixes incorrect keepouts position issue when filter mask and current costmap layer are published in different frames. This might appear (but not restricted only to) when keepout filter is enabled for local costmap with rolling window. * Add transform initialization * Enhance transform failure message * Loop fix (#2068) * Abort analytic expansion if crossing through already visited node * Check that we are not creating an infinite loop at the goal node * Mark nodes in analytic expansion as visited for the sake of completeness * Move checking of already visited nodes to final stage of analytic expansion * Swap startup and timeout check on lifecycle manager tests (#2080) * Fix SmacPlanner memory leaks and costmap downsampler test (#2050) * Fix shared_ptr cyclic dependencies Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Refactor costmap downsampler and fix test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Revert costmap downsampler test changes Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix Map Saver and testing: (#2084) - Add Map Saver resource sharing - Add forgotten reset of save_map_service_ - Remove unnecessary map republisher - Increase save_map_timeout * Rebranding! New Navigation2 logo! (#2087) * adding new logo! * limit dimensions * limit dimensions * limit dimensions * Fix build on macOS (10.x / 11.x) (#2083) * Fix build on macOS with LLVM/Clang12 * nav2_costmap_2d's observation buffer is now using tf_tolerance. Removed pragmas and os specific logic * Current_ costmap2D updates & fixing recovery-straight-path issues (#2090) * WIP attempt at fixing recovery-straight-path issues * linting! * handle not current due to old measurement readings separately from resets * Added nav2_ prefix to smac_planner Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> (#2093) * Add prefer forward critic test (#2097) * Test setting the parameters. * Added the score tests. * Use variables for parameters and add test for non-default values. * Cleanup. Removed commented out code. * Add obstacle footprint dwb critic test (#2099) * Setup for obstacle footprint test. * Make std::string arguments const * Added additional tests for obstacle footprint test. * Add todo. * Several code cleanup actions. Renamed the function p to getPoint. Removed commented out code. Fixed the trow->throw typo and explained some tests in comments. * Keepout Filter cleanup (#2101) * adding unit testing for alignment util dwb critics (#2103) * adding unit testing for alignment util dwb critics * adding twirling tests * renaming test * Fix README format (#2107) * Removing eloquent from build status table since its EOL (#2114) * Removing eloquent from build status table since its EOL * Update README.md * Update README.md * Standardize time units per REP-103 (#2106) * Standardize time units per REP-103 * bond_timeout type * Revert bond core to ros2 from my fork after merging fix (#2115) * Add groot monitoring behavior tree visualization (#1958) * include ZMQ publisher for Groot very plain integration, should be made optionally through a launch parameter * fix Groot crashing finding custom nodes in monitor mode straight forward working fix. The manifest was missing, so Groot searched custom node IDs that it did not have. This is implemented correctly directly in BT.CPP V3 and should be used instead of an implementation in nav2_bt_engine * refactor buildTreeFromText to createTreeFromText as in BT.CPP v3 * forward XML to createTreeFromText from BT.CPP v3 factory function * Add createTreeFromFile forware to BT-factory function * fix createTreeFromFile args.. * add personal copyright I think this is okay for finding a nasty bug.. :) * move creating ZMQ Publisher from run to dedicated function this way the ZMQ Publisher ca be added to individual trees within the same factory. Should be important for switching trees (XML files) * Add parameter for Groot Monitoring - default true. Also cleanup ZMQ * Move haltAllActions() Implementation from .hpp to .cpp * update Copyright in hpp of BT-engine * make linters happy.. :) * Update Groot parameter naming and chg default=0 * rename resetZMQGrootMonitor -> resetGrootMonitor * add parameter to nav2_params.yaml - default = false * add ZMQ params and logic for server/pub ports * Fix RewrittenYaml ignoring Integers Integers where converted as floats before which crashes get_parameter.. fun thing.... * add launch based tests for params and ZMQ * Activate Dijkstra and A* switching tests, thanks to RewrittenYaml * add pyzmq==19.0.2 via pip3 to CI test_workspace * make flake8 linter happy * make cpp linters happy * add personal copyright * add GoalUpdated BT node description in order to view the full default BT only affects editor mode of Groot and not live monitoring * make linter happy (unused import) * remove unused groot-port replacement functions in test_system_launch.py * add groot parameters to params.md * get reloading BTs to work nicely with Groot * pretty space for smac :) * switch from unsinged to uint16_t * fix converting string into float or int * Revert "add pyzmq==19.0.2 via pip3 to CI test_workspace" This reverts commit 7bca08121c88db3763771911e3c6b4c6f4f8ddeb. * Switch to 4 spaces indent and other linter stuff for RewrittenYaml * removed prints in test_system_launch.py * linter stuff * add python-zmq as test_depend in package.xml (instead of .CI_conf) * enable groot monitoring by default * remove ZMQ from naming (function / variable) * remove variable zmq ports from testing scripts * remove default ports in BT_engine, as they are set through (def-)params * Remove complete test for "dynamic" ZMQ ports testing * fix python-zmq depend location * fix style * swap missing Groot to default True * fix rosdep zmq + flake8 fixes in system_tests * remove debug logs + c_str() * remove final debug_log * return failure on plugin failure (#2119) * Move voxel publisher activation into conditional that its on (#2121) * Add DWB base obstacle critic test (#2122) * Add DWB base obstacle critic test. * Remove magic numbers. * Fix build error. * Fix out of bound for setting cost in costmap. * Enable commented out code. * Speed Filter (#2074) * Add speed limit filter * Fix review items * Remain only percent speed limit support * Small review fixes * Add error message for unknown cells on mask * Fix missed items * Ensure SpeedFilter is using accurate in time transform instead of latest in TF Buffer * Add costmap_filter_info_server into param description * Set transform_tolerance to 0.1 * Update comment to be more informative * costmap_2d: remove useless and buggy testing helper function (#2130) (#2131) Co-authored-by: JF Dalbosco <jean-francois.dalbosco@safrangroup.com> * Fix format strings in calls to RCLCPP macros (#2139) * Add particle cloud display plugin for RViz (#1688) * Add particle cloud display rviz plugin Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * General refactoring * Fix header guards * Update bringup rviz files and default values * Add nav2_behavior_tree::BtActionServer (#2010) * Add nav2_behavior_tree::BtActionServer Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix cpplint errors Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Remove unnecessary statements in BtActionServer Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Make nav2_behavior_tree::BtActionServer a composable object * Add comments * Add on preempt callback, fix naming issues, and move tf to bt navigator * Add separate implementation header for BtActionServer * Fix cpplint error * Pass plugin library names as argument to BtActionServer * Remove action server getter and update onPreempt to not load BT * Fix unnecessary include * Fix function names Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix typo * Changed FollowWaypoints to follow_waypoints (#2151) * Changed FollowWaypoints to follow_waypoints * Updated the msg name as follow_waypoints * Reversed changes to cmakelist * Updated the use of follow_waypoints just as action name * Replace follow_waypoints * Update * Updated ros info with the right syntax * Debugging * Adding parameter for minimum range for raycasting to clear obstacles (#2126) * Adding minimum range parameter for raytrace clearing * Comments in tests * Uncrustify checks * Modified default value of raytrace_min_range param and moved computation below plugin layer * Tests for voxel layer raytracing * Uncrustify checks * Addressed pull request #2126 comments * Using min range parameter for marking also * Correcting build warnings * Correct build fails * Merging changes * Adding comments * Added unit tests for obstacle layer and addressed PR comments * Addressed flake errors * Flake8 errors * Correcting W291 Flake8 error * Variable name and comments changes * Added raytracing params to the params files * Modifying parameter names for obstacle marking * adding tests for wp follower task executors (#2156) * adding tests for wp follower * adding C++ 14 min requirement * trying linking * fix boundary point exclusion in convexFillCells (#2161) * Remove eloquent jobs from readme (#2166) * Update README.md (#2167) * Update README.md (#2168) * changing all non-changing references from navigation2 to Nav2 (#2169) * attempt at bringing up CI (2158) (#2170) * attempt at bringing up CI * try adding SDF element for IMU initial_orientation_as_reference * adding more initial orientation as reference * turning initial_orientation_as_reference false * Test to see if switching DDS vendor fixes our CI issues (#2172) * Regulated pure pursuit controller (#2152) * regulated pure pursuit migration commit * adding speed limit API * adding review comments + adding rotate to goal heading * adding test dir * add some initial tests * more tests * remove old comment * improve readme * fix CI * first attempt at changing algos in tests * allowing full path parameter substitutions * adding integration tests * enable SMAC testing too with new changes * swap algos * revert * Update angular velocity after constraining linear velocity (#2165) This ensures the robot moves towards the lookahead point more closely. If the angular velocity is not updated, then the robot tries to take cuts while turning, which could lead to collisions when near obstacles Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Update cost scaling heuristic to vary speed linearly with distance (#2164) * Update cost scaling to vary linearly with distance instead of relying on costmap cost Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Resolve suggested changes Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Add documentation for cost scaling parameters Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Improve parameter descriptions Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> * Comment cost scaling tests since layered costmap is not initialized A valid layered costmap reference is needed to get the inscribed radius Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com> Co-authored-by: Shrijit Singh <shrijitsingh99@gmail.com> * Updating example yaml to include extra params (#2183) * Fixing control_frequency to controller_frequency typo (#2182) * (WIP) Recoveries always return success, regardless if they're able to complete their required tasks or not (#1855) * modified such that if the recovery is aborted due to potential collision, the return status will be FAILED * Changed from SequenceStar to RoundRobin to mask any failure that might occur in the execution of the recovery action * Change Backup recovery test such that the aborted recovery is expected and checked for * fixing linting error * Change depricated argument for backup recovery test * added backup to the recovery actions, using defaults from the BackUp header * Update nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Reverting changes to BT. Seq. Star control node is in line to what we want * checkpoitn commit * Changed collision failure critera as backup collision abortion occurs @ -0.2 m as well. This was previously not caught as the server always returned SUCCESS * bool to control whether fake costmap should be generated * added fake tester nodes * Fake costmap passed through environmental variable now * Fake Footprint being sent out * breadcrumbs of fake spin tests * fake odom * launch file was messed up * still troubleshooting spin * trying to fake spin, goal keeps on getting rejected * goal is now being accepted * Fake spin not working well when asking for PI radians out * playing around with timing wehn publishing fake transforms * BT changes, testing TBD * [WIP] Fix CI build issues (#2076) * update to use on my fork to test changes to bondcpp * using chrono literals in lifecycle manager * nav2_rviz_plugins using chrono literals for API change * using chrono literals in costmap_2d package from API change * using chrono literals in observation buffer * chrono literals for tests costmap * chrono literal API changes * changing API * changing API * API changes * API change * API change * API change * API change test * API change test * remove * api updates * update test values * Patch for PhotoAtWaypoint plugin (#2067) * nav2_way_point_follower; introduce photo at waypoint arrivals plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve cmake lint errors Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve requested chages of first review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * minor corrections on photo_at_waypoint header * resolve requested changes of second review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * update default save_dir Signed-off-by: jediofgever <fetulahatas1@gmail.com> * move directory checking code to initialize() * add try catch block to catch possible execeptions while creating a directory for photo at waypoint plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * adding logging and disabling * Update nav2_waypoint_follower/plugins/photo_at_waypoint.cpp Co-authored-by: Fetullah Atas <fetulahatas1@gmail.com> * Update photo_at_waypoint.cpp Co-authored-by: jediofgever <fetulahatas1@gmail.com> * Fix for double free issue in map server testcases (#2078) * Support in keepout filter for mask and costmap published in different… (#2054) * Support in keepout filter for mask and costmap published in different frames This fixes incorrect keepouts position issue when filter mask and current costmap layer are published in different frames. This might appear (but not restricted only to) when keepout filter is enabled for local costmap with rolling window. * Add transform initialization * Enhance transform failure message * Loop fix (#2068) * Abort analytic expansion if crossing through already visited node * Check that we are not creating an infinite loop at the goal node * Mark nodes in analytic expansion as visited for the sake of completeness * Move checking of already visited nodes to final stage of analytic expansion * test if action server failures correctly propagate into BT context * change recovery subtree so that RoundRobin replaces SequenceStar for good * uncrustify and line nav2_behavior_tree changes * uncrustify and linting * adding clearing actions to own subtree * more linting * reduced testing value to see if that will stop the robot from aborting due to potential collision * tighten up tolerance on backup since the requested backup is so small * delint * cleaned up spin recovery such that we simulate the robot slowly spinning into place, now I just have to simulate collision scenarios * linting * change order of Spin and Wait to match original * fake spin failing due to potential collision even when empty costmap * lint * more lint * can get all the spins to pass now * spin test strangely passing all cases even though costmap is populated * spin recovery * commmit before I try to visualize this * now I know that there are two things publishing to the same footprint * 1) figured out conflicting pubs to footprint, 2) why can't I get costmap occupancy to cause collision * Fake Spin Test shows failure correctly for angles greater than pi / 2. change launch file such that two publishers are not generating costmaps * fake launch lint * check in with linting to show the structure * Add overall behavior tree system tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add RecoverySubtreeGoalUpdated BT test Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update readme and docs * Add tests to check if BT XML files are well-formed Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Uncomment tests that were commented out Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: James Ward <james.ward@appliedev.com> Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Write doxygen for navfn (#2184) * Write doxygen for navfn * Remove forward slashes * expose dwb's shorten_transformed_plan param (#2188) * fix broken links in README (#2199) * ensure the index also isn't the goal's (#2201) * Adding RPP to metapackage.xml (#2198) * Adding RPP to metapackage.xml * Remove excessive exec depend * Fix recovery action collision check. (#2203) * Fix recovery action collision check. * Fix linting issue. * [NavFn] Make the 3 parameters changeable at runtime (#2181) * make the 3 params changeable at runtime * use parameter events callbacks * doxygen * lint * Install test_updown to lib/ (#2208) * Remove optimization check on carrot, incorrect optimization (#2209) * Add support of absolute limits to Speed Filter (#2149) * Add support of absolute limits to Speed Filter * Fix review items * Fix comment * Support for nav2_regulated_pure_pursuit_controller * [RPP] Remove dependency on collision checking to carrot location (#2211) * Remove dependency on collision checking to carrot location * Fix i removal * changing API to be consistent with collision updates * Export nav2_bt_navigator library and dependencies (#2213) Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com> * fixing depricated API (#2217) * CI Fixes Part 4 (#2219) * fixing depricated API * converting types on substitutions * removing warnings from std buffer parameterization * If provided param file has no slam_toolbox params, don't forward it (#2214) * If provided param file has no slam_toolbox params, don't forward it * Update copyright * Linter fixes * Reorder slam_launch to hide uglyness at the end * Add ClearAroundRobot and ClearExceptRegion action bt (#2204) * costmap bt * bt double type * change bt actions name to be consistent with service names * add tests * code style * readme update * improve readme * Ability to get a path from the planner from any 2 poses (start_pose and goal): add use_start_pose and start_pose to ComputePathToPose action (#2179) * add use_start_pose to ComputePathToPose.action * add use_start_pose to ComputePathToPose bt * start instead of start_pose + else if * [ComputePathToPose Action API break] change 'pose' for 'goal' +use_start * test wip * add compute path to pose BT test for use_start * last start_pose renaming * Transform start and goal in costmap frame * Revert "Transform start and goal in costmap frame" This reverts commit 4ed8eb0aca6840d57768823a20406b7287dad837. * lint * fix exit (#2224) * fix typo in regulated pure pursuit readme (#2228) * Rviz state machine waypoint follower updates (#2227) * working on canceling state machine for waypoint mode * fixing cancelation logic * fix linting isue * ServiceClient use callback group (#2216) * change timeout default value * create and use callback group * remove generate_internal_node option * unit test to do a service call in a topic callback * fix unit test * set default value to -1 * adding precomputations of trig and offsets (#2231) * fixing smac collision on footprints (#2232) * new functions (#2233) * Fix #2186 (#2222) * Fix #2186 * goal_pose instead of goal->goal * avoid redundant code * change name and switch to input + output param pattern * code style * goal blackboard ID variable (#2235) * new behavior tree node for triggering just once (#2236) * adding doxygen for nav2-utils (#2237) * Use different param name for slam_toolbox param_file (#2242) * adding doxygen to recoveries (#2241) * Adding maintainer checklist to Pr template (#2244) * Forse ROS2 parameters to be static to meet RCLCPP API changes (#2239) * Forse ROS2 parameters to be static to meet RCLCPP API changes * Fix comments * Move all common CostmapFilter parameter declarations into try-catch block * Update README.md (#2250) * Fix SingleTrigger BT node (#2245) * Fix SingleTrigger BT node Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add explicit failure case Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix uncrustify error Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * [SimpleGoalChecker] Make parameters changeable at runtime (#2248) * add parameter_event_sub * recompute xy_goal_tolerance_sq_ after param change * Controller plugins include goal checker when computing commands (#2252) * adding goal checker to the API for controllers and the controller server * updating DWB and RPP to include the new controller API change to include the goal checker pointer * adding getTolerances functions for goal checkers with unset default method * use getTolerances for goal checkers in RPP * adding missing headers to goal stoppers * fix linting of RPP * adding partial doxygen coverage for AMCL (#2253) * Add doxygen coverage to nav2_behavior_tree (#2254) Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Update PULL_REQUEST_TEMPLATE.md * [nav2_controller] Dynamic parameters for the reminding plugins (#2260) * dyn params plugin * lint recommandation * Fix for inflation artifacts behind update bounds (#2259) * Fix for inflation artifacts behind update bounds appearing when some layer is going after inflation_layer * Fix failing tests * Planner selector (#2249) * planner selector proposal * PR review changes: https://github.com/ros-planning/navigation2/pull/2249 * minor, inline function in cpp file * Third PR for planner selector: default input_topic, additional test and main class doxygen brief * some more documentation on planner_selector * adding planner selector to nav_tree_nodes.xml * method namming convention in planner_selector * Controller selector (#2266) * Reduce RAM usage in CI (#2258) * Switch ccache away from ramdisk to tmp to reduce CI RAM usage during builds * Use ccache environment variables for CCACHE_DIR and CCACHE_LOGFILE * Add defaults file for colcon https://colcon.readthedocs.io/en/released/user/configuration.html#defaults-yaml https://colcon.readthedocs.io/en/released/reference/executor-arguments.html#executor-arguments * Enable colcon defaults.yml config * Unset MAKEFLAGS * Break the build cache for testing * Fix env * Reset MAKEFLAGS * Use env for copy * Increase limits * break build cache for testing * consolidate colcon build args into config * cleanup * Update mixin comment * Prune repos file image_common already included in ros2.repo and thus osrf/ros2:nightly * Set limts as if there where 2 CPUs prior config rencountered load deadlock and colcon doesn't seem to count the correct number of cores in CI * Remove load average to avoid any deadlock * Bust CI cache for testing * Increase make job limit * Bust CI cache for testing * Revert failed changes * Revert use of env as path arg as it's incrocly interpreted as /opt/overlay_ws/$CCACHE_DIR * Move colcon defaults file * Re-enable load average limit Builds without warm ccache caches can still fail like when building ompl and gazebo_ros simultaneously * Remove service nodes in lifecycle_manager (#2267) * remove service_node from nav2_lifecycle_manager * wait_for_service() returns the value of service_is_ready() * explain wait_for_service return * use timer to trigger init() * init() as lambda function * wait_for_service as void * fix gtest * Enable rmw_connextdds for nightly CI (#2274) To again have a third RMW to triage CI failures * [nav2_behavior_tree] Reduce bt_action_node verbose (#2279) * RCLCPP_INFO to RCLCPP_DEBUG * same for bt_service_node * Replaced sensor_msgs/PointCloud to sensor_msgs/PointCloud2 (#2263) * converted PointCloud -> PointCloud2 adn checked linting. WIP Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * modified base_obstacke_test Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * Changed to PointCloudModifier WIP * formating fix Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * formating fix2 Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * added tests for clearing_endpoints Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * removing print statements Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * added subscribers for voxel marked and cost_cloud Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * modified test cases to use single wait for all pointcloud2 subscribers Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * removed unnecessary comments and publish_cost_grid_pc from yaml file Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * Fix ament_flake issues Signed-off-by: Sachin <sachin.guruswamy@gmail.com> * ServiceClient wait_for_service not infinite (#2278) * change wait_for_service behavior * Add unit test * smac checking collision footprint only when in possibly inscribed situation (#2286) * smac checking collision footprint only when in possibly inscribed situation * adding intermediate check * testing based on possibly inscribed conditions * fix tests * Handle navigate_to_pose preemptions with new BT (#2261) * Handle navigate_to_pose preemptions with new BT Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Terminate preempt requests with different BT XML files and add log Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Remove isPreemptRequested() Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * adding amcl doxygen (#2284) * adding amcl doxygen * removing trailing spaces * Deprecates use of geometry_msgs/PoseArray for particle cloud in AMCL (#2281) * removed geometry_msgs/PoseArray in AMCL, updated rviz configs * ParticleFilter -> ParticuleCloud * put back adding of weights and poses for particles was incorrectly deleted in 0ca93b5413b85d05202868c79b83ac630df7e40a * complies with linter's max line length https://github.com/ros-planning/navigation2/pull/2281#issuecomment-811449976 * reformatted file using ament_uncrustify commandline tool used: ament_uncrustify --reformat src/navigation2/nav2_amcl/src/amcl_node.cpp * [Draft] [nav2_controller] Add controller_patience param (#2264) * first implementation * restructure + param * lint * remove uneeded publishVelocity and deal with controller_patience_ 1.0 * change param name * add reasonable param * corrected backup plugin name for multirobot params (#2287) Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com> * Improve NavigationToPose action feedback (#2246) * first commit * Added empty line at end Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * linting * linting Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * Variable name fix Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * changed shared_ptr to weak_ptr Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * get node handle from blackboard Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * changed initialization of odom smoother object * changed initialization of odom smoother object * changed initialization of odom smoother object * changed initialization of odom smoother object * addressed comment re std::hypot * added overloaded constructor * added overloaded constructor * added overloaded constructor * added try catch and template to blackboard get path Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * lint Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * lint - pushing to rerun CI due to cc1plus failure Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * setting of current_pose in feedback msg outside of try/catch Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * added path integrator to nav2_controller for better distance feedback Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * added path integrator to nav2_controller for better distance feedback Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * fixed issue with lambda capturing class member Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * retrigger CI Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * add limits header Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> * retrigger CI Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io> Co-authored-by: Deepak Talwar <deepaktalwardt@farmwise.io> * adding doxygen to costmap_2d (#2292) * adding doxygen to costmap_2d part 1 * finishing doxygen for costmap * linting * Navigate through poses action ability (#2271) * initial work commit for compiling * building and almost basic working in navigator * working! * MVP done of navigate through poses in BT navigator side * working with zmq issue * adding compute path to pose, navigate through pose, through XML, and goal updater updates to support navigate through poses action * feedback contains culling * planner server with compute through poses server * abstracting more of the logic from the 2 planner server actions * fixing action server mixup * adding rviz support for nav through poses * improvements in reliability * resolving issues in the rviz plugins and enabling the BT navigator to better handle exceptions and muxing states * working nav through poses complete MVP, just cleanup now * bookkeeping up to date * linting updates + launch file parameter change updates * additional removal of patches from individual BT parameterization * adding find BT node for path removal points * remove extraneous file * adding to readme * linting * adding missing comma * moving try catch to another part of the code * create fake servers for BT system tests * clean exiting * unit BT tests * fixing typo * switch poses for pose * adding system test to nav through poses * fixing merge conflict issue * fix conflicts with 2246 * function conflict test resolution * fix linting * adding missing test dependencies (#2293) * Including new algorithms in build table badges (#2294) * fixing doxygen filepath * adjusting new files for tb3 model (#2298) * audited and removed unnecessarily complex launch configurations (#2295) * fix unsigned long comparison (#2310) * RCLCPP_INFO -> RCLCPP_DEBUG (#2311) * fix https://github.com/ros-planning/navigation2/issues/2312 (#2313) * [WIP] Fix for wings artifacts: adding new filters entity to separately update costmaps (#2308) * Fix for wings artifacts: adding new filters entity to separately update costmaps * Update nav2_costmap_2d/src/layered_costmap.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix review items * Fix/add tests * Rename costmaps Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * [nav2_lifecycle_manager] Support namespaced LifecycleManagers (#2309) * remove '/' from node name * add namespace argument * use namespace for service client node creation * ns instead of namespace_ * const * ns instead of namespace_ in lifecycle_node too * lint * fix AttributeError in nav2_gazebo_spawner (#2322) * removed name parameter from rviz_launch.py (#2321) Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com> * checking if handle is active in handle_cancel (#2304) * Open option to use parent node in lifecycle Manger Client (#2328) * open option to use parent node * add constructor and clean * Validate codecov script against checksums. (#2330) After the recent Codecov security incident[1] I've been reviewing codecov usage across ROS repositories. This repository is fetching the codecov bash uploader without performing the recommended validation step. The validation step does not appear to have been widely explained or publicised and even the official codecov GitHub action was not validating the script until the recent security incident. I have made an attempt to validate the bash uploader here. [1]: https://about.codecov.io/security-update/ * Fix script error introduced in #2330 (#2335) `local` in bash can only be used within a function context. * Goal Checker selector (#2269) * goal checker selector * updating main nav yaml configuration file to support multiple goal checkers * imised defaiñt gpañ cjecler àra,eter * changes requested in the PR * improving selector subscribers for laching behavior * fixing cpplint uncristify style * fixing issues * setting original yaml configuration for the general_goal_checker * the usage of the goal_checker vector now totally mimic the controller vector * [Selector Actions] re-enabling back transient local for subscribers and tests * commit failure on non default avaialable * Some comments in selector behaviors code and some aesthetic changes * fixing some linting issues * minor linting error Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Use incremental timeouts in spin_until_future_calls during BT execution to handle large server timeouts (#2320) * Use incremental timeouts in spin_until_future_calls during BT execution Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix tests * Remove unnecessary timeout_ variable Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Reset goal_sent on terminal conditions Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Rename variables and refactor timeout logic Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix timeout logic and add tests Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Updates tests to ensure previous node state does not leak into new cycles Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Change goal_handle_ checks to future_goal_handle_ Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Remove goal handle reset in halt * Update server_timeout to 20ms and inherit BtServiceNode from BT::ActionNodeBase Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add action feedback information to nav2 rviz panel (#2338) * Add action feedback information to nav2 rviz panel Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Reset based on goal status Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Add goal handle resets on goal completeion Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com> * Move CI from ROS2 master to Rolling (#2339) * Update Dockerfiles and Dockerhub to rolling * Comment out packages avalable in rolling * Install RMWs as CI dependencies * Rebuild CI images when there are dependency updates (#2344) * Trigger dockerhub build when ros2 has updates * Apt upgrade in dockerfile to avoid dockerhub build trigger loops when latest ros docker image is outdated as compared to latest sync ros2 list repo * Update CI to use colcon cache (#2343) * Disable dockerhub workflow for testing * Disable debug jobs for testing * Disable extra rmw jobs for testing * Rename docker images for testing * Default to cache from main branch * Use colcon cache * Install colcon cache * Fix xargs typo * List names only * Checksum overlay ws src after restore and store to restore ws cache for incremental builds * Disable test jobs * Revert checksum update but use underlay src * Only cache ws build and install folder to avoide overwritting ws src folder with restore * Don't remove git files from underlay so vcs tools can export underlay to checksum * Save build cache regardless of failure * cache tests * Update colcon cache * No need to remove log folder as its no longer cached * Bypass .dockerignore for dockerhub build hooks to include .git folder in overlay for colcon cache * Simplify checkout now that underlay and overload have lockfiles * Remove overlay src folder for checkout * Echo env for debug * Use if checks for empty package sets as --packages-above with empty args will not skip any package * Save workspace log to cache * Set TEST_PACKAGES to empty instead of skipping * Update colcon cache * Update colcon cache * Explicitltly list packages to build using an environment variable * Enable debug and nightly jobs * Test all packages if cache_test is false * Revert testing fork changes * Install pip in rolling image * Rename checksum file to lockfile.txt * Config formatting * Simplify testing * Update BT nodes to use callback groups / executors to process (#2334) * Update BT nodes to use callback groups / executors to process implement #2251 * add executor to other BT nodes * use spin_some in is_battery_low BT condition * fix merge * remove spinning thread * Uncrustify code formatting (#2349) * Update invalid parameter exception handling (#2347) * Rename rclcpp parameter exception The parameter exception name is being changed in https://github.com/ros2/rclcpp/pull/1673 Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Exception is thrown when getting the parameter Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix typo Signed-off-by: Jacob Perron <jacob@openrobotics.org> * bumping galactic to 1.0.0 * adding pytest depend for nav2-util (#2355) * bump galactic to 1.0.1 for re-release * Galactic sync 1 : All commits before May 24 (#2363) * reset all goal checkers on cleanup state (#2354) * Fix map_saver_cli arguments not parsed well (#2362) Fixes #2358 * bumping to 1.0.2 for re-release with updates Co-authored-by: Carlos Andrés Álvarez Restrepo <charlie_cha@outlook.com> * add missing test dependencies * bumping to 1.0.3 * adding pytest dependency for lifecycle (#2369) * release for 1.0.4 for lifecycle depends fix * adding missing test dependencies * bumping to 1.0.5 * Galactic syncing recent master PRs (#2384) * Fix SEGV caused by goal_handle_ which is nullptr while result_callback called (#2356) * Fix SEGV caused by goal_handle_ which is nullptr while result_callback called * Ignoring the goal result if a new goal request sent * Fix nav2_gazebo_spawner not working while namespace is empty (#2357) Co-authored-by: Kaven Yau <kavenyau@foxmail.com> * Update regulated_pure_pursuit_controller.cpp (#2396) * Galactic sync 2 (June 9) (#2400) * Increasing nav through poses remove point tolerance to 0.7 (#2387) * bump to 1.0.6 for rerelease with galactic sync 2 * Followup to PR 2413 for galactic branch (fix for operator= in observation.hpp) (#2424) * in observation.hpp fixed operator= * style fix * Feature addition: capability for the RRP to drive the robot backwards (#2443) * Feature addition: capability for the RRP to drive the robot backwards * findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop * satisfying ament_uncrustify and ament_cpplint * removing the unnecessary condition in the cusp determination * Satisfying ament_uncrustify - 2 * Galactic sync 3 (July 13) (#2449) * missing comma in bt_navigator plugin list (#2447) * Reduce nodes for nav2_waypoint_follower (#2441) * Reduce node of waypoint_follower by using callback group and executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linting failures Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Add lazy_theta_star (#1839) * Add lazy_theta_star * Added license * Added license * Update lazy_theta_star_b.cpp * restructured files - separated planner part and the algorithm - implemented all the changes as suggested * restructured files * Update CMakeLists.txt * removed unnecessary comments * removed comments * Delete planner.cpp * Delete lazy_theta_star_b.cpp * Delete lazy_theta_star_b.h * Delete planner.h * Delete CMakeLists.txt * Delete global_planner_plugin.xml * Delete package.xml * replaced the files - refactored code - improved reliability - have to write a code similar to that in nav2_system_tests, to test it (working on it) * removed comments * removed comments * Update lazy_theta_star2.cpp * update files - replaced manual management of priority queue with stl priority queue - added the parameter ".lethal_cost" - removed unnecessary parameters passed to the functions * update files - updated the header files in accordance to their .cpp counterparts * Delete lazy_theta_star2.h * Delete lazy_theta_star_planner.h * Delete lazy_theta_star2.cpp * Delete lazy_theta_star_planner.cpp * Delete CMakeLists.txt * Delete package.xml * Delete global_planner_plugin.xml * upload the changed code Changes from last time are: - the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs - parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now - * Delete lazy_theta_star_p_planner directory * Replace the old files - the structure of code has been changed - new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function] - documentation added for variables and functions - the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon) - fixed a bug where the incorrect traversal cost of the node was taken * Delete lazy_theta_star_p_planner directory * update the files - renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner - renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp - added a readme file outlining the parameters, usage notes and images to be added soon - added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic) - replaced the SharedPtr with a WeakPtr for node - removed +1 and the pusher_ variable added to compensate for it * Update README.md * update the code - linted the code - **updates to readme, are still pending** - changed the type of message from INFO to DEBUG - replaced the capital letters with the smaller ones * update the readme file * Update README.md * Update README.md * Update README.md * Update README.md * Delete global_planner_plugin.xml * fix the linting issues * remove the space on line 7 * change RCLCPP_INFO to RCLCPP_DEBUG * Update README.md * Add test coverage - added tests to check the algorithm itself and its helper functions - added smoke test to detect plugin level issues - inlined some functions - shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class - removed the functions `dist()` and `getCellCost()` from the ThetaStar class * update the test file * update the test file * Update README.md * Update README.md * Update README.md * add test on the size of the output path * Update README.md * Update README.md * change the function name from `isSafeToPlan()` to `isUnsafeToPlan()` * update the files - inlined the functions `getIndex` and `addIndex` - removed typos from the comments * fix typos * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * fix the typo - the first isSafe calls output wasn't negated, it has been fixed * Update theta_star.hpp - added the `getCost()` function (again) - replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`. - the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct - the global variable `curr_node` was renamed to `exp_node` - removed the struct `pos` * Update theta_star.cpp * update default parameters * update default parameters * Update README.md * update the test file * fix linting issues * Update README.md * Update README.md * Update README.md * Update theta_star_planner.cpp * update LETHAL_COST * update README.md * update dependency list * Update package.xml * Name bt_navigator action nodes uniquely (#2410) Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com> * Hybrid-A* optimizations and completion without on-going State Lattice work (#2404) * major smac planner collision checking speedups and improvements * fix linting errors * wireframe for state lattice node * finishing boilerplate changes * adding more context to each TODO and notes about path to completion * prototype for the base plugin + refactor out common logic for all planners * commiting speed up work in progress * adding in improvements to overall user quality of life * pushing updates to 2D for faster / smoother; hybrid for smoother and new heuristic function; a bit of rearchitecture; deprecating smoother to make room for a new one * adding smoother prototype * adding orientation guestimator * correcing 2d * done with smoother * enabling collision checking full SE2 only when under inscribed cost according to current exponential decay function * adding doxgyen on new function * linting * testing working * fixing looping at end of paths + simplifying code * fixed cost-based issue in smoother * finishing touches on smoothing * smoother recursion fix + crashing issue resolved * incremental changes * completed hybrid A* plannern * adding images * purge state lattice work to merge in just Hybrid-A* improvements * linting Co-authored-by: simutisernestas <35775651+simutisernestas@users.noreply.github.com> Co-authored-by: gezp <zhenpeng.ge@qq.com> Co-authored-by: Anshumaan Singh <anshumaan567@gmail.com> Co-authored-by: Jonatan Olofsson <jonatan.olofsson@gmail.com> Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com> * SMAC Planner: Treating "inscribed" costs not as collision anymore (#2464) * Update regulated_pure_pursuit_controller.cpp (#2484) * Galactic sync 4 (Sept 15) (#2561) * 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 https://github.com/ros-planning/navigation2/pull/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: https://github.com/ros-planning/navigation2/issues/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> * Fixed model loading issue with Gazebo and Rviz2 (#2572) 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * Create mergify.yml (#2602) (#2604) * Create .mergify.yml * Rename .mergify.yml to mergify.yml (cherry picked from commit 637e29064526ffb2fcf2a42c35544d4e19e08ff8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixes for Windows into main (#2603) (#2606) * Fix nav2_util * Don't include libgen.h on Windows * Replace sleep with Sleep on Windows * Fix rviz plugin Undef NO_ERROR from windows headers * Fix smac_planner * Define _USE_MATH_DEFINES for M_PI * Replace uint with unsigned int * Don't add compiler flags that aren't supported on MSVC * Use vector instead of VLA when building with MSVC * Fix dirname for \ paths * Fix typo * Fix linter (cherry picked from commit 82ce6ca871ae07e9788fdb77c2f8367ee554b7db) Co-authored-by: Akash <Ace314159@users.noreply.github.com> * Modified the projection_time calculation (#2609) * Resolving 2574: Smac 2D on map (#2588) (#2638) * Fixed model loading issue with Gazebo and Rviz2 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * fixing off map expansions Co-authored-by: aliben <aliben.develop@gmail.com> (cherry picked from commit 10420bacc1f4d38c9a72355c183a9e835c90a584) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * backporting 2631 to galactic (removing kinematic limiting) (#2645) * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * fix merging * align to galactic (#231) * align to galactic * align params * galactic version * galactic version * still need this commit due to broken master * remove groot * add dependency used in one of the nodes * add angles back * add find for package * fix initialization warning * remove needless dependencies * add teb_local_planner dependency * remove g2o from repos * remove gazebo for xavier (temp change) * fix build * AMRFM-1318 Make nav2_navigator's current_goal private (#235) * [AMRFM-1318] Initial commit * [AMRFM-1318] Change the way ports are specified * Revert Goal_id-related changes * delete missed file * Fix import (#246) * AMRFM-1348 pickup from roller belt (#243) * Fix: Amr communicator bringup and going to charging (#248) * fix launch of amr_communicator * realsense IDs * fix passing of agv_action to subtree * Task amrfm 1304 charging stations (#247) * remove charging station pose * realsense IDs * fix launch of amr_communicator * fix passing of agv_action to subtree * remove out NarrowPreAproach for prevent oscillation (#249) * [AMRFM-1319] Added barcode scanning cameras (#245) * [AMRFM-1319] Added barcode scanning cameras * [AMRFM-1319] Fix inertia * Amrfm 1416 node check bin type is not recognized (#251) fix for Check bin type node * Qos config for realsense plugin (#227) additional Qos config for realsense plugin * AMRFM-1184 Drive to waiting area if rack is assigned to another AMR (#230) * draft of behaviour * draft of behaviour * draft of behaviour * draft 2 * added requested change * draft * supply rack_id * draft * fixes * fixes * fixes * timing fix * small edit *…

(back-port of ros-navigation#2460 and ros-navigation#2781)

(back-port of ros-navigation#2460 and ros-navigation#2784)

(back-port of #2460 and #2784)

(back-port of ros-navigation#2460 and ros-navigation#2784)

* Apply raytraceLine 3D fixes to its 2D version (#2857) (back-port of #2460 and #2784) * Additional revision for costmap_bresenham_2d test (#2862) Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>

(back-port of ros-navigation#2460 and ros-navigation#2784)

* Name bt_navigator action nodes uniquely (#2410) Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com> * Fix code coverage (#2419) * Include filter only by packge name as using package source paths can exclude coverage from other packages such as header files reported usign under workspace's install path * formating * Process gcno Process both gcno and gcda coverage files. This option is useful for capturing untested files in the coverage report. * Validate sources Check if every source file exists * Dump statistic Dump total statistic at the end * Branch coverage Include only the most useful branches in the coverage report. * Fix install path * Explicitly exclude packages to ignore rviz package but still explicitly include packages as the include filter is what mostly speeds up processing * Revert "Branch coverage" This reverts commit 20f28949904ef965c8b5b011f3e387037adc93ce. * Keep path fixes relative to workspace As the working directory used for running code coverage report script is already at the root of the colcon workspace, avoiding the use of unnecessary path globbing * Followup to PR 2413 for main branch (fix for operator= in observation.hpp) (#2425) * in observation.hpp fixed operator= * style fix * Update README.md * Add lazy_theta_star (#1839) * Add lazy_theta_star * Added license * Added license * Update lazy_theta_star_b.cpp * restructured files - separated planner part and the algorithm - implemented all the changes as suggested * restructured files * Update CMakeLists.txt * removed unnecessary comments * removed comments * Delete planner.cpp * Delete lazy_theta_star_b.cpp * Delete lazy_theta_star_b.h * Delete planner.h * Delete CMakeLists.txt * Delete global_planner_plugin.xml * Delete package.xml * replaced the files - refactored code - improved reliability - have to write a code similar to that in nav2_system_tests, to test it (working on it) * removed comments * removed comments * Update lazy_theta_star2.cpp * update files - replaced manual management of priority queue with stl priority queue - added the parameter ".lethal_cost" - removed unnecessary parameters passed to the functions * update files - updated the header files in accordance to their .cpp counterparts * Delete lazy_theta_star2.h * Delete lazy_theta_star_planner.h * Delete lazy_theta_star2.cpp * Delete lazy_theta_star_planner.cpp * Delete CMakeLists.txt * Delete package.xml * Delete global_planner_plugin.xml * upload the changed code Changes from last time are: - the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs - parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now - * Delete lazy_theta_star_p_planner directory * Replace the old files - the structure of code has been changed - new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function] - documentation added for variables and functions - the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon) - fixed a bug where the incorrect traversal cost of the node was taken * Delete lazy_theta_star_p_planner directory * update the files - renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner - renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp - added a readme file outlining the parameters, usage notes and images to be added soon - added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic) - replaced the SharedPtr with a WeakPtr for node - removed +1 and the pusher_ variable added to compensate for it * Update README.md * update the code - linted the code - **updates to readme, are still pending** - changed the type of message from INFO to DEBUG - replaced the capital letters with the smaller ones * update the readme file * Update README.md * Update README.md * Update README.md * Update README.md * Delete global_planner_plugin.xml * fix the linting issues * remove the space on line 7 * change RCLCPP_INFO to RCLCPP_DEBUG * Update README.md * Add test coverage - added tests to check the algorithm itself and its helper functions - added smoke test to detect plugin level issues - inlined some functions - shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class - removed the functions `dist()` and `getCellCost()` from the ThetaStar class * update the test file * update the test file * Update README.md * Update README.md * Update README.md * add test on the size of the output path * Update README.md * Update README.md * change the function name from `isSafeToPlan()` to `isUnsafeToPlan()` * update the files - inlined the functions `getIndex` and `addIndex` - removed typos from the comments * fix typos * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * fix the typo - the first isSafe calls output wasn't negated, it has been fixed * Update theta_star.hpp - added the `getCost()` function (again) - replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`. - the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct - the global variable `curr_node` was renamed to `exp_node` - removed the struct `pos` * Update theta_star.cpp * update default parameters * update default parameters * Update README.md * update the test file * fix linting issues * Update README.md * Update README.md * Update README.md * Update theta_star_planner.cpp * update LETHAL_COST * update README.md * update dependency list * Update package.xml * Remove deprecated pluginlib boost feature disable (#2431) Boost features have been deprecated and removed in pluginlib for rolling * Improve coverage for NavFn package (#2420) * feat(navfn): improve coverage * wip(navfn): add new test launch * refactor(navfn): check expect_failure flag value * Reduce nodes for nav2_waypoint_follower (#2441) * Reduce node of waypoint_follower by using callback group and executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linting failures Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * missing comma in bt_navigator plugin list (#2447) * Feature addition: capability for the RRP to drive the robot backwards (#2443) * Feature addition: capability for the RRP to drive the robot backwards * findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop * satisfying ament_uncrustify and ament_cpplint * removing the unnecessary condition in the cusp determination * Satisfying ament_uncrustify - 2 * Adding launch_testing_ros dep on nav2 utils to install (#2450) * Update README.md (#2461) * Refactor actions to rebuild CI image from CI (#2405) * Add dependabot config * Workarround missing ARG support in dependabot Parrent image can't yet be parameterized for version parsing https://github.com/dependabot/dependabot-core/issues/2057 * Fix CCACHE_DIR to be absolute path https://github.com/ros-planning/navigation2/pull/2403 * Remove FAIL_ON_BUILD_FAILURE ARG now that CI image builds from rolling testing and no longer ros2 nightly so forcing image rebuilds is no longer needed * Trigger rebuild on changes to Dockerfile * Add github-actions to dependabot * Refactor actions to rebuild CI image from CI * Clean old dockerhub build hook * Rename action * Combine workflows to avoid dispaching as that requires a github personal access token which is an inconvenience to generate and add to repo secrets * Add needs param to define job order * Use job outputs for condition instead of env Seems that env in context is not yet avalable at the job level but only at the current job's step level https://github.saobby.my.eu.orgmunity/t/how-to-set-and-access-a-workflow-variable/17335/6 https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idoutputs * Use multi-line syntax for tags param * Use toJSON for job conditional * Test with always * Update param syntax * Test with always * Update if syntax * Test if trigger for only check_ci_files * Simplify if params * Try using GitHub's Container registry * Indent formating * Add step conditional * Default arg to build from unpinned parrent stage allowing CI to build from pinned testing image while enabling dependabot to find and update testing image version ensuring CI images are up-to-date with upstream registries * Set build arg for continuous integration * Ignore .github folder * testing * Update colcon-cache * Revert to rolling * Revert testing * Update README * SMAC Planner: Treating "inscribed" costs not as collision anymore (#2464) * 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> * Reduce lifecycle service client nodes (#2469) * remove LifecycleServiceClient's constructor which create internal node Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix the linter Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * 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 * improve SimpleActionServer (#2459) * improve SimpleActionServer Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use Nodethread for executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * add constructor's arg options and member variable executor_ Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * 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> * reduce planner server nodes (#2480) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Reduce controller server nodes (#2479) * reduce controller server nodes by setting SimpleActionServer's argument spin_thread true Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove duplicated action_server_.reste() Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Update regulated_pure_pursuit_controller.cpp (#2484) * [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) * Use regex anchors when checking for updates (#2500) to fix conner cases like this: https://github.com/ros-planning/navigation2/runs/3277796714?check_suite_focus=true https://stackoverflow.com/a/4709921 * Update README.md * adding default template constructor (#2501) * 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> * Spawn turtlebot3 separately (#2473) * add nav2 gazebo spawner * fix origin pose * add robot_description * remove urdf arg * fix whitespace * spawn from file ;add initial pose * remove spawn launch include * param and rviz edit * conflict resolve * pose * remove world tags and add tf remap * use nav2 waffle model and spawn entity * change nav2_spawner to spawn_entity * add tf remap * delete nav2_gazebo_spawner * sdf param * added in readme * changes * fix export dependency and library (#2521) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Add argument node options (#2522) * add argument node_options Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * change node's name Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix code style 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 multi_robot_test (#2524) * Update README.md * remove old build tools (#2532) * Fix out of voxel grid array regression (#2460) * Update dwb_local_planner.hpp (#2533) Add remarks * nav2_bringup reorder (#2527) * nav2_bringup reorder * change to trigger * manual remove cmd * revert * add manual rm comd * change * change * change * change * change * change * revert * change * change * change v1 to v2 * try --cmake-clean-cache * try --cmake-clean-cache * v2 cache * v3 cache * 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 https://github.com/ros-planning/navigation2/pull/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> * Fix deprecated type conversion (#2538) (#2543) Replace implicit deprecated type conversion from rclcpp::Client::FutureAndRequestId to std::shared_future with call to convenience method FutureAndRequestId::share() Co-authored-by: Nikolay Panov <pn.interface@gmail.com> * Register nodes as components (#2562) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * 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: https://github.com/ros-planning/navigation2/issues/2547 * Fixing minor build warnings (#2564) * Fixed test_bt_navigator_with_groot_monitoring (#2568) * removed redundant params in smac example (#2570) * Support manual composed bringup for Nav2 applications (#2555) * support manual composed bringup for Nav2 applications Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linters Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * rm composed_bringup_launch.py Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/README.md * Update nav2_bringup/README.md * Update nav2_bringup/README.md * Update nav2_bringup/README.md * update nav2_bringup/README.md Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove unused use_lifecycle_mgr Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixed model loading issue with Gazebo and Rviz2 (#2577) 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * [Draft] Set parameters result example (#2576) * change dyn param method * typo * remove unnecessary log * handler init in activate * Fix typo (#2583) fix typo in warning msg; * The smac planner max_planning_time parameter can timeout the A* planning stage (#2586) - Until now the max_planning_time parameter only had an effect on the smoothing and sampling stages of the planner, so the actual A* planning could possibly take a lot longer * Change dynamic parameters method (#2585) * dyn param method * dont add to reset for checkers * fix test * Resolving 2453: Adding timeout for recoveries in case of stuck conditions (#2589) * allowing backup and spin to have timeouts in case of error / getting stuck * fix linting * Removing multi-robot test, flaky in CI and unneeded (#2601) * Create mergify.yml (#2602) * Create .mergify.yml * Rename .mergify.yml to mergify.yml * Fixes for Windows into main (#2603) * Fix nav2_util * Don't include libgen.h on Windows * Replace sleep with Sleep on Windows * Fix rviz plugin Undef NO_ERROR from windows headers * Fix smac_planner * Define _USE_MATH_DEFINES for M_PI * Replace uint with unsigned int * Don't add compiler flags that aren't supported on MSVC * Use vector instead of VLA when building with MSVC * Fix dirname for \ paths * Fix typo * Fix linter * Delete head branch automatically on PR merge (#2608) * Modified the projection_time calculation (#2609) (#2610) (cherry picked from commit 8faa0f0550027edc7bf2640f23cff13b2af60a8f) Co-authored-by: Narahari Rahul Malayanur <60045406+Naraharirahul@users.noreply.github.com> * Update mergify.yml (#2612) * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml (#2616) * Update mergify.yml for Foxy backports and maintainer exceptions (#2620) * Update mergify.yml * Update mergify.yml * adding dynamic params to RPP and cleaningup style in others (#2607) * adding dynamic params to RPP and cleaningup style in others * adding tests * tests working * adding alot more read me context and updates (#2625) * Stopping networking-related BT failures from failing task, rather fail specific BT node (#2624) * addig try/catch around non-tree exceptions to fail node * Update bt_action_node.hpp * linting * Updating mergify rules for capitalization of usernames (#2630) * adding groot separation by BT type (continuation on 2409) (#2627) * adding groot separation by BT type * fixing linting * refactor of #2624 for simplicity (#2629) * removing kinematic limiting from RPP (#2631) * removing kinematic limiting from RPP * update tests * Resolving 2574: Smac 2D on map (#2588) * Fixed model loading issue with Gazebo and Rviz2 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * fixing off map expansions Co-authored-by: aliben <aliben.develop@gmail.com> * Add dynamic parameters do Costmap2DROS (#2592) * dyn params for costmap2dros * simplify dyn footprint padding * add test * updated header for rolling * Bug fix: set the BT Navigator "default_nav_to_pose_bt_xml" and "default_nav_through_pose_bt_xml" from the yaml file (#2664) * removing the has_parameter() and replacing with the get_parameter() * fixing navigate_through_poses as well * Adding comment to clarify intent * Refactored amcl code for modularization of motion models(main branch) (#2642) * Delete nav2_amcl directory * Add files via upload * Remove "." * Update CHANGELOG.rst * Remove redundant code from CMakelists.txt * Reverted amcl_node.cpp * Cleaned up differential_motion_model.cpp * Update plugins.xml Removed redundant code,to make both the models under one library. * Cleaned up omni_motion_model.cpp * Cleaned up motion_model.cpp * Delete CHANGELOG.rst * Update CMakeLists.txt * Update motion_model.hpp * Add header files via upload * Update amcl_node.cpp * Update differential_motion_model.cpp * Update omni_motion_model.cpp * Update CMakeLists.txt * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update amcl_node.cpp * Update differential_motion_model.cpp * Update motion_model.cpp * Update omni_motion_model.cpp * Update differential_motion_model.cpp * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update differential_motion_model.cpp * Update motion_model.cpp * Update omni_motion_model.cpp * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update motion_model.cpp * Update motion_model.cpp * Update nav2_params.yaml * Update CMakeLists.txt * Update nav2_multirobot_params_2.yaml * Update nav2_multirobot_params_1.yaml * Update speed_global_params.yaml * Update speed_local_params.yaml * Update keepout_params.yaml * Footprint collision checking for nav2_regulated_pure_pursuit (#2556) * initial * initial * initialize * un * working * lint fix * wrk * clean_up * remove code repettion * rm unused variable * initialize footprint on configure itself * revert to defaulted constructer * remove rviz change * remove unneccessary changes * review changes * define traverse unkown * set true * reviw changes * styling changes * collision checking condition * used back() * make loop end condition fixed * review changes * fix * removed midpose curvature * removed stop collision check at goal pose * Windows fix (#2672) * Add support for reconfiguring params using GUI in ThetaStarPlanner (#2665) * - 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 * update the README and code to prevent errors * add support for reconfiguring params using GUI * Update theta_star_planner.hpp * fix linting issues * remove being set as the param * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Corrected reinitialization in nav2_smac_planner::HybridMotionTable (#2680) - The HybridMotionTable did not reinitialize properly in case the min_turning_radius or the motion_model was changed. * State Lattice Planner Work Revival (#2582) * adding state lattice beginning point * refactoring to remove analytic expansion into its own object * moving smoother and collision checker into cpp files * allowing smac planner to work with irregular bin distributions * integrating @jwallice42 s work and enabling reverse expansions * adding in intermediate collision checking and backtracing * adding traversal function * adding test coverage and passing for node lattice * adding updated rosdep key * compiling, generating paths (though bogus) * adding working base code * adding search info * fully working for non-lateral lattices * removing downsampler for lattice, pushing in cost penalty * adding in updated heuristics, tuned gains, and generally working for ackermann cases * reverse expansion working * adding complete support, refactoring, etc * adding forgotten files * adding readme updates * adding max planning time to state lattice * adding dynamic parameters * removing extra config file * fix linting * updating test * adding several unit tests * adding system test * fixing crash * adding default model * adding corrected exporting of plugins * adding more test coverage * reorder tests to see if natters * unlink motions_lib plugin library in nav2_amcl (#2675) * separate amcl_core library from motions_lib plugin library Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update plugins.xml Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update default value of robot_model_type Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * debugging flaky shutdown on plugin planner tests (#2682) * debugging flaky shutdown on plugin planner tests * adding independent tests * adding types * adding new QoS and fix param declares * try this * try tihis * try 10hz * try sleeping on setup * add footprint pub * adding additional pub for debug * try adding a spin for debug types * Fix spin recovery test (#2684) * debugging flaky shutdown on plugin planner tests * adding independent tests * adding types * adding new QoS and fix param declares * try this * try tihis * try 10hz * try sleeping on setup * add footprint pub * adding additional pub for debug * try adding a spin for debug types * replacing spin with sleep * Updating regex for mergify (#2691) * Smoother server (#2569) * old version of smoother server with path truncation and without collision checker and footprint subscriber * Removed path truncation from smoother server, added footprint subscriber and path collision checking * smoother code styling fixes * Update nav2_tree_nodes.xml * WIP: PR #2569 fixes * smoother server changes as requested in PR #2569, tests added * cpplint fixes * added nav2_smoother to composed bringup * smoother server: improved test coverage, details fixed * removed smoother from composed bringup lifecycle nodes as it fails on non-existing plugins * removed smoother server default plugin since it's not merged yet, readded into bringup * nav2_smoother tests: added mocked class loader to improve nav2_smoother.cpp test coverage * nav2_smoother 100% test coverage * test_smoother_server cpplint fix * test_smoother_server added cleanup transition * nav2_smoother added default plugin type autoconfig test * Update nav2_smoother/README.md * removed smoother_server_rclcpp_node from nav2_params.yaml, added smoother_server to other config YAML files Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * removing dead code from AMCL (#2693) * Lifecycle startup fix (#2694) * removed init_timer from lifecycle callback group * lifecycle manager: startup() on autostart_ calling from callback_group_ (Bond::waitUntilFormed needs node spinning in the background) Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * If not downsampling costmap, default factor to 1 (#2695) * removing live groot monitoring from Nav2 (#2696) * removing live groot monitoring from Nav2 * rename test * fixing linting issues * readd default * linting * Remove "wrong"/unnecessary dependency (#2700) * Theta star planner fix (#2703) * add test to check if the goal is unsafe with theta star planner Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * check if a plan is generated (#2698) Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * adding max analytic expansion length (#2697) * adding max analytic expansion length * fix tests and add dynamic parameter support * [RPP] remove velocity scaling option (now required) and enable orientation sp projection times (#2701) * remove velocity scaling option (now required) and enable orientation sp projection times * get max radius * Version bump up colcon extensions (#2706) * Always initialize clearing endpoints in voxel layer (#2705) * Prohibit of simultaneous usage of callbacks accessing to pf_ object (#2712) * CostmapTopicCollisionChecker tf stamp fix (#2687) * fixed tf lookup in costmap_topic_collision_checker unorientFootprint method * minor cleanup * uncrustified * fixed stamps for tests which include CostmapTopicCollisionChecker * updated CostmapTopicCollisionChecker construction for nav2_smoother * cleaned up CostmapTopicCollisionChecker and FootprintSubscriber * global_frame declaration returned to recovery_server as it is needed by recovery plugins * collision checker params updated * Made transformFootprint same-input-output-safe * uncrustified footprint.cpp * CostmapTopicCollisionChecker enabled to fetch footprint only once per multiple checks (same like costmap) * CostmapTopicCollisionChecker: updated doxygen * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update costmap_topic_collision_checker.hpp Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding dynamic parameters support for controller, planner, and waypoint servers (#2704) * adding dynamic parameters support for controller, planner, and waypoint servers * reset dynaic params on deactivate * adding mutex to dynamic parameters support for 3 servers * removing waypoint follower lock * kill composition for 1 test * adding test coverage for dynamic parameters in main task servers * changing header for composed bringup * adding backwards state update (#2717) * Clean .gcda files for invalidated package tests (#2715) * Clean .gcda files for invalidated package tests "Each time you run the program, the execution counts are summed into any existing .gcda files, so be sure to remove any old files if you do not want their contents to be included." https://llvm.org/docs/CommandGuide/llvm-cov.html * Clean .gcno files for invalidated package builds "At the time you compile the instrumented code, a .gcno data file will be generated for each object file." https://llvm.org/docs/CommandGuide/llvm-cov.html * Bump up cache for testing * Revert .gcno cleaning cmake should handle stale files * Explicitly test uppassed tests as well keeping TEST_FAILURES even if redudnet, as it's still useful to echo for diagnostics * Bump up cache for testing * Cache test results to avoid this error with colcon test-results: Path 'test_results' does not exist * Bump up cache for testing * changing formulation of Hybrid-A* to be admissible and retune (#2713) * adding shim rotation controller plugin (#2718) * adding shim rotation controller plugin * adding to metapackage * adding max kinematic accel * removing old note * adding video to readme * adding collision detector * adding projection time for collision checking to rotation shim controller * add another test case * adding dynamic param tests for sim ahead time * Update PULL_REQUEST_TEMPLATE.md * Update mergify.yml * Smac anomalies fix (#2724) * fixed analytic expansion poses skipping and restoring of original pose if neighbor not interesting * Revert "fixed restoring of original pose" This reverts commit a4f51ee28b03bf49f2cb63debfed49f7390fe6ef except of analytic expansion skipping * -- * removed API change, doing cleanup inside AnalyticExpansion * smac analytic expansion: removed node skipping * Update analytic_expansion.cpp * fixed linting errors * changed raw pointers to unique_ptrs * Update analytic_expansion.cpp * linter errors fix Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * Fixed min lookahead dist when moving backwards (#2726) Co-authored-by: seasony-vp <72447461+seasony-vp@users.noreply.github.com> * adding reversing to smoothers (#2727) * adding reversing to smoothers * smoother working * fixing CI * update test * Smoother feasbility (#2731) * first go at a new smoother feasibility * adding doxygen * adding fix for reeds shepp mini expansion issue * removing comments * removing old line * reordering declaration * fixing last bug * phew, that was a hard bug to fix... * adding test coverage * increase general test coverage (#2735) * increase test coverage * adding more coverage * adding more coverage * Apt upgrade with new pkgs (#2737) * Apt upgrade with new pkgs using --with-new-pkgs flag to ensure all packages in CI image are updated https://unix.stackexchange.com/a/241062/213124 * Pipe stdout from apt upgrade to log file for better debuging and transparency * adding dynamic parameter tests to navfn (#2743) * RPP max lookahead collision detection time limited by lookahead point itself (#2741) * adding RPP max lookahead collision detection time limited by lookahead point itself * linting * linting * allowing rviz to visualize laser scans again with rolling binaries (#2745) * increasing backup distance and speed (#2746) * increasing backup distance and speed * increasing speed * Update colcon and install lld (#2761) * Use LLD linker (#2734) * Use LLD linker https://lld.llvm.org https://github.com/colcon/colcon-mixin-repository/pull/28 * Bump cache for testing * docs: clarify that container images are for building, not deploying (#2763) Signed-off-by: Adam Aposhian <aposhian.dev@gmail.com> * Simplify coverage jobs for CI (#2762) * Test coverage from release build * Bump up cache for testing * Merge test jobs and name coverage uploads using set RMW * fix invert logic (#2772) * Updated primitives file to latest version (#2774) * Updated primitives file to latest version Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed tests for parsing and path checking * Fix : misspelling in smac_planner's readme (#2778) * Linting fix (#2779) * Bugfix tf lookup of goal pose in nav2_controller (#2780) Signed-off-by: Erik Örjehag <erik@orjehag.se> * adding support for in-place rotations in state lattice (#2747) * [costmap2d] make robot_base_frame param dynamic (#2782) * make costmap2d robot_base_frame_param dynamic * add test * add rejecting logic and test * support dynamic composed bringup (#2750) * support dynamic composed bringup Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update delcares in launch Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use component_container_isolated Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update README Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * State Lattice Planner Control Set Generation (#2587) * Initial version of motion primitive generation using sampling Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed to lattice motion primitive generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * minor clarity fix for yaw equation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * WIP - change of parameters + altering of step_distance Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Implemented simplified method using arcs and geometry Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added testing for trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed several bugs and changed trajectory generator to use step distance Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added left turn parameter Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tester to match latest trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Implemented lattice generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added edge case for parallel lines at 90 degrees Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added generation of paths in all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Update to parameter names and return values Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Bug fixes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added sample config file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added script for generating and writing to file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed end pose in list not being actual end point Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Output now sorted by startAngle then endAngle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Start level calculated by flooring instead of rounding Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Tidy code and added indentation to output file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed start/end angle being set to 180 or -0 Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added dataclasses instead of passing around tuples Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added yaws to path Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tests Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug in line path and added function comments Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated to reflect changes in trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed missing negative sign for start angles Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed min trajectory length being calculated wrongly Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed negative zero appearing in poses Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Set step distance to always be 10% of grid separation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Explicitly create yaws as float64 type Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tests to reflect step distance change Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added motion model handling Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed dataclasses to be frozen Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * step distance must now be passed in to trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added trajectory generation for all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added logging Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added arc length and total length computed properties to trajectoryParams Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed trajectory generation for all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a method to create params for trajectories with no arcs Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Simplified lattice generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved some functions to a separate file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed to use purely radians Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed -0.0 appearing again Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed angle difference calculation to account for turning direction Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Yaws properly generate when crossing -180/180 boundary Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed input/output parameters to be snake case Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved yaw interpolation to helper Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed rounding in outputs Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed paths to be relative to file location Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a trajectory visualizer for easier testing/debugging Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Sorted primitives by angle starting at 0.0 and running CCW Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed path generation when distance was very small Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added R-Tree to speedup minimal path search Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added printing of time taken Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed max length to stopping threshold Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Use numpy functions instead of python functions for converting trajectories to list Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a requirements.txt file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed saving of visualizations to create the folder if it does not exist Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed unused import Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Generated a few samples for use Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed spaces from folder names Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed interpolating of yaws to use vectorization Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug causing differing precision in angles when flipping Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Plots now have same axis across trajectories Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Replaced function with lambda Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a README Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated samples Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Refactored to follow pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Commented code and adjusted to match pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Commented code and adjusted to match pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved MotionModel class into LatticeGenerator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed start/end angle in output to be index of angle in heading_angles Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Sample primitives now only contain 5cm x [0.5m, 1m] x [ackermann, diff, omni] Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added config file parsing Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated README to include file structure details Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Renamed level to wavefront for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added Apache 2.0 License Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed how paths are passed in and updated the output file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated sample primitives and added visualizations Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added rotation matrix helper function Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added additional helper functions Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed path spacing issues Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed member variables of Parameter dataclass Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed how path spacing is handled Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated docstrings and type annotations Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added printing of distances between points for trajectory visualizer Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug in omni and diff model generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Regenerated all sample files using latest version Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added more comments for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated readme for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added recommended values to parameters Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Refactored TrajectoryPath and added docstrings for classes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added comments for purpose of script Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added docstring to classes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed leftover print statement Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved version constant to separate file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed backslashes in docstrings and made summaries one-liners Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Smac planner admissible obstacle heuristic (#2765) * added obstacle_heuristic_admissible, change_reverse_penalty, max_analytic_expansion_angle_range, max_analytic_expansion_cost_subelevation and max_analytic_expansion_length options * a_star test build fixed * tests partially fixed * -- * tests fixed * obstacle heuristic improved * removed max_analytic_expansion_length * returned heuristic costmap downsampling * cleanup before feature separation * change_reverse_penalty feature separation * analytic_expansion_constraints feature separation * smac smoother bypass separation * smac planner debug separation * uncrustified smac planner changes * improved smac admissible heuristic code readability * fixed cleanup errors * smac planner: added retrospective_penalty for speedup * smac retrospective penalty: fixed errors, adjusted value in readme * fixed doxygen, added new params to tests * fixed smac tests * Update node_hybrid.cpp * removed inadmissible heuristic computation, updated names + signedness to match previous implementation * Smac: updated README.md * Smac planner: setting retrospective_penalty default to 0.025, updating readme and costmap_downsampler code styling * Smac: fixed out-of-map cell obstacle heuristic crash, updated tests * Smac: fixed merge errors and test values * Smac: reorganized obstacle heuristic method code * Smac: removed redundant check * Update nav2_smac_planner/src/smac_planner_hybrid.cpp Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Updating smoother for unknown space (#2791) * adding an abstract BTNode for action cancellation (#2787) * adding an abstract BT for action cancellation * review update and adding test * adding controller cancel BT Node * Fixing the copyrights * review updates * satisfying lint * adding the bt to the defaults * update * Cleaned up version of is path valid (#2591) * Working replanning if path is vaild, however there is a bug with new goal points * Completed tested of path replanning * Delete uncrustify.cfg * Clean up for code review * steady * small code review changes * listen to server_timeout in input port * Lint issues * reverted file for navigate to pose * lint fixes * added global update condition * headless * revert default bt * Add image of new bt tree * circle ci and comments * add test for globally updated goal condition * added plath replanning only if path is invalid to navigate to pose * Added nodes to nav2_tree_nodes * cleanup BT tree for invalid path * code fixeds * lint fixes * added default timeout * lint fix * server timeout fix * removed images of new BTs * added rate controller * lint fix * Moved server timeout to constructor * fixed xml lint error * fixed test for is path valid * new bt image for reference * remove reference * Feature to call controller action server to follow path (#2789) * Added call to controller action server with a path to follow ++ Added a new function in robot_navigator,py ++ Added a launch script to test function ++ Updated setup.py to include demo_follow_path.py * Code refactoring * Code refactoring * Code refactoring for consistency * Updated README.md * Resolved executable conflict in setup.py for example_follow_path.py * Code refactoring with ament_flake8 * BT nodes xml naming fix (#2805) * Add recoveries to simple commander (#2792) * fix Typo * add recoveries * add docs * added demo using backup and spin * rename isNavigationComplete to isTaskComplete * rename cancelNav to cancelTask * add prints * fix premature exit * rename NavResult to TaskResult * fix readme order * fix import order * renaming * renaming * added planner_id (#2806) * Fixing the issue #2781: raytraceLine with same start and end point (#2784) * Fixing the issue #2781: raytraceLine with same start and end point no longer causes segmentation fault * Some whitespace modifications to make the code pass release_test * Add testcase for raytraceLine the same point Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> * Add optional node names to wait (#2811) * add option to specify navigator and localizer to wait for * add docs for waituntilNav2Active * wait for pose only for amcl * revert order * Drop unneeded dependency on python-enum34 (#2819) The enum module was added in PEP 435 and is present in Python versions 3.4 and newer, which includes all currently supported Python versions. * remove resizing on update message callback (#2818) * smoother fix (#2822) * Dynamic parameter setting of costmap layers (inflation/static/voxel) (#2760) * added dynamic params to inflation layer * Fixed codestyle divergence * Added test for inflation param setting * Added dynamic parameter setting to voxel layer * Fixed code styling * Added test for parameter setting of voxel layer * Added dynamic parameter setting for static layer * Added test for dynamic param setting of static layer * turtlesim3 simulation testing bugfixes * Imported some after param change function calls from ROS1 for all the layers * Updated changes to the main branch * Review changes by Alexey * Review comments by Alexey 2 * Fixed codestyle divergence * Removed blank line * Review comments by Alexey 3 * Removed blank lineS * Review change by Steven * restrict test_msgs to test_dependency (#2827) Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * remove unused odometry smoother in bt navigator (#2829) * remove unused odometry smoother in bt navigator Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * reorganize bt navigator to shared odom_smoother object with servers Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * fix: modify build failure of nav2 bt navigator (#2836) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add all action options (#2834) * added options * update docs * edge fix (#2840) * edge fix * code review * Launch single (#2837) * found error * complete test setup * updated metrics * reverted planner server * revert launch changes * remove edits * reverted nav2_bringup * revet robot navigator * add spaces * removed map * linting fix * removed package, moved valuable stuff to tools * addede more planners * planner benchmarking * adding stable dynamic reconfigure behavior (#2843) * Update RPP readme * Adding theta* to the main packages list * Ci focal rolling (#2851) * use rolling-ros-base-focal * hotfix: remove rosdep update from ci * Fix large angle changes in lattice primitive generator (#2831) * Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <mattbooker97@gmail.com> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Added testing for the Lattice Generator Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: mattbooker <mattbooker97@gmail.com> * Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <mattbooker97@gmail.com> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Added testing for the Lattice Generator Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: mattbooker <mattbooker97@gmail.com> * Updated sample primitive files Signed-off-by: mattbooker <mattbooker97@gmail.com> * Removed default_model.json file (duplicate of sample primitives) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed issue caused by merge Signed-off-by: mattbooker <mattbooker97@gmail.com> * Replaced default primitive files Signed-off-by: mattbooker <mattbooker97@gmail.com> * Removed whitespace in folder names Signed-off-by: mattbooker <mattbooker97@gmail.com> * Moved angle normalization to occur before output instead of during generation Signed-off-by: mattbooker <mattbooker97@gmail.com> * Adjusted angle normalization to output in the range of [0, 2pi) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Updated primitive files with latest changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed normalize_angle docstring Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fix: bt_navigator crashes on lc transitions (#2848) * fix empty address access on halt all actions * fix unsafe declaration of parameters * restore odom smoother * fix styling issues * add missing semicolumn * fix-collision checker must capture lethal before unknow (#2854) * Bound closest pose by costmap and turnaround point (#2812) * created integrated distance util * chng transform begin , end and always limit lp pt * chg trnsfm begin end and use euclidean distance * linting fix * linting fix * limit trnsfm to cusp * remove print * linting fix * lint fix * hypot * use direction change as upper bound for closest pose * bound closest waypoint by direction change * use max_transform_dist for closest_pose_upper_bound * remove first_element_beyond optimization todo * added path_utils for test path generation * initial test for path_utils * added full failing test for path_utils * fixed path_utils segfault * properly initialize straight transform * fixed right turn infinite loop * fixed path_utils transforms for half-turns * all path_utils tests passing * added half turn test for path_utils * remove unused dependencies from test_path_utils * move path_utils classes into path_building_blocks namespace * use hypot for euclidean_distance * rename findDirectionChange to findCusp * use integrated distance for lookahead distance * Revert "use integrated distance for lookahead distance" This reverts commit 6e4c6cd3a795faf29f977df7316b5d58d9c1f135. * parameterize transformation_begin bound * change default to a regular constant * use std::hypot for x, y, z * initial failing test for transformGlobalPlan * refactor transform global plan into separate test fixture * make TransformGlobalPlan test fixture, and fix transforms * no_pruning_on_large_costmap test passing * added another transformGlobalPlan test * added a test for all poses outside of costmap * added good shortcut test for transformGlobalPlan * added more tests for rpp costmap pruning * cpplint * remove unused rclcpp::init and rclcpp::shutdown * change default max_distance_between_iterations to max_costmap_extent * rename max_distance_between_iterations to max_robot_pose_search_dist * increase default dwb prune distance * add initial docs for max_robot_pose_search_dist to README * add note about when to set max_robot_pose_search_dist * rename first_element_beyond to first_after_integrated_distance * renamed findCusp to findVelocitySignChange * move path_utils to RPP tests * only check velocity sign change when reversing is enabled * do not check cusp for dwb transformed plan end Co-authored-by: sathak93 <sathak0730@gmail.com> Co-authored-by: Adam Aposhian <adam.aposhian@fireflyautomatix.com> * Apply raytraceLine 3D fixes to its 2D version (#2857) (back-port of #2460 and #2784) * adding Bt to cancel wait, spin and backup (#2856) * adding Bt to cancel wait * Adding cancel for spining recovery * adding BT for cancelling the backup behavior * adding cancel recoveries to param files for wider test coverage * updating BT's XML * updating XML nodes * Fix cpplint include order errors (#2860) * fix nav2_smac_planner cpplint * fix dwb_core cpplint * fix nav2_map_server cpplint * fix nav2_waypoint_follower include order * fix nav_2d_utils include order * Linter fixes (#2861) * satisfying uncrustify * cpplint fixes * Additional revision for costmap_bresenham_2d test (#2862) * Removing old unused function and comment (#2863) * fix core linting errors (#2864) * fix core linting * fix smac tests * fix filepath * fix angle normalization * fix smac testes * finish lint * euclidean distance: by default use 2d mode (#2865) Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com> * add the missing ports and description for the XML nodes (#2866) * add the missing ports and description * update * update * Fixed first_map_only parameter issue (#2870) * Fixed first_map_only parameter issue Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Adressed comments on PR Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Fixed linting error Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Mixed replan (#2841) * working global time expired node * test for global_time_expired_condition * revert navigate to pose * added ' * added space * fix * code review * added 15 sec replanning time * new bt * revert bt * fix * reset timer when path is updated * name change and fixes, it works! * completed tests * revert * code review * code review * replanning time adjustment, rename * removed commented code * test fix * remove comment * Adding a new BT node Is_path_longer_on_approach (#2802) * adding behavior and updating BT tree * update BT * updating copyrights * fixing wrong test fixture * review update * update comments * review update * review update after testing * Update nav…

SteveMacenski approved these changes Jul 19, 2021

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ruffsl force-pushed the voxel_segfault_fix branch from 0b5a47e to bfe33be Compare July 20, 2021 00:34

SteveMacenski mentioned this pull request Jul 20, 2021

Controller/planner server segfault on clear local/global costmap #2373

Closed

Fix out of voxel grid array regression

332e9c4

AlexeyMerzlyakov force-pushed the voxel_segfault_fix branch from dfbf4ba to 332e9c4 Compare August 24, 2021 13:17

SteveMacenski approved these changes Aug 24, 2021

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SteveMacenski merged commit 0d65b8d into ros-navigation:main Aug 25, 2021

SteveMacenski pushed a commit that referenced this pull request Sep 14, 2021

Fix out of voxel grid array regression (#2460)

168a92d

AlexeyMerzlyakov added a commit to AlexeyMerzlyakov/navigation2 that referenced this pull request Mar 21, 2022

Apply raytraceLine 3D fixes to its 2D version

f0bb1f1

(back-port of ros-navigation#2460 and ros-navigation#2781)

AlexeyMerzlyakov added a commit to AlexeyMerzlyakov/navigation2 that referenced this pull request Mar 21, 2022

Apply raytraceLine 3D fixes to its 2D version

fbcb06e

(back-port of ros-navigation#2460 and ros-navigation#2784)

This was referenced Mar 21, 2022

Apply raytraceLine 3D fixes to its 2D version #2857

Merged

Underflow in costmaps lead to segmentation fault in planner server #2835

Closed

SteveMacenski pushed a commit that referenced this pull request Mar 22, 2022

Apply raytraceLine 3D fixes to its 2D version (#2857)

e173995

(back-port of #2460 and #2784)

jonipol pushed a commit to jonipol/navigation2 that referenced this pull request Apr 1, 2022

Apply raytraceLine 3D fixes to its 2D version (ros-navigation#2857)

bc52808

(back-port of ros-navigation#2460 and ros-navigation#2784)

redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022

Apply raytraceLine 3D fixes to its 2D version (ros-navigation#2857)

67b69aa

(back-port of ros-navigation#2460 and ros-navigation#2784)

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Fix for voxel grid out-of-range issues due to loss of precision during floating-point calculations #2460

Fix for voxel grid out-of-range issues due to loss of precision during floating-point calculations #2460

AlexeyMerzlyakov commented Jul 19, 2021 •

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Fix for voxel grid out-of-range issues due to loss of precision during floating-point calculations #2460

Fix for voxel grid out-of-range issues due to loss of precision during floating-point calculations #2460

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AlexeyMerzlyakov commented Jul 19, 2021 • edited Loading

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AlexeyMerzlyakov commented Jul 19, 2021 •

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