[MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (backport #3872) #3881
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…Edit: strike that, now 80% (#3872) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp * adding refactored path alignment critic * fix visualization bug * speed up another 30% * remove a little jitter * a few more small optimizaitons * fixing unit tests * retain legacy critic * adding tests for legacy (cherry picked from commit 7009ffb)
SteveMacenski
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Oct 14, 2023
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* bump to 1.2.0 for iron release * Iron sync June 9: 1.2.1 (ros-navigation#3615) * Improve usability of PWAs in Dev Containers (ros-navigation#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin="use-credentials"` in the manifest tag. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (ros-navigation#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Add viz_expansions parameter for debug (ros-navigation#3577) * viz_expansions * lint * switch to unique_ptr * readme update --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix broken symlink for gzweb (ros-navigation#3585) to load world models * (collision monitor) add limit polygon type (ros-navigation#3519) * add LIMIT polygon type * fix unit tests * Fix MIN_POINT doesn't exist * Fix Action type enum * FIX velocity used * FIX unit test point distance increase point distance to not be in limit field * Update collision_monitor_node_test.cpp * fix status name not updated * [MOD] only single linear limit * Apply review comments * Update nav2_collision_monitor/include/nav2_collision_monitor/types.hpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix broken link to contributing guidelines (ros-navigation#3587) The original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant. * Adding Our Sponsors - May 2023 (ros-navigation#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Fix dynamic polygons vertices not updated for different frame (ros-navigation#3591) * Fix dynamic polygons vertices not updated for different frame * Update nav2_collision_monitor/src/collision_monitor_node.cpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing 3586: rviz panel operating in multiple non-standard frames (ros-navigation#3595) * Fixes ros-navigation#3586 on rviz time stamping * removing timing from rviz testing panel * Add CostmapFilterInfoServer as a component (ros-navigation#3596) * adding iron to the readme table statuses (ros-navigation#3598) * adding iron to the readme table statuses * collapsing table * adding citation RPP * Resolve ros-navigation#3532: reset i (ros-navigation#3597) * [MPPI] empty path_follow_critic proper fix (ros-navigation#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Refactor sim_time and composable node usage in Collision Monitor (ros-navigation#3604) * Refactor sim_time and composable node usage in Collision Monitor launch script * Added namespace support * Fix comment * Fix costmap 2D test failures (ros-navigation#3611) * costmap test without action * test2 * try just printing first thing * Update test_costmap_2d_publisher.cpp * Compile flags non-virtual-destructor (ros-navigation#3609) * added compile flags * cleanup * cleanup * cleanup * add virtual destructors * uncrusify * updating to 1.2.1 for release --------- Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> * remove non-virtual-dtor flag from nav2_package() * WIP: Merge segmentation layer and GPS wpf * WIP: remove wrong whitespace * WIP: Bring back ffollow gps waypoints * WIP: error codes to gps waypoint follwer * Fix GPS waypoint follower error codes * Fixing build warning (ros-navigation#3667) (ros-navigation#3672) (cherry picked from commit 7d4b199) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Install nav2_behavior_tree utils outside of BUILD_TESTING (ros-navigation#3692) (ros-navigation#3697) (cherry picked from commit abf3e85) Co-authored-by: Aaditya Ravindran <aadityacosmos@gmail.com> * Fix segfault on relaunch of controller server * Fix the velocity smoother being stuck when the deadband is too high (ros-navigation#3690) (ros-navigation#3714) * Move last_cmd update before deadband * fix lint (cherry picked from commit cb34d0c) Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> * Iron sync 2, Aug 4, 1.2.2 (ros-navigation#3740) * Only apply Wnon-virtual-dtor if the compile language is CXX (ros-navigation#3614) * https://stackoverflow.com/questions/25525047/cmake-generator-expression-differentiate-c-c-code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * Fix Wshadow errors and enforce it (ros-navigation#3617) * Fix Wshadow errors and enforce it Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove workaround for pluginlib * This was only needed because it was included transitively * By finding and linking properly, the compiler flags get propogated as SYSTEM correctly Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add-Wnull-dereference and fix warnings (ros-navigation#3622) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * correct error message (ros-navigation#3631) * correct error message * clean up * cleanup * remove header * Let Navigators have different error codes (ros-navigation#3642) * Change ERROR to DEBUG * INFO message on init * format code * Replace newlines with spaces * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * Ceres exposes a namespaced export and recommends it in their docs (ros-navigation#3652) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Enable multiple MPPI path angle modes depending on preferences in behavior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX (ros-navigation#3662) * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX * Update CMakeLists.txt * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * fix some new build warnings from sync (ros-navigation#3674) * fix some new build warnings * fixing last issue * Update navigate_through_poses_action.hpp * adding unsigned int to tests * all to unsigned shorts * test new warning resolution * Update * convert unsigned shorts to uint16_t for linter * Fix costmap publisher test (ros-navigation#3679) * added printouts * ignore system tests * fix * cleanup * Update test_costmap_2d_publisher.cpp remove space * remove empty message (ros-navigation#3691) * Collision Monitor fixups (ros-navigation#3696) * Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform() * Use ParameterFile (allow_substs) (ros-navigation#3706) Signed-off-by: ymd-stella <world.applepie@gmail.com> * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * Update costmap_2d_ros.cpp (ros-navigation#3687) * updated nav2_behavior_tree test util install path (ros-navigation#3718) * launch linting (ros-navigation#3729) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * adding tolerance back in for smac lattice and hybrid-A* planners (ros-navigation#3734) * Completing Hybrid-A* visualization of expansion footprints PR (ros-navigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <1322099375@qq.com> * Update README.md (ros-navigation#3736) * Update README.md * Update README.md * sync iron to 1.2.2 to release --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: RBT22 <43723477+RBT22@users.noreply.github.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Aaditya Ravindran <aravindran@locusrobotics.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: xianglunkai <1322099375@qq.com> * nav2_collision_monitor: collision detector (ros-navigation#3500) (Iron backport) (ros-navigation#3758) * nav2_collision_monitor: collision detector (ros-navigation#3500) * fix * mppi: return NO_INFORMATION when the checked point is outside the costmap (ros-navigation#3816) (ros-navigation#3817) otherwise the controller crashes at ObstaclesCritic::costAtPose because x_i and y_i isn't initialized. (cherry picked from commit 6b250a7) Co-authored-by: Chuanhong Guo <gch981213@gmail.com> * Iron Sync 3 - Sept 25 (ros-navigation#3837) * Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Update smac_planner_hybrid.cpp (ros-navigation#3760) * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rename PushRosNamespace to PushROSNamespace (ros-navigation#3763) * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Fixing typo in compute path through poses error codes (ros-navigation#3799) Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> * Fixes for flaky WPF test (ros-navigation#3785) * Fixes for flaky WPF test: * New RewrittenYaml ability to add non-existing parameters * Prune distance fix for WPF test * Treat UNKNOWN status as error in WPF * Clear error codes after BT run * Remove unnecessary setInitialPose() from WPF test * Update nav2_waypoint_follower/src/waypoint_follower.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Clean error code in any situation * Fix UNKNOWN WPF status handling --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix `min_points` comparison check (ros-navigation#3795) * Fix min_points checking * Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * Fix CD configuration link reference (ros-navigation#3811) * Fix CD configuration page reference * Add CM work on 6th ROS Developers Day reference * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * Add nav2_gps_waypoint_follower (ros-navigation#2814) * Add nav2_gps_waypoint_follower * use correct client node while calling it to spin * changed after 1'st review * apply requested changes * nav2_util::ServiceClient instead of CallbackGroup * another iteration to adress issues * update poses with function in the follower logic * add deps of robot_localization: diagnostics * fix typo in underlay.repo * add deps of robot_localization: geographic_info * minor clean-ups * bond_core version has been updated * rotation should also be considered in GPS WPFing * use better namings related to gps wpf orientation * handle cpplint errors * tf_listener needs to be initialized * apply requested changes * apply requested changes 3.0/3.0 * fix misplaced ";" * use run time param for gps transform timeout * change timeout var name * make use of stop_on_failure for GPS too * passing emptywaypont vectors are seen as failure * update warning for empty requests * consider utm -> map yaw offset * fix missed RCLCPP info * reorrect action;s name * waypoint stamps need to be updated * Fix segmentation fault on waypoint follower * Parametric frames and matrix multiplications * Replace oriented navsatfix for geographic_msgs/geopose * Remove deprecated oriented navsatfix message * Update branch name on robot_localization dependency * Fix parametric frames logic * Rename functions and adress comments * fix style in underlay.repos * remove duplicate word in underlay.repos * update dependency version of ompl * Template ServiceClient class to accept lifecycle node * Remove link to stackoverflow answer * Remove yaw offset compensation * Fix API change * Fix styling * Minor docs fixes * Fix style divergences * Style fixes * Style fixes v2 * Style fixes v3 * Remove unused variables and timestam overrides * restore goal timestamp override * WIP: Add follow gps waypoints test * Style fixes and gazebo world inertia fix * Reduce velocity smoother timeout * empty commit to rerun tests * Increment circle ci cache idx * Remove extra space in cmakelists.txt * Fix wrong usage of the global action server * update follow gps waypoints action definition * Fix action definition and looping * update params for the unit testing * WIP: update tests * fix tests * fixes to nav2 simple commander * add robot_localization localizer * Bring back from LL client * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * missing argument in test function * small test error * style fixes nav2 simple commander * rename cartesian action server --------- Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping iron from 1.2.2 to 1.2.3 for release * Update waypoint_follower.cpp --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anna Mannucci <19239559+annamannucci@users.noreply.github.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com> * Update CMakeLists.txt (ros-navigation#3843) (ros-navigation#3844) (cherry picked from commit 2d6e9a9) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bump to 1.2.4 for AVX512 binary fix * add option for sse4 and avs512 (ros-navigation#3853) (ros-navigation#3854) (cherry picked from commit 7274811) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Bumping to 1.2.5 for binary release of AVX512 patches * Start planner in the end of previous path * [MPPI Optimization] adding regenerate noise param + adding docs (ros-navigation#3868) (ros-navigation#3869) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp (cherry picked from commit 924f167) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (ros-navigation#3872) (ros-navigation#3881) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp * adding refactored path alignment critic * fix visualization bug * speed up another 30% * remove a little jitter * a few more small optimizaitons * fixing unit tests * retain legacy critic * adding tests for legacy (cherry picked from commit 7009ffb) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * revert back to no gps waypoint follower * Use mutex to protect costmap reads. (ros-navigation#3877) (ros-navigation#3896) * Use mutex to protect costmap reads. Otherwise costmap can be read during a map update and return 0. * Revert "Use mutex to protect costmap reads." This reverts commit e16a44c. * Lock costmap before running MPPI controller. * Fix typo. * Protect against costmap updates in MPP and RotationShim controllers. --------- Co-authored-by: Leif Terry <leif@peanutrobotics.com> (cherry picked from commit a1c9fd5) Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> * Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] ros-navigation#3891 (ros-navigation#3900) (ros-navigation#3901) * image.hpp ros-navigation#3891 * Update image.hpp (cherry picked from commit 7a7c6da) Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> * Log if BT rate is exceeded (ros-navigation#3909) (ros-navigation#3912) (cherry picked from commit a11cdd8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing subtree issues with blackboard shared resources (3640) (ros-navigation#3911) (ros-navigation#3915) * fixing subtree issues * Update bt_action_server_impl.hpp (cherry picked from commit 4b4465d) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update theta_star_planner.cpp (ros-navigation#3918) (ros-navigation#3921) (cherry picked from commit 0629ff3) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change custom semantic segmentation message for image * Handle NaNs in AMCL beam sensor model (ros-navigation#3929) (ros-navigation#3936) * Handle NaNs in AMCL beam sensor model Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> * Use proper isnan check Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> --------- Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com> (cherry picked from commit 06c3550) Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com> * Fix NaN in Updated PathAlign (ros-navigation#3943) (ros-navigation#3944) (cherry picked from commit 3d14d98) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix for robot footprint collision in obstacles critic (ros-navigation#3878) (ros-navigation#3946) * Inscribed/Circumscribed costs must be updated to take into account the current shape of the robot. Was previous only being called once in initialize(). * Add early return to avoid calculations if footprint has not changed. * Only update radius if using footprint. Add perf timers. * Remove perf timers. * Update comments. --------- Co-authored-by: Leif Terry <leif@peanutrobotics.com> (cherry picked from commit 98af3b9) Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> * Enabling soft realtime prioritization to the Controller Server (ros-navigation#3914) (ros-navigation#3975) * Enabling soft realtime prioritization to the controller server * abstracting to another function * changing default priorities * linting (cherry picked from commit fbe8f56) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Integration of mapping api with dynamic velocities changes * simplify logic * eliminate un-necessary lines of code * style * style2 * remove duplicate line from merge * remove blank line * restore nav2_utils copy_all_paramteres function. * Add segmentation confidence plugin * Remove deprecated segmentation file * Docstrings and remove repeated struct * Add docstrings & minor changes --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: stevemacenski <stevenmacenski@gmail.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Aaditya Ravindran <aadityacosmos@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: RBT22 <43723477+RBT22@users.noreply.github.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Aaditya Ravindran <aravindran@locusrobotics.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: xianglunkai <1322099375@qq.com> Co-authored-by: Chuanhong Guo <gch981213@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Anna Mannucci <19239559+annamannucci@users.noreply.github.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: Michel Hidalgo <michel@ekumenlabs.com> Co-authored-by: Sebastian Solarte <johan.solarte@kiwibot.com>
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