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fix build mppi #3927

Merged
merged 1 commit into from
Nov 1, 2023
Merged

fix build mppi #3927

merged 1 commit into from
Nov 1, 2023

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ladianchad
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@ladianchad ladianchad commented Nov 1, 2023 •
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Basic Info

Info Please fill out this column
Ticket(s) this addresses #3926
Primary OS tested on ubuntu 22.04
Robotic platform tested on None

Description of contribution in a few bullet points

fix build fail when source build with apt pkg overriding.

Description of documentation updates required from your changes

I fix some CMakeLists of mppi controller, and add missing include in mppi test

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

@kevin-floatic
fix build mppi
3e953f6 
Signed-off-by: kevin <kevin@floatic.io>
@SteveMacenski SteveMacenski merged commit da7f85d into ros-navigation:main Nov 1, 2023
1 of 2 checks passed
@ladianchad ladianchad deleted the fix/build branch November 2, 2023 00:08
doisyg pushed a commit to botsandus/navigation2 that referenced this pull request Nov 2, 2023
@ladianchad @kevin-floatic
fix build mppi (ros-navigation#3927)
5d2f4a8 
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Jan 3, 2024
@ladianchad @kevin-floatic @jwallace42
fix build mppi (ros-navigation#3927)
7457695 
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>
Signed-off-by: gg <josho.wallace@gmail.com>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
@ladianchad @kevin-floatic @SteveMacenski
fix build mppi (#3927)
fb7baba 
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @Plaqueoff @kfabian @ladianchad @kevin-floatic @doisyg @romi2002 @mikeferguson @Hao-Li-Bachelorarbeit @GoesM @BriceRenaudeau @jwallace42 @Sunart24 @renan028
Iron Sync 4: Jan 23, 2024 (#4063)
57093ec 
* collision_monitor: dynamic polygon and source enable/disable (#3825)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* initial

* fix

* fix

* remove unrelated change

* reset

* fix format

* PR fixes

* Add test

* fix comments

* add to params

* publish only if enabled

* Add source dynamic enable/disable

* add enabled param to sources

* fix

* add same to collision detector

* Update README.md: fix typo (#3842)

* Update package.xml

* fix typo (#3850)

* adjust link to point to v3.8 of behavior tree docs (#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix action test failure due to rate after Rolling sync API change (#3852)

* Update CMakeLists.txt (#3843)

* add option for sse4 and avs512 (#3853)

* Remove all exit(-1) crash conditions (#3846)

* Update transform_available_condition.cpp

* wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash

* some linting

* fix typo

* Update controller.cpp

* Update nav2_params.yaml

* Update nav2_params.yaml

* simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Stop error diagnostics when pausing nav (#3830)

* Added nodestate enum and a variable to keep track of current state of managed nodes.

* Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message.

* Fixing bugs.

* Updated/added docstrings.

* Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case.

* Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method.

* Bugfix.

---------

Co-authored-by: Pekka Myller <pekka.myller@karelics.fi>

* Add a timeout to the wait for transforms step of the costmap activation. (#3866)

* Add a timeout to the wait for transforms step of the costmap activation.

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

* Rename wait_for_transforms_timeout to initial_transform_timeout

* Activate costmap publishers only after transforms are checked

* Check if controller server activation was succesful in planner_server

* Add unittest for costmap activation

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

---------

Signed-off-by: Fabian König <fabiankoenig@gmail.com>

* Fix class doxygen

* fix minor typos (#3892)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* Publish collision points for debug purposes (#3879)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* .

* fixes

* add to collision detector

* fix

* fix

* .

* fixes

* add namespace to topic

* fixes

* fix use after free (#3910)

* fix build mppi (#3927)

Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>

* Removing old TODOs

* protect invalid max_velocity min_velocity (#3953)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* protect properly max_accel and max_decel (#3952)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Fixed links for install and build in README (#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* adding support for rotate in place cusps (#3934)

* Fix linting error (#3969)

* Fix linting error

* Update regulated_pure_pursuit_controller.cpp

* fix a few outdated comments in smac planners (#3978)

* adding soft realtime prioritization for collision monitor and velocity smoother (#3979)

* adding soft realtime prioritization for collision monitor and velocity smoother

* refactor simple action server to use new utils API

* Update README.md

* Synchronize map size information during map initialization (#4015)

* Update costmap size configuration

This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated.

* Refactor costmap size assignment in Costmap2D class

The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity.

* check width&height params (#4017)

Co-authored-by: GoesM <GoesM@buaa.edu.cn>

* Fix SimpleActionServer nullprt callback (#4025)

* add check before calling completion_callback_

* Fix lint

* footprint checks (#4030)

* footprint checks

Signed-off-by: gg <josho.wallace@gmail.com>

* lint fix

Signed-off-by: gg <josho.wallace@gmail.com>

---------

Signed-off-by: gg <josho.wallace@gmail.com>

* Is path valid doc (#4032)

* docs

Signed-off-by: gg <josho.wallace@gmail.com>

* update

Signed-off-by: gg <josho.wallace@gmail.com>

---------

Signed-off-by: gg <josho.wallace@gmail.com>

* Update vision_opencv's branch for rolling

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* handle dynamically changes in parameters. (#4046)

Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com>

* Add inflation_layer_name param (#4047)

Signed-off-by: Renan Salles <renan028@gmail.com>

* missing urdf dep (#4050)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* bump to 1.2.6 for release

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Fabian König <fabiankoenig@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com>
Signed-off-by: Renan Salles <renan028@gmail.com>
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: Plaqueoff <44152820+Plaqueoff@users.noreply.github.com>
Co-authored-by: Pekka Myller <pekka.myller@karelics.fi>
Co-authored-by: Fabian König <fabiankoenig@gmail.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
Co-authored-by: Hao-Li-Bachelorarbeit <141755843+Hao-Li-Bachelorarbeit@users.noreply.github.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: Sebastian Solarte <89881453+Sunart24@users.noreply.github.com>
Co-authored-by: Renan Salles <renan028@gmail.com>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
@ladianchad @kevin-floatic @SteveMacenski
fix build mppi (#3927)
e9037a2 
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson
Humble Sync 9: Jan 23, 2024 (#4064)
abe4149 
* Update README.md: fix typo (#3842)

* Update package.xml

* fix typo (#3850)

* adjust link to point to v3.8 of behavior tree docs (#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (#3892)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* fix use after free (#3910)

* fix build mppi (#3927)

Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>

* Removing old TODOs

* Fixed links for install and build in README (#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 9, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson @RBT22
Humble Sync 9: Jan 23, 2024 (ros-navigation#4064)
05d4f94 
* Update README.md: fix typo (ros-navigation#3842)

* Update package.xml

* fix typo (ros-navigation#3850)

* adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (ros-navigation#3892)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* fix use after free (ros-navigation#3910)

* fix build mppi (ros-navigation#3927)

Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>

* Removing old TODOs

* Fixed links for install and build in README (ros-navigation#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (ros-navigation#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 10, 2024
@RBT22 @SteveMacenski
@thandal @antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson @srmainwaring @mergify @hsong-MLE @iceuw @Chortine @MikeWrock @stephanie-eng @GoesM @jwallace42 @pepisg @cybaol @BriceRenaudeau @facontidavide @jncfa @Ryanf55 @pedro-fuoco @Mygao @amock @tonynajjar
Nav2 Sync 3 2024 April 9 (#15)
7046850 
* Fix ros-navigation#4001 (ros-navigation#4028)

* Humble Sync 9: Jan 23, 2024 (ros-navigation#4064)

* Update README.md: fix typo (ros-navigation#3842)

* Update package.xml

* fix typo (ros-navigation#3850)

* adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (ros-navigation#3892)

Signed-off-by: Anton Kesy <antonkesy@gmail.com>

* fix use after free (ros-navigation#3910)

* fix build mppi (ros-navigation#3927)

Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>

* Removing old TODOs

* Fixed links for install and build in README (ros-navigation#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (ros-navigation#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>

* Fixes for compiling with clang on macOS (ros-navigation#4051)

amcl: declare void parameter for functions with no args

amcl: remove unused variables

behavior_tree: address clang compilation issues

behaviors: add missing override specifier

bt_navigator: add missing override specifier

collision_monitor: address clang compilation issues

constrained_smoother: address clang compilation issues

controller: address clang compilation issues

costmap_2d: add missing override specifier

costmap_2d: address clang compilation issues

costmap_2d: fix link issue for order_layer

dwb_controller: fix clang compile issue, replace ulong with uint32_t

map_server: replace std::experimental::filesystem

map_server: remove dependency on stdc++fs

waypoint_follower: address clang compilation issues

waypoint_follower: remove dependency on stdc++fs

waypoint_follower: replace std::experimental::filesystem

smoother: address clang compilation issues

smoother: remove unused variables

system_tests: remove dependency on stdc++fs

rotation_shim_controller: update percentage arg in setSpeedLimit to boolean

planner: remove unused variables

costmap_2d: address clang compilation issues

mppi_controller: replace use of auto as function param with templates

mppi_controller: address clang compilation issues

costmap_2d: resolve clang issue with std::pair non-const copy

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

* critical fix for path tracking MPPI (ros-navigation#4099) (ros-navigation#4101)

(cherry picked from commit 8f7b6ce)

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

* backport graceful controller to humble (ros-navigation#4119)

* Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123) (ros-navigation#4125)

* Added cast to float to getClosestAngularBin return for behavior consistency.

Signed-off-by: Hunter Song <hsong@macleanengineering.com>

* Revised test name

Signed-off-by: Hunter Song <hsong@macleanengineering.com>

---------

Signed-off-by: Hunter Song <hsong@macleanengineering.com>
(cherry picked from commit c59e0f3)

Co-authored-by: hsong-MLE <158601314+hsong-MLE@users.noreply.github.com>

* Fix goal handle was not freed correctly (ros-navigation#4137) (ros-navigation#4143)

* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Ziohang <hang.zhou@agvsz.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
(cherry picked from commit 2e491b1)

Co-authored-by: iceuw <m201770623@hust.edu.cn>

* bug fix (ros-navigation#4160) (ros-navigation#4162)

Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)

Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com>

* Add uint suffix (ros-navigation#4213) (ros-navigation#4216)

(cherry picked from commit 46ff0ec)

Co-authored-by: Michael Wrock <michael.wrock@picknik.ai>

* Fix merge conflict in nav2_mppi_controller README (humble) (ros-navigation#4239)

Signed-off-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>

* Humble sync 10: April 4, 2024 (ros-navigation#4241)

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

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

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <josho.wallace@gmail.com>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <cybao292261@163.com>

* free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079)

* free `map_sub_` before `map_free(map_)`

Signed-off-by: GoesM <GoesM@buaa.edu.cn>

* reformat

Signed-off-by: GoesM <GoesM@buaa.edu.cn>

---------

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>

* adding progress checker selector BT node (ros-navigation#4109)

* New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090)

* Share code

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Update inflation_cost_critic.hpp

- copyright
- ifndef

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix lint cpp

- extra space

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Fix Smac Planner confined collision checker  (ros-navigation#4055)

* Update collision_checker.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix tests

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update test_a_star.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067)

* prototype to test SE2 footprint H improvements

* some fixes

* fixed

* invert logic

* Working final prototype to be tested

* complete unit test conversions

* Update inflation_layer.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Adding new Smac paper to readme

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Update README.md

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074)

* don't repeat yourself: templates in tests

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

* misse change

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>

---------

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

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

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <josho.wallace@gmail.com>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Updated code to use getInflationLayer() method (ros-navigation#4076)

* updated code to use getInflationLayer method

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>

* Fix linting

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>

---------

Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* 1594 twist stamped publisher (ros-navigation#4077)

* Add TwistStamped to controller_server via TwistPublisher util

* Add a new util class for publishing either Twist or TwistStamped
* Add a new parameter for selecting to stamp the twist data
* Consume TwistPublisher in nav2_controller

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix small issues

* Unused variable
* Incorrect doxygen

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove stored node and assert

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add tests for node

* Facing timeout even though it does the same thing as velocity smoother test

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add missing spin call to solve timeout

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix copyright (me instead of intel)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add full test coverage with subscriber

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused rclcpp fixture

* Can't use it due to needing to join the pub thread after rclcpp shuts down

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistStamped in nav2_behaviors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistStamped in collision monitor node

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add TwistStamped readme updates to velocity smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add TwistSubscriber implementation

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix syntax errors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in test_velocity_smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in assisted_teleop

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in collision monitor node

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use TwistSubscriber in velocity smoother

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused code

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* add timestamp and frame_id to TwistStamped message

* Add missing utility include

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Document TwistPublisher and TwistSubscriber usage

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Use pass-by-reference

* Instead of std::move(std::unique_ptr<TwistStamped>)

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Finish twist subscriber tests

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Add other constructor and docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Fix linter issues

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Manually fix paren alignment

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove GSoC reference

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Document twist bool param in README

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Handle twistPublisher in collision monitor

* Implement behavior in the stamped callback
* Unstamped callback calls the stamped callback
* Switch to unique pointer for publisher

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Convert to using TwistStamped interally

* Use incoming twistStamped timestamp if available
* Convert all internal representations to use TwistStamped

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove nav2_util usage instructions

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Remove unused Twist only subscriber

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* More linter fixes

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Prefer working with unique_ptr for cmd_vel

* This makes it easier to switch to std::move instead of dereference on
  publish

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Completing twist stamped migration

* shared to unique ptr

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* twist add stamps and properly propogated

* nav2_util: fix for compiling with clang

- Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move]

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

---------

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>

* fix include of hpp

Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>

* inflation cost optmiizations and cleanu

* rename, add defaults, and docs

* smoke test addition

* lintg

* normalize weight

* update readme

* increment cache

* Update cost_critic.hpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update cost_critic.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Brice <brice.renaudeau@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com>
Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Kino <cybao292261@163.com>

* Use ament_export_targets for all targets (ros-navigation#4112)

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* completely shutdown inital_pose_sub_ (ros-navigation#4176)

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>

* fix typos in description messages (ros-navigation#4188)

Signed-off-by: Antonio Park <kaypaklabs@gmail.com>

* AMCL: Set an initial guess by service call (ros-navigation#4182)

* Added initial guess service. Signed-off-by: Alexander Mock

Signed-off-by: Alexander Mock <amock@uos.de>

* - Removed added empty line
- Renamed initialGuessCallback to initialPoseReceivedSrv
- Added new line to SetInitialPose service definition
- Removed mutex from initialPoseReceived
- Cleanup service server

Signed-off-by: Alexander Mock <amock@uos.de>

* added whitespace

Signed-off-by: Alexander Mock <amock@uos.de>

* renamed initial pose service in callback bind

Signed-off-by: Alexander Mock <amock@uos.de>

---------

Signed-off-by: Alexander Mock <amock@uos.de>

* Move lines for pre-computation to outside a loop (ros-navigation#4191)

Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com>

* Fix typo (ros-navigation#4196)

* Fix BT.CPP import

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Update README.md

---------

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Update footprint iif changed (ros-navigation#4193)

Signed-off-by: Brice <brice.renaudeau@gmail.com>

* bump humble to 1.1.14 for sync

* fix merge conflict

* custom version of cost critic's cost method

---------

Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>
Signed-off-by: Antonio Park <kaypaklabs@gmail.com>
Signed-off-by: Alexander Mock <amock@uos.de>
Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Kino <cybao292261@163.com>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com>
Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: Antonio Park <kaypaklabs@gmail.com>
Co-authored-by: Alexander Mock <amock@uos.de>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Fix graceful humble release version

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Fix graceful_controller exceptions

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Anton Kesy <antonkesy@gmail.com>
Signed-off-by: kevin <kevin@floatic.io>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>
Signed-off-by: GoesM <GoesM@buaa.edu.cn>
Signed-off-by: gg <josho.wallace@gmail.com>
Signed-off-by: cybaol <cybao292261@163.com>
Signed-off-by: Brice <brice.renaudeau@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>
Signed-off-by: Antonio Park <kaypaklabs@gmail.com>
Signed-off-by: Alexander Mock <amock@uos.de>
Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: thandal <than@timbrel.org>
Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Abiel Fernandez <empoleom@gmail.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: hsong-MLE <158601314+hsong-MLE@users.noreply.github.com>
Co-authored-by: iceuw <m201770623@hust.edu.cn>
Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com>
Co-authored-by: Michael Wrock <michael.wrock@picknik.ai>
Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>
Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>
Co-authored-by: GoesM <GoesM@buaa.edu.cn>
Co-authored-by: Joshua Wallace <josho.wallace@gmail.com>
Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: Kino <cybao292261@163.com>
Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>
Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com>
Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com>
Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com>
Co-authored-by: Antonio Park <kaypaklabs@gmail.com>
Co-authored-by: Alexander Mock <amock@uos.de>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
@ladianchad @kevin-floatic @enricosutera
fix build mppi (ros-navigation#3927)
fad293e 
Signed-off-by: kevin <kevin@floatic.io>
Co-authored-by: kevin <kevin@floatic.io>
Signed-off-by: enricosutera <enricosutera@outlook.com>
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@ladianchad @SteveMacenski @kevin-floatic