Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Synchronize map size information during map initialization #4015

Merged
merged 2 commits into from
Dec 18, 2023

Conversation

Hao-Li-Bachelorarbeit
Copy link
Contributor

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.


Basic Info

Info Please fill out this column
Ticket(s) this addresses #4014
Primary OS tested on (Ubuntu, MacOS, Windows)
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? (No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes


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

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.
Copy link

codecov bot commented Dec 18, 2023

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (04c6ca5) 90.39% compared to head (eb4a024) 90.09%.

Files Patch % Lines
nav2_costmap_2d/src/costmap_2d.cpp 80.00% 1 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #4015      +/-   ##
==========================================
- Coverage   90.39%   90.09%   -0.31%     
==========================================
  Files         415      415              
  Lines       18581    18579       -2     
==========================================
- Hits        16797    16739      -58     
- Misses       1784     1840      +56     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Otherwise, LGTM!

nav2_costmap_2d/src/costmap_2d.cpp Show resolved Hide resolved
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.
@SteveMacenski SteveMacenski merged commit 518b378 into ros-navigation:main Dec 18, 2023
5 of 7 checks passed
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Jan 3, 2024
…ation#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.

Signed-off-by: gg <josho.wallace@gmail.com>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
* 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.
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
* 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>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
…ation#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.

Signed-off-by: enricosutera <enricosutera@outlook.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

2 participants