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bug fix #4160

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merged 1 commit into from
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@Chortine Chortine commented Mar 1, 2024


Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #1)
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

bug fix #4156

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

Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
@Chortine Chortine changed the title bug fix #4159 bug fix Mar 1, 2024
@SteveMacenski SteveMacenski merged commit 623434b into ros-navigation:main Mar 1, 2024
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Backport in progress

mergify bot pushed a commit that referenced this pull request Mar 1, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)
mergify bot pushed a commit that referenced this pull request Mar 1, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)
This was referenced Mar 1, 2024
SteveMacenski pushed a commit that referenced this pull request Mar 1, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)

Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com>
SteveMacenski pushed a commit that referenced this pull request Mar 1, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)

Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com>
masf7g pushed a commit to quasi-robotics/navigation2 that referenced this pull request Mar 22, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
stevedanomodolor pushed a commit to stevedanomodolor/navigation2 that referenced this pull request Mar 25, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
stevedanomodolor added a commit to stevedanomodolor/navigation2 that referenced this pull request Mar 25, 2024
Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

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: 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>

[behavior_tree] support both ports and blackboard (ros-navigation#4060)

* check result of blackboard->get and use halTree

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

* remove unused header

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

* BT: add port inputs when missing and use getInputPortOrBlackboard

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

* add description

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

* change return value of getInputPortOrBlackboard

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

* updated tree XML

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

---------

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

adding new Friends of Nav2 Sponsors!

Update README.md (ros-navigation#4114)

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

CI green P3 (ros-navigation#4117)

Refactors `possible_inscribed_cost` to `possible_circumscribed_cost` in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

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

* 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>

Adding context to MPPI readme

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

[behavior_tree] Add generate_nav2_tree_nodes_xml (ros-navigation#4073)

* Add generate_nav2_tree_nodes_xml

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

* behavior_tree: removed list of plugins from yaml

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

* check result of get_parameter(plugin_lib_names)

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

* fix previous commit (uncrustify)

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

* revert change

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

---------

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

Fix compilation with clang (ros-navigation#4131)

Signed-off-by: Ramon Wijnands <ramon.wijnands@nobleo.nl>

code improvement based on feedback. Name changes and minor code improvement

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

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

* 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>

Adding Nvidia as Gold Sponsor! (ros-navigation#4144)

Prevent a possible segmentation fault (ros-navigation#4141) (ros-navigation#4147)

* Prevent a possible segmentation fault

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

* Cleanup

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

---------

Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi>

Updating stereolabs logo (ros-navigation#4158)

Update README.md

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

behavior_tree: migration to BT.CPP 4.5.x (ros-navigation#4128)

* behavior_tree: migration to BT.CPP 4.5.x

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

* fix formatting

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

* fix lint warning

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

* remove setStatus(BT::NodeStatus::IDLE)

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

* handle SKIPPED state

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

* fix SequenceStar

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

* add tests

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

* fix

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

* fix unit tests

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

* add emitWakeUpSignal()

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

* fit test

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

* fix

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

* remove SequenceStar

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

* remove SequenceStar

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

* keep resetStatus() in action_node

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

* add suggestions from peer reviewer

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

* fix compilation

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

---------

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

bug fix (ros-navigation#4160)

Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>

Stop planner if the goal is cancelled (ros-navigation#4148)

* Add support for stopping planners when the action is cancelled

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Smac planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Theta* planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Support cancel in Navfn planner

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Update nav2_system_tests to use cancel checker

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Add terminal_checking_interval parameter

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Handle timeout and cancel check on the same branch and default to 5000 iterations

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

* Add system tests for cancel

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>

---------

Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com>

Improvement on the wat the distance heuristic is calculated

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>

Fix BT.CPP import (ros-navigation#4165)

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

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

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

nav2_controller: add loop rate log (ros-navigation#4171)

* update smac_planner README

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* added current controller loop rate logging

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* linting

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* uncrustify lint

Signed-off-by: ARK3r <kermani.areza@gmail.com>

* Update nav2_controller/src/controller_server.cpp

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

* Update nav2_controller/src/controller_server.cpp

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

* Update nav2_controller/src/controller_server.cpp

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

---------

Signed-off-by: ARK3r <kermani.areza@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

improvement based on feedback

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 9, 2024
Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com>
(cherry picked from commit 623434b)

Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 10, 2024
* 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>
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ajtudela pushed a commit to grupo-avispa/navigation2 that referenced this pull request Apr 19, 2024
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enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
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Manos-G pushed a commit to Manos-G/navigation2 that referenced this pull request Aug 1, 2024
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Bug in findPathFurthestReachedPoint()
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