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fixing path longer on approach #4622

Merged
merged 3 commits into from
Sep 15, 2024
Merged

fixing path longer on approach #4622

merged 3 commits into from
Sep 15, 2024

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padhupradheep
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Basic Info

Info Please fill out this column
Ticket(s) this addresses #4110
Primary OS tested on (Ubuntu)
Robotic platform tested on ROX
Does this PR contain AI generated software? No

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 docs.nav2.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

@padhupradheep padhupradheep force-pushed the fix/path-longer-on-approach branch from 1430d8d to 1d745ec Compare August 17, 2024 21:19
@padhupradheep
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almost done!! I want to test it once again in fresh eyes before getting this in.

Sorry, it got longer than expected.

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codecov bot commented Aug 17, 2024

Codecov Report

All modified and coverable lines are covered by tests ✅

Files Coverage Δ
...tree/plugins/decorator/path_longer_on_approach.cpp 91.66% <100.00%> (+0.23%) ⬆️

... and 5 files with indirect coverage changes

@SteveMacenski
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SteveMacenski commented Aug 19, 2024 •
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I know how that goes sometimes 😉 Thanks for getting to it!

@SteveMacenski SteveMacenski linked an issue Aug 19, 2024 that may be closed by this pull request
[for help] BT node Is_path_longer_on_approach doesn't work #4110
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@SteveMacenski
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@padhupradheep if you're back (and if not, ignore this until you're back) can we address this last detail so we can button this up and move the PR out of draft so we can merge it?

@padhupradheep
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I'm back! Will finish it EoD

@padhupradheep padhupradheep force-pushed the fix/path-longer-on-approach branch from 5614aab to 1b55532 Compare September 11, 2024 16:51
@padhupradheep padhupradheep marked this pull request as ready for review September 11, 2024 16:51
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Gtg now

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mergify bot commented Sep 11, 2024

@padhupradheep, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

@SteveMacenski
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@padhupradheep this PR needs to be rebased to build - there was a rolling API change

@padhupradheep
fixing path longer on approach
b8d8176 
Signed-off-by: Pradheep <padhupradheep@gmail.com>
@padhupradheep
removing the short circuit
a8d4cbc 
Signed-off-by: Pradheep <padhupradheep@gmail.com>
@padhupradheep padhupradheep force-pushed the fix/path-longer-on-approach branch from 1b55532 to 47b405a Compare September 15, 2024 18:39
@padhupradheep
adding additional layer of check
240750f 
Signed-off-by: Pradheep <padhupradheep@gmail.com>
@padhupradheep padhupradheep force-pushed the fix/path-longer-on-approach branch from 47b405a to 240750f Compare September 15, 2024 18:39
@SteveMacenski SteveMacenski merged commit de4fd78 into ros-navigation:main Sep 15, 2024
9 of 10 checks passed
SteveMacenski pushed a commit that referenced this pull request Nov 8, 2024
@padhupradheep @SteveMacenski
fixing path longer on approach (#4622)
c5e5077 
* fixing path longer on approach

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* removing the short circuit

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* adding additional layer of check

Signed-off-by: Pradheep <padhupradheep@gmail.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>
SteveMacenski added a commit that referenced this pull request Nov 8, 2024
@SteveMacenski @alyquantillion
@anaelle-sw @aosmw @alanxuefei @tonynajjar @huiyulhy @padhupradheep @DreamWest @tiwaojo @gennartan @ikhann @adivardi @Ryanf55 @doisyg
Jazzy sync 3: Nov 8, 2024 (#4747)
3140a6a 
* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627)

* adding non-charging dock support to docking server

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

* docs and linting

* adding unit tests

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

---------

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

* Publish optimal trajectory as a Path message (#4640)

* Publish optimal trajectory as a Path message

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* move publish_optimal_path to TrajectoryVisualizer + minor refactoring

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* tests added for optimal path publication

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* populate optimal path message in add()

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* move path population in add_marker

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

---------

Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>

* [collision monitor] Select the observation sources used with each polygon (#4227)

* Collision monitor: select specific observation sources for polygon

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

* optimization

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

* add tests

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>

---------

Signed-off-by: asarazin <anaelle.sarazin@robocc.com>
Co-authored-by: asarazin <anaelle.sarazin@robocc.com>

* Restore exported BT test utils header files after cmake revamp (#4652) (#4654)

Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>

* fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649)

Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>

* PoseStamped vector specialization (#4607)

* PoseStamped vector specialization

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

* merge master

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

* add path

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

* fix size check

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

* fix test

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

* Revert "fix test"

This reverts commit 51f54eb.

* fix test

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

---------

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

* [DWB] Option to limit velocity commands in trajectory generator (#4663)

* Option to limit vel cmd through traj generator

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Cleanup

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* fix linting

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Update linting

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* uncrustify

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* uncrustify

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

---------

Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>

* Adding planner server timeout for costmap waiting (#4673)

* Adding planner server timeout for costmap waiting

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

* Adding controller server's costmap timeout as well

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

---------

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

* fixing path longer on approach (#4622)

* fixing path longer on approach

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* removing the short circuit

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* adding additional layer of check

Signed-off-by: Pradheep <padhupradheep@gmail.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* fix to bt action server logging before bt execution result being ready (#4677)

Signed-off-by: DreamWest <sirjamestsao@gmail.com>

* Correct paper name for graceful controller

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

* Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698)

* fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

* fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

---------

Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>

* Fixing SGF in MPPI and Smoother (#4669)

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

* fix: handle transition failures in all servers (#4708)

* fix: handle transition failures in planner/controller/smoother servers

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

* adding support for rest of servers + review comments

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

* Replacing throws with error and failed lifecycle transitions

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

* fix vel smoother unit tests

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

* fixing docking server unit testing

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

* fixing last bits

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

---------

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

* [RotationShimController] fix: rotate on short paths (#4716)

Add header data to goal for short paths.

Commit d8ae3c1 added the possibility to
the rotation shim controller to rotate towards the goal when the goal
was closer that the `forward_sampling_distance`. This feature was not
fully working as the goal was missing proper header data, causing the
rotation shim to give back control to the main controller.

Co-authored-by: agennart <antoine.gennart@quimesis.be>

* Added parameter `rotate_to_heading_once` (#4721)

Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com>

* [RotationShimController] fix: rotate to goal heading (#4724)

Add frame_id to goal when rotating towards goal heading, otherwise the
transform would fail. This bug was introduced in 30e2cde by not setting
the frame_id.

Signed-off-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: agennart <antoine.gennart@quimesis.be>

* [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726)

* Publish /clock from loopback sim

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS

Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t.
This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data.
In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS)

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* [nav2_smac_planner] fix typos

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Use single quotes

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

---------

Signed-off-by: Adi Vardi <adi.vardi@enway.ai>

* Fix incorrect doxygen comment (#4741)

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>

* Updating error logging in Smac collision detector object (#4743)

* Updating error logging in Smac configs

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

* linting

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

---------

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

* [map_io] Replace std logs by rclcpp logs (#4720)

* replace std logs by rclcpp logs

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

* RCLCPP_DEBUG to RCLCPP_INFO for visibility

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

---------

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

* manual backport to Jazzy of 6b2e244

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

* bump to 1.3.3 for jazzy sync

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

* fixing backport issue

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

* fixing backport of docking linking changes

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

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Alyssa Agnissan <alyssa.agnissan@quantillion.io>
Signed-off-by: asarazin <anaelle.sarazin@robocc.com>
Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au>
Signed-off-by: Alan Xue <alan.xuefei@googlemail.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com>
Signed-off-by: Pradheep <padhupradheep@gmail.com>
Signed-off-by: DreamWest <sirjamestsao@gmail.com>
Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca>
Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com>
Signed-off-by: agennart <antoine.gennart@quimesis.be>
Signed-off-by: Adi Vardi <adi.vardi@enway.ai>
Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: alyquantillion <158563995+alyquantillion@users.noreply.github.com>
Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com>
Co-authored-by: asarazin <anaelle.sarazin@robocc.com>
Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com>
Co-authored-by: Alan <alan.xuefei@googlemail.com>
Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com>
Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com>
Co-authored-by: DreamWest <sirjamestsao@gmail.com>
Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com>
Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com>
Co-authored-by: Saitama <gennartan@users.noreply.github.com>
Co-authored-by: agennart <antoine.gennart@quimesis.be>
Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com>
Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com>
Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
padhupradheep added a commit to neobotix/navigation2 that referenced this pull request Nov 26, 2024
@padhupradheep
fixing path longer on approach (ros-navigation#4622)
82ba90d 
* fixing path longer on approach

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* removing the short circuit

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* adding additional layer of check

Signed-off-by: Pradheep <padhupradheep@gmail.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>
SteveMacenski pushed a commit that referenced this pull request Nov 26, 2024
@padhupradheep
fixing path longer on approach (#4622) (#4766)
507b365 
* fixing path longer on approach



* removing the short circuit



* adding additional layer of check



---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>
josephduchesne pushed a commit to josephduchesne/navigation2 that referenced this pull request Dec 10, 2024
@padhupradheep @josephduchesne
fixing path longer on approach (ros-navigation#4622)
81207b5 
* fixing path longer on approach

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* removing the short circuit

Signed-off-by: Pradheep <padhupradheep@gmail.com>

* adding additional layer of check

Signed-off-by: Pradheep <padhupradheep@gmail.com>

---------

Signed-off-by: Pradheep <padhupradheep@gmail.com>
Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
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[for help] BT node Is_path_longer_on_approach doesn't work
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@padhupradheep @SteveMacenski