Adding non-charging dock support to docking server (for conveyers, pallots, etc) #4627
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
This was referenced Aug 19, 2024
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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…llots, 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>
SteveMacenski
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Nov 8, 2024
* 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>
josephduchesne
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Dec 10, 2024
…llots, etc) (ros-navigation#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> Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
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Implements #4405