Adding disengagement threshold to rotation shim controller #4699
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Docs PR: ros-navigation/docs.nav2.org#595 |
Codecov ReportAll modified and coverable lines are covered by tests ✅
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Hi Steve, I have merged your changes & ran it on the robot, when I set the angular_disengage_threshold it works . Thank you very much for accepting this change, would be great if I can get it on humble so I will not need to Best Regards |
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Backport bot should take care of this |
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* adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086)
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* adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086)
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* adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086)
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…4701) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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…4700) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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…4699) (#4702) * Adding disengagement threshold to rotation shim controller (#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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…ation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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…os-navigation#4699) (ros-navigation#4702) * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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Nov 12, 2024
* Adding disengagement threshold to rotation shim controller (backport ros-navigation#4699) (ros-navigation#4702) * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix(nav2_theta_star_planner) Fix crash on Humble when goal is outside map bounds (ros-navigation#4706) * Humble sync 13: Nov 8, 2024 (ros-navigation#4748) * [DWB] Option to limit velocity commands in trajectory generator (ros-navigation#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> * fix to bt action server logging before bt execution result being ready (ros-navigation#4677) Signed-off-by: DreamWest <sirjamestsao@gmail.com> * fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * [RotationShimController] fix: rotate to goal heading (ros-navigation#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> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#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> * bump to 1.1.17 for humble sync Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> Signed-off-by: DreamWest <sirjamestsao@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: DreamWest <sirjamestsao@gmail.com> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> 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> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: huiyulhy <lhyleonghuiyu@gmail.com> Signed-off-by: DreamWest <sirjamestsao@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: brayanpa <brayanspallares@gmail.com> Co-authored-by: Huiyu Leong <26198479+huiyulhy@users.noreply.github.com> Co-authored-by: DreamWest <sirjamestsao@gmail.com> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> 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>
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…ation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
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* fix(simple-action-server): info log instead of warn on cancel (#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * feat(controller-server): `publish_zero_velocity` parameter (#4675) * feat(controller-server): `publish_zero_velocity` parameter For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * processed comments Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * comments Steve Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improvements in RemoveInCollisionGoals and adjacent features (#4676) * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament_uncrustify Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix building Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding disengagement threshold to rotation shim controller (#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Switch nav2_waypoint_follower to modern CMake idioms. (#4648) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Feat/migrate gps nav2 system test (#4682) * include missing docking station parameters Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix crach RL Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * lintering Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Change naming Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * update submodule Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching, increase version number Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improve Docking panel (#4717) * Added load and save panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added loading dock plugins log Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Redo UI Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tooltips Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Remove nav2_loopback_sim dependency on transforms3d. (#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix missing dependency on nav2_costmap_2d (#4742) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.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> Signed-off-by: Tony Najjar <tony.najjar.1997@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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Pass IDLE to on_tick, use that for initialize condition (#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * mppi parameters_handler: Improve verbose handling (#4704) (#4711) * mppi parameters_handler: Improve verbose handling (#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * Address review comments. (#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: Improve static/dynamic/not defined logging (#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: populate SetParametersResult (#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> --------- Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added collision detection for docking (#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use BT.CPP Tree::sleep (#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Implement BT Loop Rate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix lint Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cache Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Simplify namespaced bringups and multirobot sim (#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Address review feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Always join with parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return Running (#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * PR review Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add halt at the end Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Migrating twist to twiststamped in simulations for recommended default bringups (#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix assisted teleop test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server smoke test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * set response to true Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fail if out of bounds Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.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> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: ruffsl <roxfoxpox@gmail.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: Alberto Tudela <ajtudela@gmail.com> 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> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
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…ation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg 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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* fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * feat(controller-server): `publish_zero_velocity` parameter (ros-navigation#4675) * feat(controller-server): `publish_zero_velocity` parameter For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * processed comments Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * comments Steve Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improvements in RemoveInCollisionGoals and adjacent features (ros-navigation#4676) * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament_uncrustify Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix building Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Switch nav2_waypoint_follower to modern CMake idioms. (ros-navigation#4648) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Feat/migrate gps nav2 system test (ros-navigation#4682) * include missing docking station parameters Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix crach RL Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * lintering Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Change naming Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * update submodule Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching, increase version number Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix: handle transition failures in all servers (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate on short paths (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improve Docking panel (ros-navigation#4717) * Added load and save panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added loading dock plugins log Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Redo UI Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tooltips Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate to goal heading (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Remove nav2_loopback_sim dependency on transforms3d. (ros-navigation#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix missing dependency on nav2_costmap_2d (ros-navigation#4742) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Updating error logging in Smac collision detector object (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#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> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Pass IDLE to on_tick, use that for initialize condition (ros-navigation#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (ros-navigation#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) (ros-navigation#4711) * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * Address review comments. (ros-navigation#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: Improve static/dynamic/not defined logging (ros-navigation#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: populate SetParametersResult (ros-navigation#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> --------- Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added collision detection for docking (ros-navigation#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use BT.CPP Tree::sleep (ros-navigation#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Implement BT Loop Rate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix lint Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cache Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Simplify namespaced bringups and multirobot sim (ros-navigation#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Address review feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Always join with parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return Running (ros-navigation#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * PR review Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add halt at the end Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Migrating twist to twiststamped in simulations for recommended default bringups (ros-navigation#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix assisted teleop test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server smoke test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * set response to true Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fail if out of bounds Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.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> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: ruffsl <roxfoxpox@gmail.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: Alberto Tudela <ajtudela@gmail.com> 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> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
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#4690
@sandeepdutta please review! I updated the default for my parameter to be half of the threshold (22.5) instead of a third (15), but you can change that in your own config file if you prefer that behavior.
For the backport, I'll have to make the default 45 degrees so we don't change the default behavior, but you can again set it to 1/3 (or otherwise) in your configuration file to change that behavior for your application on Humble