fix(nav2_theta_star_planner): Planner Server Crashing When Planning Outside Map Bounds with Theta* on Humble #4706
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SteveMacenski
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* 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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This PR resolves the issue discussed in: #4694
The planner server was crashing when attempting to plan paths outside the map bounds using the Theta* planner on Humble.
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