Tags: ros-navigation/navigation2
Tags
Jazzy sync 5: Feb 4, 2025 (#4902) * nav2_smac_planner: handle corner case where start and goal are on the same cell (#4793) * nav2_smac_planner: handle corner case where start and goal are on the same cell This case was already properly handled in the smac_planner_2d, but it was still leading to an A* backtrace failure in the smac_planner_hybrid and smac_planner_lattice. Let's harmonize the handling of this case. This commit fixes issue #4792. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: use goal orientation when path is made of one point Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: publish raw path also when start and goal are on the same cell Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: add corner case to unit tests Add a plan where the start and goal are placed on the same cell. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * creating auto-transition option for nav2_util::LifecycleNode (#4804) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix trajectory generation bug in docking controller (#4807) * Fix trajectory in docking controller Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Ceil and remove resolution Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * graceful_controller: implement iterative selection of control points (#4795) * initial pass at iterative Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add v_angular_min_in_place Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * add orientation filter, fix remaining TODOs Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * try to increase coverage, fixup minor test issues Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * address review comments Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * review comments * update defaults * rename to in_place_collision_resolution Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * revert change in default Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * fix bug in use of v_angular_min_in_place (#4813) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * publish motion target as pose (#4839) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (#4836) Until now, the NONE error code was returned when exceeding the time allowance. Let's return the more appropriate TIMEOUT error code instead. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * fix bug in orientation filtering (#4840) * fix bug in orientation filtering some global planners output all zeros for orientation, however the plan is in the global frame. when transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * account for floating point error Signed-off-by: Michael Ferguson <mfergs7@gmail.com> --------- Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * Adapt GoalUpdater to update goals as well (#4771) * 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> * Adapt goalUpdater to modify goals as well Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change name of msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make input goals be Goals again for compatibility Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "fix" This reverts commit 8303cdc. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * refactoring Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ignore if no timestamps Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * facepalm Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot nodes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * more fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add common_interfaces Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix warn msg Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improve Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix format Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change to info Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix simple smoother failing during final approach (#4817) * new test case for end of path approach Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * implement steve's suggestions Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> --------- Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> * Add acc limit consideration to avoid overshooting in RotationShimController (#4864) * Add acc limit consideration to avoid overshoot in RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add acceleration limit tests to RotationShimController Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix flaky ness of opennav_docking test_docking_server (#4878) (#4879) Call publish() (odom -> base_link tf) at startup to kick things off and spin 10 times(1 second) TF, so that it has a chance to propogate to the docking_server so that it will accept an action request. Previously it was only spinning once, hoping the timer would fire and call publish fast enough for it to propogate to the docking_server so that it is able to accept the first 'dock_robot' action request Signed-off-by: Mike Wake <macwake@gmail.com> * [BtActionNode] [BtServiceNode] clear between calls (#4887) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * dwb_critics flaky test - lineCost coordinates must be within costmap (#4889) (#4884) There is no protection/checks in the pathway from lineCost to costmap_2d::getIndex(mx, my) for grid coordinates that exceed the of bounds of the allocated costmap. (presumably for speed) This test was triggering an off by one error attempting to read the the 2500 byte costmap at byte 2503 costmap size 50x50. getIndex(3, 50) = my * size_x_ + mx; = 50 * 50 + 3; = 2503 Signed-off-by: Mike Wake <macwake@gmail.com> * Add option to use open-loop control with Rotation Shim (#4880) * Initial implementation Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * replace feedback param with closed_loop Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Reset last_angular_vel_ in activate method Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add closed_loop parameter to dynamicParametersCallback Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add tests Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Override reset function Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix unstable test in nav2 util (#4894) * Fix unstable test in nav2 util Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Change 5s to 1s Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update bt2img syntax and bt pics (#4900) Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> * bumping to 1.3.5 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Adapt GoalUpdater to update goals as well (#4771)" This reverts commit 55d7387. --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Michael Ferguson <mfergs7@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: rayferric <63957587+rayferric@users.noreply.github.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: Mike Wake <macwake@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Ray Ferric <63957587+rayferric@users.noreply.github.com> Co-authored-by: Balint Rozgonyi <43723477+RBT22@users.noreply.github.com> Co-authored-by: ewak <ewak@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: mini-1235 <58433591+mini-1235@users.noreply.github.com>
Jazzy Sync 4: Dec 13, 2024 (#4797) * 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> * 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> * nav2_costmap_2d plugin container layer (#4781) * updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <alex@polymathrobotics.com> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <alex@polymathrobotics.com> * initial commit of plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * fixed plugin namespace Signed-off-by: alexander <alex@polymathrobotics.com> * fixed message_filter Signed-off-by: alexander <alex@polymathrobotics.com> * linting Signed-off-by: alexander <alex@polymathrobotics.com> * modified addPlugin method to also take layer name Signed-off-by: alexander <alex@polymathrobotics.com> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <alex@polymathrobotics.com> * CMake changes to test plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * added helper method to add plugin container layer Signed-off-by: alexander <alex@polymathrobotics.com> * added initial implementation of plugin container tests Signed-off-by: alexander <alex@polymathrobotics.com> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <alex@polymathrobotics.com> * cleaned up and added additional tests Signed-off-by: alexander <alex@polymathrobotics.com> * added Apache copyrights Signed-off-by: alexander <alex@polymathrobotics.com> * linting for ament_cpplint Signed-off-by: alexander <alex@polymathrobotics.com> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <alex@polymathrobotics.com> * removed unused rolling_window_ member variable Signed-off-by: alexander <alex@polymathrobotics.com> * removed default plugins and plugin types Signed-off-by: alexander <alex@polymathrobotics.com> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <alex@polymathrobotics.com> * removed combined_costmap_ Signed-off-by: alexander <alex@polymathrobotics.com> * fixed layer naming and accomodating tests Signed-off-by: alexander <alex@polymathrobotics.com> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <alex@polymathrobotics.com> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <alex@polymathrobotics.com> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <alex@polymathrobotics.com> * removed unnecessary locks, added default value Signed-off-by: alexander <alex@polymathrobotics.com> * removed unecessary resetMap Signed-off-by: alexander <alex@polymathrobotics.com> * added layer resetting when reset method is called Signed-off-by: alexander <alex@polymathrobotics.com> * swapped logic for isClearable Signed-off-by: alexander <alex@polymathrobotics.com> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <alex@polymathrobotics.com> * consolidated initialization for loops Signed-off-by: alexander <alex@polymathrobotics.com> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <alex@polymathrobotics.com> * added clearArea function Signed-off-by: alexander <alex@polymathrobotics.com> * added clearArea test Signed-off-by: alexander <alex@polymathrobotics.com> * removed TODO message Signed-off-by: alexander <alex@polymathrobotics.com> * removed constructor and destructors since they do nothing Signed-off-by: alexander <alex@polymathrobotics.com> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <alex@polymathrobotics.com> * fixed tests for clearing functionality Signed-off-by: alexander <alex@polymathrobotics.com> * added try catch around initialization of plugins Signed-off-by: alexander <alex@polymathrobotics.com> * fixed indents Signed-off-by: alexander <alex@polymathrobotics.com> --------- Signed-off-by: alexander <alex@polymathrobotics.com> * bumping to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix backporting error: renamed header files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: alexander <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.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: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Jazzy sync 3: Nov 8, 2024 (#4747) * 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>
Humble sync 13: Nov 8, 2024 (#4748) * [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> * fix to bt action server logging before bt execution result being ready (#4677) Signed-off-by: DreamWest <sirjamestsao@gmail.com> * 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> * [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> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.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> * 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>
Iron Sync 8: August 23, 2024 (#4645) * earlier `executor_thread_.reset()` in nav2_costmap_ros (#4385) * reorder cleanup_queue Signed-off-by: goes <GoesM@buaa.edu.cn> * codestyle Signed-off-by: goes <GoesM@buaa.edu.cn> * codestyle Signed-off-by: goes <GoesM@buaa.edu.cn> --------- Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * [RotationShimController] Fix test for rotate to goal heading (#4289) (#4391) * Fix rotate to goal heading tests Signed-off-by: Antoine Gennart <gennartan@disroot.org> * Update bt_service_node.hpp debug msg (#4398) Provide service_name instead of service_node_name for debugging bt_service_node Signed-off-by: João Britto <cbn.joao@gmail.com> * reset laser_scan_filter before reinit (#4397) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Fix error messages (#4411) Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> * Warn if inflation_radius_ < inscribed_radius_ (#4423) * Warn if inflation_radius_ < inscribed_radius_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * convert to error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * chore: cleanup ros1 leftovers (#4446) Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * precomputeDistanceHeuristic is now computed once (#4451) Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> * shutdown services in destructor of `ClearCostmapService` (#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * Fix world to map coordinate conversion (#4506) Signed-off-by: HovorunBh <fipogh@gmail.com> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (#4507) Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * min_turning_r_ getting param fix (#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> --------- Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * check nullptr in smoothPlan() (#4544) * check nullptr in smoothPlan() Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn> * check nullPtr in `computeControl()` (#4548) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * bumping to 1.2.10 for release * fixing merge conflict iron --------- Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Antoine Gennart <gennartan@disroot.org> Signed-off-by: João Britto <cbn.joao@gmail.com> Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: HovorunBh <fipogh@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: goes <GoesM@buaa.edu.cn> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: João Britto <cbn.joao@gmail.com> Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: Vincent <46542431+VincidaB@users.noreply.github.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> Co-authored-by: Bohdan <72872431+HovorunBh@users.noreply.github.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Ivan Radionov <45877502+JJRedmond@users.noreply.github.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com>
Humble release 12: August 23 (#4644) * Add configure and cleanup transitions to lifecycle manager and client (#4371) Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> * [RotationShimController] Rotate to goal heading (#4332) When arriving in the goal xy tolerance, the rotation shim controller takes back the control to command the robot to rotate in the goal heading orientation. The initial goal of the rotationShimController was to rotate the robot at the beginning of a navigation towards the paths orientation because some controllers are not good at performing in place rotations. For the same reason, the rotationShimController should be able to rotate the robot towards the goal heading. Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> * [RotationShimController] Fix test for rotate to goal heading (#4289) (#4391) * Fix rotate to goal heading tests Signed-off-by: Antoine Gennart <gennartan@disroot.org> * reset laser_scan_filter before reinit (#4397) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Warn if inflation_radius_ < inscribed_radius_ (#4423) * Warn if inflation_radius_ < inscribed_radius_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * convert to error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * chore: cleanup ros1 leftovers (#4446) Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * precomputeDistanceHeuristic is now computed once (#4451) Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> * shutdown services in destructor of `ClearCostmapService` (#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (#4507) Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * min_turning_r_ getting param fix (#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> --------- Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * check nullptr in smoothPlan() (#4544) * check nullptr in smoothPlan() Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn> * bump to 1.1.15 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Add configure and cleanup transitions to lifecycle manager and client (#4371)" This reverts commit 06ec958. * fix merge conflict with humble sync * fix merge conflict with humble sync --------- Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> Signed-off-by: Antoine Gennart <gennartan@disroot.org> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: Joni Pöllänen <jonipol@users.noreply.github.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: goes <GoesM@buaa.edu.cn> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: Vincent <46542431+VincidaB@users.noreply.github.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Ivan Radionov <45877502+JJRedmond@users.noreply.github.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com>
Fix Jazzy release by removing boost dependency - bump to 1.3.1 (#4492) ( #4493) * Update package.xml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix Boost build issues and bump to 1.3.1 for jazzy release --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 715df8f) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
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