Update master_umd with latest humble #11
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Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com>
* Include filter only by packge name as using package source paths can exclude coverage from other packages such as header files reported usign under workspace's install path * formating * Process gcno Process both gcno and gcda coverage files. This option is useful for capturing untested files in the coverage report. * Validate sources Check if every source file exists * Dump statistic Dump total statistic at the end * Branch coverage Include only the most useful branches in the coverage report. * Fix install path * Explicitly exclude packages to ignore rviz package but still explicitly include packages as the include filter is what mostly speeds up processing * Revert "Branch coverage" This reverts commit 20f2894. * Keep path fixes relative to workspace As the working directory used for running code coverage report script is already at the root of the colcon workspace, avoiding the use of unnecessary path globbing
….hpp) (ros-navigation#2425) * in observation.hpp fixed operator= * style fix
* Add lazy_theta_star * Added license * Added license * Update lazy_theta_star_b.cpp * restructured files - separated planner part and the algorithm - implemented all the changes as suggested * restructured files * Update CMakeLists.txt * removed unnecessary comments * removed comments * Delete planner.cpp * Delete lazy_theta_star_b.cpp * Delete lazy_theta_star_b.h * Delete planner.h * Delete CMakeLists.txt * Delete global_planner_plugin.xml * Delete package.xml * replaced the files - refactored code - improved reliability - have to write a code similar to that in nav2_system_tests, to test it (working on it) * removed comments * removed comments * Update lazy_theta_star2.cpp * update files - replaced manual management of priority queue with stl priority queue - added the parameter ".lethal_cost" - removed unnecessary parameters passed to the functions * update files - updated the header files in accordance to their .cpp counterparts * Delete lazy_theta_star2.h * Delete lazy_theta_star_planner.h * Delete lazy_theta_star2.cpp * Delete lazy_theta_star_planner.cpp * Delete CMakeLists.txt * Delete package.xml * Delete global_planner_plugin.xml * upload the changed code Changes from last time are: - the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs - parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now - * Delete lazy_theta_star_p_planner directory * Replace the old files - the structure of code has been changed - new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function] - documentation added for variables and functions - the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon) - fixed a bug where the incorrect traversal cost of the node was taken * Delete lazy_theta_star_p_planner directory * update the files - renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner - renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp - added a readme file outlining the parameters, usage notes and images to be added soon - added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic) - replaced the SharedPtr with a WeakPtr for node - removed +1 and the pusher_ variable added to compensate for it * Update README.md * update the code - linted the code - **updates to readme, are still pending** - changed the type of message from INFO to DEBUG - replaced the capital letters with the smaller ones * update the readme file * Update README.md * Update README.md * Update README.md * Update README.md * Delete global_planner_plugin.xml * fix the linting issues * remove the space on line 7 * change RCLCPP_INFO to RCLCPP_DEBUG * Update README.md * Add test coverage - added tests to check the algorithm itself and its helper functions - added smoke test to detect plugin level issues - inlined some functions - shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class - removed the functions `dist()` and `getCellCost()` from the ThetaStar class * update the test file * update the test file * Update README.md * Update README.md * Update README.md * add test on the size of the output path * Update README.md * Update README.md * change the function name from `isSafeToPlan()` to `isUnsafeToPlan()` * update the files - inlined the functions `getIndex` and `addIndex` - removed typos from the comments * fix typos * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * fix the typo - the first isSafe calls output wasn't negated, it has been fixed * Update theta_star.hpp - added the `getCost()` function (again) - replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`. - the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct - the global variable `curr_node` was renamed to `exp_node` - removed the struct `pos` * Update theta_star.cpp * update default parameters * update default parameters * Update README.md * update the test file * fix linting issues * Update README.md * Update README.md * Update README.md * Update theta_star_planner.cpp * update LETHAL_COST * update README.md * update dependency list * Update package.xml
Boost features have been deprecated and removed in pluginlib for rolling
* feat(navfn): improve coverage * wip(navfn): add new test launch * refactor(navfn): check expect_failure flag value
* Reduce node of waypoint_follower by using callback group and executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linting failures Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
ros-navigation#2443) * Feature addition: capability for the RRP to drive the robot backwards * findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop * satisfying ament_uncrustify and ament_cpplint * removing the unnecessary condition in the cusp determination * Satisfying ament_uncrustify - 2
* Add dependabot config * Workarround missing ARG support in dependabot Parrent image can't yet be parameterized for version parsing dependabot/dependabot-core#2057 * Fix CCACHE_DIR to be absolute path ros-navigation#2403 * Remove FAIL_ON_BUILD_FAILURE ARG now that CI image builds from rolling testing and no longer ros2 nightly so forcing image rebuilds is no longer needed * Trigger rebuild on changes to Dockerfile * Add github-actions to dependabot * Refactor actions to rebuild CI image from CI * Clean old dockerhub build hook * Rename action * Combine workflows to avoid dispaching as that requires a github personal access token which is an inconvenience to generate and add to repo secrets * Add needs param to define job order * Use job outputs for condition instead of env Seems that env in context is not yet avalable at the job level but only at the current job's step level https://github.saobby.my.eu.orgmunity/t/how-to-set-and-access-a-workflow-variable/17335/6 https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idoutputs * Use multi-line syntax for tags param * Use toJSON for job conditional * Test with always * Update param syntax * Test with always * Update if syntax * Test if trigger for only check_ci_files * Simplify if params * Try using GitHub's Container registry * Indent formating * Add step conditional * Default arg to build from unpinned parrent stage allowing CI to build from pinned testing image while enabling dependabot to find and update testing image version ensuring CI images are up-to-date with upstream registries * Set build arg for continuous integration * Ignore .github folder * testing * Update colcon-cache * Revert to rolling * Revert testing * Update README
* reduce MapSaver nodes by using callback group/executor combo Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * set use_rclcpp_node false * a cleaner solution using a future and spin_until_future_complete() Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
Add `costmap_thread_.reset()` on the destructor of ControllerServer class
* remove bond_client_node_ in class LifecycleManager Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * clear unused variables Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix lint Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use dedicated executor thread Signed-off-by: William Woodall <william@osrfoundation.org> * fix building error Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * support to process executor for NodeThread Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use NodeThread for LifecycleManager Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> Co-authored-by: William Woodall <william@osrfoundation.org>
…ation#2472) Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>
* remove LifecycleServiceClient's constructor which create internal node Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix the linter Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* Convert to python format strings for readability * Merge concatenated strings * Revert converting generated files * Single quotes for consistency * Just print the exception
* fix smac2d cleanup * same for hybrid
* Put action name in node namespace instead of node name * Put namespace remapping in node options * Rename client node with action name replacing "/" by "_" * Code formatting * Code formatting
* improve SimpleActionServer Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use Nodethread for executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * add constructor's arg options and member variable executor_ Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
…in multi robots example (ros-navigation#2471) * adjust launch file with needed gazebo plugin and set groot to False for multi-robot params * correct unwanted changes * change port and set groot to false * fix lints Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>
Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* reduce controller server nodes by setting SimpleActionServer's argument spin_thread true Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove duplicated action_server_.reste() Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* make tolerance dyn param * full reconfigure * fix typo * Place function above the variables * lock param callback
…on#2481) * Modify the BtServiceNode to include an on_success call. * PR: Fix linter error by removing trailing whitespaces. * PR: Rename on_success() to on_completion() to improve understandability.
Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> add callback group and executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* fix test Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * add bt navigator into lifecycle manager Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * fix goal checker plugin Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp> * load keepout filter param Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>
* Added costmap in the goal checker * Added costmap in goal_checker * Adressed comments in PR * Fixed linting error
…on_wait_for_result (ros-navigation#2972) * Allow access to action feedback in nav2_behavior_tree::BtActionNode::on_wait_for_result * Improve function signatures and remove mutex locks * Remove getFeedback() * Fix lint errors
* Change all shared_ptr references to shared_ptr * Update simple_smoother.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* fix: correct curvature signal Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br> * cleanup: move sign's position Signed-off-by: Afonso da Fonseca Braga <afonso.braga@engenharia.ufjf.br>
* use unique_ptr for map_update_thread Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* add diagnostics * fix * fix
* added a BT for driving in a square * removed extra printouts * decreased timeout * do not increment recovery * code review * code review * test and linting fix * updated plugin list * fixed BT loading issue * bump up speed
* use a dedicated callback group for costmap plugin and filter instead of inner node Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> update comment Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove unnecessary modifications Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* remove LifecycleNode's argument use_rclcpp_node Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update comment Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
* Added goal accepted check before flagging navigator as running * Added final bt status as a parameter to goal completed callback of navigators (for reference) * Formatting for line length * Fixed indentation formatting * Fixed indentation formatting
ros-navigation#3036) (ros-navigation#3041) * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. Signed-off-by: Steven Brills <sbrills@hotmail.com> * Failed lint check due to stray blank line. Removed the blank line * - Modified findVelocitySignChange function to take the transformed plan in robot's frame - Removed need to pass pose to the findVelocitySignChange function * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - transformGlobalPlanWrapper call bug fix Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used. Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * - Missing ; in test method Signed-off-by: Steven Brills <stevenbrills@hotmail.com> * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead Signed-off-by: Steven Brills <stevenbrills@hotmail.com> Co-authored-by: Steven Brills <sbrills@aethon.com> (cherry picked from commit 99bec08) Co-authored-by: stevenbrills <90438581+stevenbrills@users.noreply.github.com>
… (ros-navigation#3056) * first draft for goal updated controller Signed-off-by: relffok <57466265+relffok@users.noreply.github.com> * added goal_updated_controller to all yamls * added GoalUpdatedController API * added GoaUpdatedController to default plugins * removed first_time param * added test for GoalUpdatedController * linter fix (cherry picked from commit 28d16ab) Co-authored-by: relffok <57466265+relffok@users.noreply.github.com>
…tion#3069) * forward porting ros-navigation#3053 * adding TF warning suggestion (cherry picked from commit bb0d177) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Add nav2_dwb_controller package
sergigraum
approved these changes
Aug 26, 2022
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