Tags: quasi-robotics/navigation2
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Update package.xml (ros-navigation#5225) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Jazzy Sync 7: May 29 2025 (ros-navigation#5211) * Dynamic param patterns (ros-navigation#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Merged Fix navfn_planner from humble PR ros-navigation#5087 (ros-navigation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (ros-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Precompute yaw trigonometric values in smac planner (ros-navigation#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * removing the start navigation message in the paused state from rviz buttons (ros-navigation#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Show error if inflation radius is smaller than circumscribed radius (ros-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prevent MPPI controller from resetting speed limits upon goal execution. (ros-navigation#5165) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixing docking server when already docked at the requeste ddock (ros-navigation#5171) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter util to node utils (ros-navigation#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * added config for laserscan in lb-sim (ros-navigation#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * review: use_inf is default:true and added parameters on readme ros-navigation#4992 Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> --------- Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Publish planned footprints after smoothing (ros-navigation#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address PR comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix build error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixing deprecation warning (ros-navigation#5182) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding missing dep to loopback sim (ros-navigation#5204) * Adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (ros-navigation#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@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: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com>
Jazz sync - April 15, 2025 (ros-navigation#5090) * Add short delay before lookup transform in polygon test (ros-navigation#4939) * Add short delay before lookup transform Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Populate stamped command message with now timestamp, if velocity timed out. (ros-navigation#4959) Signed-off-by: Georg Flick <georg.flick@enway.ai> * Integrate ClearCostmapExceptRegion and ClearCostmapAroundRobot Services into the API (ros-navigation#4962) * Add ClearCostmapExceptRegion and ClearCostmapAroundRobot services to BasicNavigator API Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * typo ament_flake8 Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * type fix ament_flake Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> --------- Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> * Fix urls in node hybrid (ros-navigation#4973) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Use main function to replace global variable in gtest. (ros-navigation#4978) Signed-off-by: ChenYing Kuo <evshary@gmail.com> * nav2_behavior_tree: fix input port parsing error in AreErrorCodesPresent (ros-navigation#4986) The getInput method does not support std::set<uint16_t> parsing. So, let's replace the type of the input port by std::vector<int> which is supported, and convert the list to a std::set<uint16_t>. This commit fixes issue ros-navigation#4985. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * Change to goal checker orientation for yaw angle (ros-navigation#4988) - Fixed discrepancy in goal checker orientation, which was checking for < tolerance instead of <= tolerance, as all the other limit checks are. - Reduced tolerance time for the progress checker unit tests to 0.1 seconds, to reduce test runtime from ~17 to ~7 seconds. Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> * Declare_parameter_if_not_declared in docking navigator (ros-navigation#5023) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * bumping to 1.3.6 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Georg Flick <georg.flick@enway.ai> Signed-off-by: BCKSELFDRIVEWORLD <bckselfdrive@gmail.com> Signed-off-by: mattbooker <mattbooker97@gmail.com> Signed-off-by: ChenYing Kuo <evshary@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: mini-1235 <58433591+mini-1235@users.noreply.github.com> Co-authored-by: Georg Flick <54032815+georgflick@users.noreply.github.com> Co-authored-by: Burak Can Kaya <146545020+BCKSELFDRIVEWORLD@users.noreply.github.com> Co-authored-by: Matthew Booker <mattbooker97@gmail.com> Co-authored-by: ChenYing Kuo (CY) <evshary@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: RasmusLar <101558931+RasmusLar@users.noreply.github.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
Jazzy sync 5: Feb 4, 2025 (ros-navigation#4902) * nav2_smac_planner: handle corner case where start and goal are on the same cell (ros-navigation#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 ros-navigation#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 (ros-navigation#4804) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix trajectory generation bug in docking controller (ros-navigation#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 (ros-navigation#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 (ros-navigation#4813) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * publish motion target as pose (ros-navigation#4839) Signed-off-by: Michael Ferguson <mfergs7@gmail.com> * nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#4878) (ros-navigation#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 (ros-navigation#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 (ros-navigation#4889) (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (ros-navigation#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>
Fixed the problem of static layer not restoring old map values for fo… …otprint (ros-navigation#4824) * Fix Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fixed some bugs and removed the unnecessary variables from class Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Keep the branch updated with main Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Called off API changes in costmap, added "restore_outdated_footprint" Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Added the documentation for the new methods in static layer Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Make CI happy Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Apply suggestions and minimize diffs Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix ament_cpp_lint Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Revert changes in the method updateFootprint Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Used cached data to restore map and broken up setConvexPolygonCost into two methods Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Rename newly added methods Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Added restore_outdated_map parameter Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Make CI happy Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Changed the name of the newly added parameter - changed the name of the new param - fixed bug in the setConvexPolygonCost - Used reserve method of the vector instances - Added checks in dynamic parameter update. Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Remove unnecessary log Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Add new member to MapLocation Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Remove unnecessary header Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Set the parameters footprint_clearing_enabled and restore_cleared_footprint enable in nav2_system_tests Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Jazzy Sync 4: Dec 13, 2024 (ros-navigation#4797) * 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> * 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> * nav2_costmap_2d plugin container layer (ros-navigation#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 (ros-navigation#4747) * Adding non-charging dock support to docking server (for conveyers, pallots, etc) (ros-navigation#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Publish optimal trajectory as a Path message (ros-navigation#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 (ros-navigation#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 (ros-navigation#4652) (ros-navigation#4654) Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (ros-navigation#4649) Signed-off-by: Alan Xue <alan.xuefei@googlemail.com> * PoseStamped vector specialization (ros-navigation#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 (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> * Adding planner server timeout for costmap waiting (ros-navigation#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 (ros-navigation#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 (ros-navigation#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 (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> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <stevenmacenski@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> * [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> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.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> * [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> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.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> * [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> * 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>
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