fix: handle transition failures in all servers #4708
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Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com>
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
RBT22
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Oct 11, 2024
* 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>
AarishShah22
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Oct 12, 2024
* 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>
emilnovak
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Oct 16, 2024
…26) * fix: handle transition failures in planner/controller/smoother servers * adding support for rest of servers + review comments * Replacing throws with error and failed lifecycle transitions * fix vel smoother unit tests * fixing docking server unit testing * fixing last bits --------- 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>
masf7g
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Oct 23, 2024
* 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>
SteveMacenski
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Nov 8, 2024
* 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>
SteveMacenski
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Nov 8, 2024
* 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>
tonynajjar
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Dec 9, 2024
* fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
SteveMacenski
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Dec 9, 2024
* fix(simple-action-server): info log instead of warn on cancel (#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * feat(controller-server): `publish_zero_velocity` parameter (#4675) * feat(controller-server): `publish_zero_velocity` parameter For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * processed comments Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * comments Steve Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improvements in RemoveInCollisionGoals and adjacent features (#4676) * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament_uncrustify Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix building Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> --------- Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding disengagement threshold to rotation shim controller (#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Switch nav2_waypoint_follower to modern CMake idioms. (#4648) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Feat/migrate gps nav2 system test (#4682) * include missing docking station parameters Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix crach RL Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * lintering Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Change naming Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * update submodule Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching, increase version number Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate on short paths (#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improve Docking panel (#4717) * Added load and save panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added loading dock plugins log Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Redo UI Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tooltips Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate to goal heading (#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Use single quotes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Remove nav2_loopback_sim dependency on transforms3d. (#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix missing dependency on nav2_costmap_2d (#4742) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Pass IDLE to on_tick, use that for initialize condition (#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * mppi parameters_handler: Improve verbose handling (#4704) (#4711) * mppi parameters_handler: Improve verbose handling (#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * Address review comments. (#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: Improve static/dynamic/not defined logging (#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: populate SetParametersResult (#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> --------- Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added collision detection for docking (#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use BT.CPP Tree::sleep (#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Implement BT Loop Rate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix lint Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cache Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Simplify namespaced bringups and multirobot sim (#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Address review feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Always join with parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return Running (#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * PR review Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add halt at the end Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Migrating twist to twiststamped in simulations for recommended default bringups (#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix assisted teleop test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server smoke test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * set response to true Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fail if out of bounds Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
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* fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
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* fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * feat(controller-server): `publish_zero_velocity` parameter (ros-navigation#4675) * feat(controller-server): `publish_zero_velocity` parameter For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * processed comments Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * comments Steve Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improvements in RemoveInCollisionGoals and adjacent features (ros-navigation#4676) * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament_uncrustify Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix building Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (ros-navigation#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> --------- Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Switch nav2_waypoint_follower to modern CMake idioms. (ros-navigation#4648) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Feat/migrate gps nav2 system test (ros-navigation#4682) * include missing docking station parameters Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix crach RL Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * lintering Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Change naming Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * update submodule Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching, increase version number Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix: handle transition failures in all servers (ros-navigation#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate on short paths (ros-navigation#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improve Docking panel (ros-navigation#4717) * Added load and save panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added loading dock plugins log Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Redo UI Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tooltips Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate to goal heading (ros-navigation#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (ros-navigation#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Use single quotes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Remove nav2_loopback_sim dependency on transforms3d. (ros-navigation#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix missing dependency on nav2_costmap_2d (ros-navigation#4742) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Updating error logging in Smac collision detector object (ros-navigation#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Pass IDLE to on_tick, use that for initialize condition (ros-navigation#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (ros-navigation#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) (ros-navigation#4711) * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * Address review comments. (ros-navigation#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: Improve static/dynamic/not defined logging (ros-navigation#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: populate SetParametersResult (ros-navigation#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> --------- Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added collision detection for docking (ros-navigation#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use BT.CPP Tree::sleep (ros-navigation#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Implement BT Loop Rate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix lint Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cache Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Simplify namespaced bringups and multirobot sim (ros-navigation#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Address review feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Always join with parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return Running (ros-navigation#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * PR review Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add halt at the end Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Migrating twist to twiststamped in simulations for recommended default bringups (ros-navigation#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix assisted teleop test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server smoke test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * set response to true Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fail if out of bounds Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Joseph Duchesne <josephgeek@gmail.com>
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* fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>
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* fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * feat(controller-server): `publish_zero_velocity` parameter (ros-navigation#4675) * feat(controller-server): `publish_zero_velocity` parameter For optionally publishing a zero velocity command reference on goal exit. Publishing a zero velocity is not desired when we are following consecutive path segments that end with a velocity. Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * processed comments Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * comments Steve Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improvements in RemoveInCollisionGoals and adjacent features (ros-navigation#4676) * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * ament_uncrustify Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix building Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add stamp Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (ros-navigation#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> --------- Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * change default to 22.5 deg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Switch nav2_waypoint_follower to modern CMake idioms. (ros-navigation#4648) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Feat/migrate gps nav2 system test (ros-navigation#4682) * include missing docking station parameters Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix crach RL Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * lintering Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Change naming Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * update submodule Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * minor changes Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * fix issue with caching, increase version number Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix: handle transition failures in all servers (ros-navigation#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix vel smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server unit testing Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing last bits Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate on short paths (ros-navigation#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Improve Docking panel (ros-navigation#4717) * Added load and save panel Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added loading dock plugins log Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Redo UI Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update tooltips Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [RotationShimController] fix: rotate to goal heading (ros-navigation#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (ros-navigation#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Use single quotes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Remove nav2_loopback_sim dependency on transforms3d. (ros-navigation#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix missing dependency on nav2_costmap_2d (ros-navigation#4742) Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Updating error logging in Smac collision detector object (ros-navigation#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * [map_io] Replace std logs by rclcpp logs (ros-navigation#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Pass IDLE to on_tick, use that for initialize condition (ros-navigation#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <redvinaa@gmail.com> * Fix battery sub creation bug Signed-off-by: redvinaa <redvinaa@gmail.com> --------- Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (ros-navigation#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvements Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) (ros-navigation#4711) * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * Address review comments. (ros-navigation#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: Improve static/dynamic/not defined logging (ros-navigation#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: populate SetParametersResult (ros-navigation#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> --------- Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Added collision detection for docking (ros-navigation#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix smoke testing Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added docs and params Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor changes in README Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Use BT.CPP Tree::sleep (ros-navigation#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Implement BT Loop Rate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix lint Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * cache Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Simplify namespaced bringups and multirobot sim (ros-navigation#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Address review feedback Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Always join with parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Fix integration test Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> --------- Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return Running (ros-navigation#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * PR review Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add halt at the end Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Migrating twist to twiststamped in simulations for recommended default bringups (ros-navigation#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix assisted teleop test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing docking server smoke test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * set response to true Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fail if out of bounds Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tiwa Ojo <tiwa@reindeere.ca> Signed-off-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Daniil Khaninaev <khaninaev@yahoo.com> Signed-off-by: agennart <antoine.gennart@quimesis.be> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: redvinaa <redvinaa@gmail.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Mike Wake <michael.wake@aosgrp.com.au> Signed-off-by: Luca Della Vedova <lucadellavr@gmail.com> Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai> Co-authored-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tiwa Ojo <55967921+tiwaojo@users.noreply.github.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: ruffsl <roxfoxpox@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: agennart <antoine.gennart@quimesis.be> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Daniil Khaninaev <khaninaev@yahoo.com> Co-authored-by: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Ryan <25047695+Ryanf55@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Vince Reda <60265874+redvinaa@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: aosmw <116058035+aosmw@users.noreply.github.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>
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Continuation of #4697