Add acceleration limits to DriveOnHeading and BackUp behaviors #4810

RBT22 · 2024-12-20T11:19:13Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	NA
Primary OS tested on	Ubuntu
Robotic platform tested on	own robot hardware
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Added two params: acceleration_limit and deceleration_limit for DriveOnHeading and BackUp behaviors.

Description of documentation updates required from your changes

Added new parameter, so need to add that to default configs and documentation page

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify · 2024-12-20T11:22:40Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-12-20T11:28:55Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2024-12-20T11:33:11Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski

Build is failing - not 100% sure why off hand other than it relates to a method added

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

mergify · 2025-01-02T14:44:06Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-02T14:52:39Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-02T14:57:58Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-02T15:14:45Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify · 2025-01-02T15:25:38Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

codecov · 2025-01-02T16:15:05Z

Codecov Report

Attention: Patch coverage is 52.00000% with 12 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp	52.00%	12 Missing ⚠️

Files with missing lines	Coverage Δ
...nclude/nav2_behaviors/plugins/drive_on_heading.hpp	`82.65% <52.00%> (-10.60%)`	⬇️

SteveMacenski · 2025-01-07T19:49:37Z

Sorry for the delayed review - see comment above. It also looks like this block doesn't have any test coverage. I think you should make a new backup or drive on heading unit or system test which specifies acceleration limits to exercise.

This is not ABI/API breaking, so once approved, you could open a PR to backport to Jazzy/Humble if you wanted either (Jazzy I may be able to do automatically, Humble I definitely can't / wouldn't unless someone else opened it)

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

mergify · 2025-01-09T10:03:24Z

@RBT22, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

SteveMacenski

Also, configuration guide entries are needed and migration guide to mention the new params

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

RBT22 · 2025-01-22T12:12:22Z

Hi @SteveMacenski,

I’ve been looking into the testing setup, and I believe I might have misunderstood it initially. If I’m interpreting this correctly now, the tests for the behaviors themselves are part of the nav2_system_tests package. Is that correct?

If so, I’ll need to edit the backup_tester.py and drive_tester.py scripts to incorporate the acceleration checks.

Thanks for your guidance!

SteveMacenski · 2025-01-23T02:39:18Z

If I’m interpreting this correctly now, the tests for the behaviors themselves are part of the nav2_system_tests package. Is that correct?

Yes!

.. Actually I don't remember what tests you were modifying now. The force pushes removed the changes from the history so I can't recount.

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

…separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

SteveMacenski

With these + the documentation updates on docs.nav2.org, I can merge this and backport to jazzy!

nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

SteveMacenski · 2025-01-28T20:21:58Z

@RBT22 thank you alot for jumping in and implementing this! It is very appreciated and a nice quality of behavior improvement :-)

* Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> (cherry picked from commit 2ee3cef)

…avigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

…ort #4810) (#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update parameter defaults to zero Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add off condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Move forward outside Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

…ort ros-navigation#4810) (ros-navigation#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update parameter defaults to zero Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add off condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Move forward outside Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

* Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) (ros-navigation#4760) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fixing path longer on approach (ros-navigation#4622) (ros-navigation#4766) * fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <padhupradheep@gmail.com> * Add acceleration limits to DriveOnHeading and BackUp behaviors (backport ros-navigation#4810) (ros-navigation#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update parameter defaults to zero Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add off condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Move forward outside Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add option to use open-loop control with Rotation Shim (backport ros-navigation#4880) (ros-navigation#4896) * 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> * Remove reset Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Create footprint_collision_checker.py (ros-navigation#4899) Backport of footprint_collision_checker to Nav2 Humble Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com> --------- Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com> Co-authored-by: LinusTxtonomy <152272158+LinusTxtonomy@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: ThomasHaley-neya <thaley@neyarobotics.com>

…avigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from a6633a8 to 228de3b Compare December 20, 2024 11:29

SteveMacenski reviewed Dec 20, 2024

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RBT22 force-pushed the rolling/acc-drive-on-heading branch from f8f5bd8 to 36daf76 Compare January 2, 2025 14:49

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RBT22 force-pushed the rolling/acc-drive-on-heading branch 3 times, most recently from a56b9c8 to 544887c Compare January 2, 2025 15:48

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nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated Show resolved Hide resolved

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RBT22 mentioned this pull request Jan 17, 2025

Documentation for acceleration limits in DriveOnHeading and BackUp behaviors ros-navigation/docs.nav2.org#634

Merged

RBT22 force-pushed the rolling/acc-drive-on-heading branch from bd6054d to 112b5fb Compare January 22, 2025 08:43

RBT22 added 3 commits January 22, 2025 09:59

Add acceleration constraints

8bb038d

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Cleanup code

5ff40c6

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Format code

7e398a7

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from 112b5fb to 84b1fec Compare January 22, 2025 09:00

RBT22 added 11 commits January 27, 2025 13:01

Add <limits> header to drive_on_heading.hpp

af27102

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Remove vel pointer

f584a0e

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Use the limits only if both of them is set

e35aa17

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Fix onActionCompletion params

fb21167

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Add default acc params and change decel sign

66c775d

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Add minimum speed parameter

a8b6221

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Update minimum speed parameter to 0.10

fb92e14

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Log warning when acceleration or deceleration limits are not set

a8fe01d

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Add param sign assert

a854c74

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Remove unnecessary param checking

964404a

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Refactor acceleration limits to handle forward and backward movement …

7214eb9

…separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

RBT22 force-pushed the rolling/acc-drive-on-heading branch from d4f32d7 to 7214eb9 Compare January 27, 2025 12:01

SteveMacenski requested changes Jan 27, 2025

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nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp Outdated Show resolved Hide resolved

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SteveMacenski added the backport-jazzy label Jan 27, 2025

RBT22 added 2 commits January 28, 2025 09:18

Fix sign checking condition

dd3b744

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

Replace throwing with silent sign correction

80ffedf

Signed-off-by: RBT22 <rozgonyibalint@gmail.com>

SteveMacenski approved these changes Jan 28, 2025

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SteveMacenski merged commit 2ee3cef into ros-navigation:main Jan 28, 2025
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mergify bot mentioned this pull request Jan 28, 2025

Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4875

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RBT22 mentioned this pull request Jan 29, 2025

Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4877

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RBT22 commented Dec 20, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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