Add acceleration limits to DriveOnHeading and BackUp behaviors (backport #4810) #4877
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…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>
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In order to backport this, we need to make some changes:
- The acceleration / deceleration need to be defaulted to
0and a new "off" condition is checked for the0values. We don't want behavior to instantly change for users updating on Humble due to acceleration limits being introduced which may or may not be sensible for their vehicle - Remove from the parameter file so that the default current value persists
- Update the parameter value check so that
0is a valid condition
These are actually the same reasons I realized I couldnt' auto-backport to Jazzy either
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
SteveMacenski
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Jan 30, 2025
RBT22
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Feb 4, 2025
…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>
emilnovak
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Feb 11, 2025
* 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>
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Backport of #4810 to humble
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