Skip to content

Add IndexType definition for Nanoflann KDTree in node_spatial_tree. #5420

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 2 commits into from
Aug 6, 2025
Merged

Add IndexType definition for Nanoflann KDTree in node_spatial_tree. #5420

merged 2 commits into from
Aug 6, 2025

Conversation

@Ericsii
Copy link
Contributor

@Ericsii Ericsii commented Aug 6, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses #5419
Primary OS tested on Ubuntu
Robotic platform tested on
Does this PR contain AI generated software? No
Was this PR description generated by AI software? No

Description of contribution in a few bullet points

Add IndexType definition for Nanoflann KDTree in node_spatial_tree.

Description of documentation updates required from your changes

Description of how this change was tested

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
  • Should this be backported to current distributions? If so, tag with backport-*.
@mergify
Copy link
Contributor

mergify bot commented Aug 6, 2025

@Ericsii, 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).
Ericsii added 2 commits August 6, 2025 15:02
@Ericsii
fix: Add KDTree type definition to include unsigned int for IndexType
5f89278 
Signed-off-by: Ericsii <ericfengx@foxmail.com>
@Ericsii
code format
2dd3cb6 
Signed-off-by: Ericsii <ericfengx@foxmail.com>
@Ericsii Ericsii force-pushed the fix-nanoflann-indextype branch from b814e55 to 2dd3cb6 Compare August 6, 2025 07:03
@mergify
Copy link
Contributor

mergify bot commented Aug 6, 2025

@Ericsii, 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 SteveMacenski merged commit 6330ee4 into ros-navigation:main Aug 6, 2025
13 of 14 checks passed
SakshayMahna pushed a commit to SakshayMahna/navigation2 that referenced this pull request Aug 8, 2025
@Ericsii @SakshayMahna
Add IndexType definition for Nanoflann KDTree in node_spatial_tree. (…
e92c2cc 
…ros-navigation#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.com>
@Ericsii Ericsii deleted the fix-nanoflann-indextype branch August 8, 2025 16:26
SteveMacenski pushed a commit that referenced this pull request Aug 19, 2025
@Ericsii @SteveMacenski
Add IndexType definition for Nanoflann KDTree in node_spatial_tree. (…
6366e6a 
…#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.com>
SteveMacenski added a commit that referenced this pull request Aug 20, 2025
@SteveMacenski @doisyg
@MarcoMatteoBassa @traversaro @coderbaibai @claude @alexanderjyuen @ajtudela @mini-1235 @Ericsii @CihatAltiparmak @Sushant-Chavan @Timple @Jad-ELHAJJ
Sync kilted Aug 19, 2025 1.4.1 (#5468)
47f84de 
* enable_groot_monitoring_ false (#5246)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Add min_distance_to_obstacle parameter to RPP (#4543)

* min_distance_to_obstacle

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* suggestion to time base and combine

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* typo

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* use min_approach_linear_velocity

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Parametrizing obstacle layer tf filter tolerance (#5261)

Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>

* Fix backport compiler warning (#5277)

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Add missing include of algorithm in differential_motion_model.cpp (#5293)

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

* Remove unused unistd.h header from route_tool.cpp (#5292)

Signed-off-by: Silvio Traversaro <silvio@traversaro.it>

* Adding epsilon for voxel_layer precision loss (#5314)

* Adding epsilon for voxel_layer precision loss

Signed-off-by: bhx <1273698633@qq.com>

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_costmap_2d/plugins/voxel_layer.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: bhx <1273698633@qq.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* fix: correct ThroughActionResult type alias in would_a_planner_recovery_help_condition (#5326)

The ThroughActionResult type alias was incorrectly referencing Action::Result 
instead of ThroughAction::Result, causing the condition to not work properly 
for ComputePathThroughPoses actions.

Fixes #5324

Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

* outputting tracker feedback on ComputeAndTrack BT node (#5327)

* outputting tracker feedback on BT node

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* initializing outputs

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* outputting last state on success

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* linting

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* fixed nav2_tree_nodes.xml

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* Update nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>

* consolidated function to set outputs null, only setOutput with active feedback

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* add class to method

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

* linting

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>

---------

Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Adding slow down at target heading to RPP Controller (#5361)

* Adding slow down at target heading to RPP

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Update test_regulated_pp.cpp

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Include <stdexcept> in docking_exceptions.hpp for exception handling (#5363)

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Eexception rethrow in dockRobot method (#5364)

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Add global min obstacle height in voxel layer (#5389)

* Add min obstacle height in voxel layer

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Fix linting

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com>

* [DEX] Enforce 3 digits precision (#5398)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* [static_layer] limit comparison precision (#5405)

* [DEX] limit comparison precision

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

* EPSILON 1e-5

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* corner case bin check (#5413)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* Add IndexType definition for Nanoflann KDTree in `node_spatial_tree`. (#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* Smooth path even if goal pose is so much near to the robot (#5423)

* Smooth path even if goal pose is so much near to the robot

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Apply suggestions

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Remove unnecessary diff

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

* Fix KeepoutFilter on the ARM architecture (#5436)

Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>

* Fix missing dependency (#5460)

* Support loading multiple behavior tree files as subtrees (#5426)

* Support loading multiple behavior tree files as subtrees

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Fix code style

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Added default param value

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Added recursive check to loadBehaviorTree and adapted unit test accordingly

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Removed nested loadBehaviorTree check in navigators

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Removed whitespace cpplint

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Fixed goalReceived

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Let loadbehaviorTree use its own search_directories var

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* PR fixes-format-lint and test

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* fix pointer

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Added unit test for BT xml validity

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* CPPLint

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Check non existent search directory for bt

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* CPPLint

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Fixed BT tests

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* Fixed BT tests

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

---------

Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>

* bump 1.4.0 to 1.4.1 for aug 19 sync

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Fixing backport error

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* load balance CI

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

* Fixing BT Navigator backport merge conflict issue

Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>
Signed-off-by: Marco Bassa <marco.bassa@idealworks.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Silvio Traversaro <silvio@traversaro.it>
Signed-off-by: bhx <1273698633@qq.com>
Signed-off-by: Alexander Yuen <alex@polymathrobotics.com>
Signed-off-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Signed-off-by: SteveMacenski <stevenmacenski@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Maurice <mauricepurnawan@gmail.com>
Signed-off-by: Ericsii <ericfengx@foxmail.com>
Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>
Signed-off-by: Sushant Chavan <gitecsvc@gmail.com>
Signed-off-by: Jad El Hajj <jad.elhajj@inmind.ai>
Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com>
Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
Co-authored-by: hutao <108395177+coderbaibai@users.noreply.github.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com>
Co-authored-by: Alberto Tudela <ajtudela@gmail.com>
Co-authored-by: mini-1235 <mauricepurnawan@gmail.com>
Co-authored-by: YLFeng <ericfengx@foxmail.com>
Co-authored-by: Cihat Kurtuluş Altıparmak <cihataltiparmak1@gmail.com>
Co-authored-by: Sushant Chavan <gitecsvc@gmail.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: Jad EL HAJJ <jad.elhajj@inmind.ai>
BCKSELFDRIVEWORLD pushed a commit to BCKSELFDRIVEWORLD/navigation2 that referenced this pull request Sep 23, 2025
@Ericsii @BCKSELFDRIVEWORLD
Add IndexType definition for Nanoflann KDTree in node_spatial_tree. (…
ad84465 
…ros-navigation#5420)

* fix: Add KDTree type definition to include unsigned int for IndexType

Signed-off-by: Ericsii <ericfengx@foxmail.com>

* code format

Signed-off-by: Ericsii <ericfengx@foxmail.com>

---------

Signed-off-by: Ericsii <ericfengx@foxmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Labels

None yet

2 participants

@Ericsii @SteveMacenski