Iron sync 5: April 4, 2024 (ros-navigation#4240)

* nav2_controller: add loop rate log (ros-navigation#4171)

* update smac_planner README

Signed-off-by: ARK3r <[email protected]>

* added current controller loop rate logging

Signed-off-by: ARK3r <[email protected]>

* linting

Signed-off-by: ARK3r <[email protected]>

* uncrustify lint

Signed-off-by: ARK3r <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: ARK3r <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* completely shutdown inital_pose_sub_ (ros-navigation#4176)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178)

Signed-off-by: Felix <[email protected]>
Co-authored-by: Felix <[email protected]>

* replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180)

* replace throw-error with error-log to avoid UAF

Signed-off-by: GoesM <[email protected]>

* fix typo

Signed-off-by: GoesM <[email protected]>

---------

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* fix typos in description messages (ros-navigation#4188)

Signed-off-by: Antonio Park <[email protected]>

* AMCL: Set an initial guess by service call (ros-navigation#4182)

* Added initial guess service. Signed-off-by: Alexander Mock

Signed-off-by: Alexander Mock <[email protected]>

* - Removed added empty line
- Renamed initialGuessCallback to initialPoseReceivedSrv
- Added new line to SetInitialPose service definition
- Removed mutex from initialPoseReceived
- Cleanup service server

Signed-off-by: Alexander Mock <[email protected]>

* added whitespace

Signed-off-by: Alexander Mock <[email protected]>

* renamed initial pose service in callback bind

Signed-off-by: Alexander Mock <[email protected]>

---------

Signed-off-by: Alexander Mock <[email protected]>

* Move lines for pre-computation to outside a loop (ros-navigation#4191)

Signed-off-by: Kyungsik Park <[email protected]>

* Fix typo (ros-navigation#4196)

* Fix BT.CPP import

Signed-off-by: Tony Najjar <[email protected]>

* Update README.md

---------

Signed-off-by: Tony Najjar <[email protected]>

* Update footprint iif changed (ros-navigation#4193)

Signed-off-by: Brice <[email protected]>

* fix missing param declare (ros-navigation#4203)

Signed-off-by: nelson <[email protected]>

* Revert "nav2_controller: add loop rate log (ros-navigation#4171)" (ros-navigation#4210)

This reverts commit 4737462.

* add polygon_subscribe_transient_local parameter in collision monitor (ros-navigation#4207)

Signed-off-by: asarazin <[email protected]>
Co-authored-by: asarazin <[email protected]>

* nav2_controller: add loop rate log (ros-navigation#4228)

* added current loop rate printout

Signed-off-by: ARK3r <[email protected]>

* remove empty line

Signed-off-by: ARK3r <[email protected]>

---------

Signed-off-by: ARK3r <[email protected]>

* bump to 1.2.7 for iron sync

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

Co-authored-by: Steve Macenski <[email protected]>

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <[email protected]>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <[email protected]>

* free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079)

* free `map_sub_` before `map_free(map_)`

Signed-off-by: GoesM <[email protected]>

* reformat

Signed-off-by: GoesM <[email protected]>

---------

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* Fix typo (ros-navigation#4087)

Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl'

Signed-off-by: nfriedrich00 <[email protected]>

* Add velocity based polygon (ros-navigation#3708)

* add velocity based polygon

* fix header, copyright and variable name change

* optimise polygon update

* optimise duplicated code with setPolygonShape

* add warning log for uncovered speed

* update feedback

* rename polygon velocity to velocity polygon

* cleanup

* fix typo

* add dynamic support for velocity polygon

* wrap try catch for getting parameters

* update naming and linting

* use switch case

* Revert "use switch case"

This reverts commit 1230ede.

* fix proper return for invalid parameters

* remove topic parameter for velocity polygon

* fix formatting manually

* continue if points are not defined

* rewrite velocity polygon with polygon base class

Signed-off-by: nelson <[email protected]>

* update review comments and description

Signed-off-by: nelson <[email protected]>

* add VelocityPolygon to detector node

Signed-off-by: nelson <[email protected]>

* review update

Signed-off-by: nelson <[email protected]>

* fix cpplint

Signed-off-by: nelson <[email protected]>

* Update nav2_collision_monitor/src/velocity_polygon.cpp

Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: nelson <[email protected]>

* add velocity polygon tests

Signed-off-by: nelson <[email protected]>

* fix cpplint

Signed-off-by: nelson <[email protected]>

* add in-line comment

Signed-off-by: nelson <[email protected]>

* fix push back

Signed-off-by: nelson <[email protected]>

* minor change and update README

Signed-off-by: nelson <[email protected]>

* update README

Signed-off-by: nelson <[email protected]>

---------

Signed-off-by: nelson <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* avoid implicit type case (ros-navigation#4098)

* adding progress checker selector BT node (ros-navigation#4109)

* New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090)

* Share code

Signed-off-by: Brice <[email protected]>

* Update inflation_cost_critic.hpp

- copyright
- ifndef

Signed-off-by: Brice <[email protected]>

* fix lint cpp

- extra space

Signed-off-by: Brice <[email protected]>

* Fix Smac Planner confined collision checker  (ros-navigation#4055)

* Update collision_checker.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Fix tests

Signed-off-by: Steve Macenski <[email protected]>

* Update test_a_star.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Signed-off-by: Brice <[email protected]>

* [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067)

* prototype to test SE2 footprint H improvements

* some fixes

* fixed

* invert logic

* Working final prototype to be tested

* complete unit test conversions

* Update inflation_layer.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Adding new Smac paper to readme

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Update README.md

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074)

* don't repeat yourself: templates in tests

Signed-off-by: Davide Faconti <[email protected]>

* misse change

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Brice <[email protected]>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

Co-authored-by: Steve Macenski <[email protected]>

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <[email protected]>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Updated code to use getInflationLayer() method (ros-navigation#4076)

* updated code to use getInflationLayer method

Signed-off-by: Jose Faria <[email protected]>

* Fix linting

Signed-off-by: Jose Faria <[email protected]>

---------

Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Brice <[email protected]>

* 1594 twist stamped publisher (ros-navigation#4077)

* Add TwistStamped to controller_server via TwistPublisher util

* Add a new util class for publishing either Twist or TwistStamped
* Add a new parameter for selecting to stamp the twist data
* Consume TwistPublisher in nav2_controller

Signed-off-by: Ryan Friedman <[email protected]>

* Fix small issues

* Unused variable
* Incorrect doxygen

Signed-off-by: Ryan Friedman <[email protected]>

* Remove stored node and assert

Signed-off-by: Ryan Friedman <[email protected]>

* Add tests for node

* Facing timeout even though it does the same thing as velocity smoother test

Signed-off-by: Ryan Friedman <[email protected]>

* Add missing spin call to solve timeout

Signed-off-by: Ryan Friedman <[email protected]>

* Fix copyright (me instead of intel)

Signed-off-by: Ryan Friedman <[email protected]>

* Add full test coverage with subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused rclcpp fixture

* Can't use it due to needing to join the pub thread after rclcpp shuts down

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in nav2_behaviors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistStamped readme updates to velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistSubscriber implementation

Signed-off-by: Ryan Friedman <[email protected]>

* Fix syntax errors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in test_velocity_smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in assisted_teleop

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused code

Signed-off-by: Ryan Friedman <[email protected]>

* add timestamp and frame_id to TwistStamped message

* Add missing utility include

Signed-off-by: Ryan Friedman <[email protected]>

* Document TwistPublisher and TwistSubscriber usage

Signed-off-by: Ryan Friedman <[email protected]>

* Use pass-by-reference

* Instead of std::move(std::unique_ptr<TwistStamped>)

Signed-off-by: Ryan Friedman <[email protected]>

* Finish twist subscriber tests

Signed-off-by: Ryan Friedman <[email protected]>

* Add other constructor and docs

Signed-off-by: Ryan Friedman <[email protected]>

* Fix linter issues

Signed-off-by: Ryan Friedman <[email protected]>

* Manually fix paren alignment

Signed-off-by: Ryan Friedman <[email protected]>

* Remove GSoC reference

Signed-off-by: Ryan Friedman <[email protected]>

* Document twist bool param in README

Signed-off-by: Ryan Friedman <[email protected]>

* Handle twistPublisher in collision monitor

* Implement behavior in the stamped callback
* Unstamped callback calls the stamped callback
* Switch to unique pointer for publisher

Signed-off-by: Ryan Friedman <[email protected]>

* Convert to using TwistStamped interally

* Use incoming twistStamped timestamp if available
* Convert all internal representations to use TwistStamped

Signed-off-by: Ryan Friedman <[email protected]>

* Remove nav2_util usage instructions

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused Twist only subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* More linter fixes

Signed-off-by: Ryan Friedman <[email protected]>

* Prefer working with unique_ptr for cmd_vel

* This makes it easier to switch to std::move instead of dereference on
  publish

Signed-off-by: Ryan Friedman <[email protected]>

* Completing twist stamped migration

* shared to unique ptr

Signed-off-by: Steve Macenski <[email protected]>

* twist add stamps and properly propogated

* nav2_util: fix for compiling with clang

- Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move]

Signed-off-by: Rhys Mainwaring <[email protected]>

---------

Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Brice <[email protected]>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice <[email protected]>

* fix include of hpp

Signed-off-by: Brice Renaudeau <[email protected]>

* inflation cost optmiizations and cleanu

* rename, add defaults, and docs

* smoke test addition

* lintg

* normalize weight

* update readme

* increment cache

* Update cost_critic.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update cost_critic.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Brice <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: GoesM <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Co-authored-by: Kino <[email protected]>

* Use ament_export_targets for all targets (ros-navigation#4112)

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <[email protected]>

* Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170)

Signed-off-by: Steve Macenski <[email protected]>

* fix merge conflict

* Revert "Add velocity based polygon (ros-navigation#3708)"

This reverts commit a3ed745.

* custom backported version of cost critic inscribed cost

---------

Signed-off-by: ARK3r <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: GoesM <[email protected]>
Signed-off-by: Felix <[email protected]>
Signed-off-by: Antonio Park <[email protected]>
Signed-off-by: Alexander Mock <[email protected]>
Signed-off-by: Kyungsik Park <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Brice <[email protected]>
Signed-off-by: nelson <[email protected]>
Signed-off-by: asarazin <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: nfriedrich00 <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Co-authored-by: Reza Kermani <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: bi0ha2ard <[email protected]>
Co-authored-by: Felix <[email protected]>
Co-authored-by: Antonio Park <[email protected]>
Co-authored-by: Alexander Mock <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: nelson <[email protected]>
Co-authored-by: anaelle-sw <[email protected]>
Co-authored-by: asarazin <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Kino <[email protected]>
Co-authored-by: nfriedrich00 <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Signed-off-by: MarcM0 <[email protected]>

nav2_amcl/src/amcl_node.cpp

@@ -333,6 +333,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   global_loc_srv_.reset();
   initial_guess_srv_.reset();
   nomotion_update_srv_.reset();
+  executor_thread_.reset();  //  to make sure initial_pose_sub_ completely exit
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
   tf_listener_.reset();  //  listener may access lase_scan_filter_, so it should be reset earlier