Improve Docking panel #4717

ajtudela · 2024-10-09T12:42:21Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4689
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	Morphia robot
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Improved internal state machine to fix randomly RVIZ crashes.
Improved the UI.


Before	After

Description of documentation updates required from your changes

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 · 2024-10-09T12:46:21Z

@ajtudela, 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).

Signed-off-by: Alberto Tudela <[email protected]>

mergify · 2024-10-09T12:52:09Z

@ajtudela, 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).

Signed-off-by: Alberto Tudela <[email protected]>

codecov · 2024-10-14T12:08:52Z

Codecov Report

All modified and coverable lines are covered by tests ✅

see 7 files with indirect coverage changes

SteveMacenski · 2024-10-15T21:32:23Z

This looks great @ajtudela thanks for the update! Definitely better organized :-)

evshary · 2024-10-16T03:50:37Z

Thank you for the fix! Could I know whether the PR will be backported to Jazzy?

SteveMacenski · 2024-10-16T15:58:45Z

Lets see if the bot can do it automatically

* Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> (cherry picked from commit 682e089) # Conflicts: # nav2_rviz_plugins/include/nav2_rviz_plugins/docking_panel.hpp

SteveMacenski · 2024-10-16T16:02:41Z

The auto-backport failed. @ajtudela can you cherry pick it to jazzy and fix the issue in the hpp file? I took a look (^ PR above) and seems more suited to the author than something I can knock out in a couple of minutes.

* Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>

ajtudela · 2024-10-17T07:53:50Z

Done!! #4725

* Added load and save panel * Improved dock_panel state machine * Added loading dock plugins log * Redo UI * Update tooltips * Fix null-dereference --------- Signed-off-by: Alberto Tudela <[email protected]>

* Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>

* Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Tony Najjar <[email protected]>

* 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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * processed comments Signed-off-by: Rein Appeldoorn <[email protected]> * comments Steve Signed-off-by: Rein Appeldoorn <[email protected]> --------- Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Improvements in RemoveInCollisionGoals and adjacent features (#4676) * improvements Signed-off-by: Tony Najjar <[email protected]> * ament_uncrustify Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * fix building Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * add stamp Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Adding disengagement threshold to rotation shim controller (#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <[email protected]> * change default to 22.5 deg Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Switch nav2_waypoint_follower to modern CMake idioms. (#4648) Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Feat/migrate gps nav2 system test (#4682) * include missing docking station parameters Signed-off-by: stevedan <[email protected]> * fix crach RL Signed-off-by: stevedan <[email protected]> * lintering Signed-off-by: stevedan <[email protected]> * Change naming Signed-off-by: stevedan <[email protected]> * update submodule Signed-off-by: stevedan <[email protected]> * minor changes Signed-off-by: stevedan <[email protected]> * fix issue with caching Signed-off-by: stevedan <[email protected]> * fix issue with caching, increase version number Signed-off-by: stevedan <[email protected]> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <[email protected]> Co-authored-by: ruffsl <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Improve Docking panel (#4717) * Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [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 <[email protected]> Co-authored-by: agennart <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [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 <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Remove nav2_loopback_sim dependency on transforms3d. (#4738) The package never uses it, so don't declare it. Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fix missing dependency on nav2_costmap_2d (#4742) Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * Fix battery sub creation bug Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * improvements Signed-off-by: Tony Najjar <[email protected]> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <[email protected]> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <[email protected]> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <[email protected]> --------- Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Added collision detection for docking (#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <[email protected]> * Fix smoke testing Signed-off-by: Alberto Tudela <[email protected]> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <[email protected]> * Added docs and params Signed-off-by: Alberto Tudela <[email protected]> * Minor changes in README Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Use BT.CPP Tree::sleep (#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <[email protected]> * Implement BT Loop Rate Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix lint Signed-off-by: Tony Najjar <[email protected]> * cache Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Simplify namespaced bringups and multirobot sim (#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <[email protected]> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <[email protected]> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <[email protected]> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <[email protected]> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <[email protected]> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <[email protected]> * Address review feedback Signed-off-by: Luca Della Vedova <[email protected]> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <[email protected]> * Always join with parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Fix integration test Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <[email protected]> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <[email protected]> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Make RecoveryNode return Running (#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <[email protected]> * PR review Signed-off-by: Tony Najjar <[email protected]> * add halt at the end Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Migrating twist to twiststamped in simulations for recommended default bringups (#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <[email protected]> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <[email protected]> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fix assisted teleop test Signed-off-by: Steve Macenski <[email protected]> * fixing docking server smoke test Signed-off-by: Steve Macenski <[email protected]> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * address comments Signed-off-by: Tony Najjar <[email protected]> * set response to true Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * fail if out of bounds Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: stevedan <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: redvinaa <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Co-authored-by: Rein Appeldoorn <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: ruffsl <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Vince Reda <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]>

* Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Joseph Duchesne <[email protected]>

* 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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * processed comments Signed-off-by: Rein Appeldoorn <[email protected]> * comments Steve Signed-off-by: Rein Appeldoorn <[email protected]> --------- Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Improvements in RemoveInCollisionGoals and adjacent features (ros-navigation#4676) * improvements Signed-off-by: Tony Najjar <[email protected]> * ament_uncrustify Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * fix building Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * add stamp Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <[email protected]> * change default to 22.5 deg Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Switch nav2_waypoint_follower to modern CMake idioms. (ros-navigation#4648) Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fixing SGF in MPPI and Smoother (ros-navigation#4669) Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Feat/migrate gps nav2 system test (ros-navigation#4682) * include missing docking station parameters Signed-off-by: stevedan <[email protected]> * fix crach RL Signed-off-by: stevedan <[email protected]> * lintering Signed-off-by: stevedan <[email protected]> * Change naming Signed-off-by: stevedan <[email protected]> * update submodule Signed-off-by: stevedan <[email protected]> * minor changes Signed-off-by: stevedan <[email protected]> * fix issue with caching Signed-off-by: stevedan <[email protected]> * fix issue with caching, increase version number Signed-off-by: stevedan <[email protected]> * Pin git ref via sha to bust underlay workspace cache --------- Signed-off-by: stevedan <[email protected]> Co-authored-by: ruffsl <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * fix: handle transition failures in all servers (ros-navigation#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Improve Docking panel (ros-navigation#4717) * Added load and save panel Signed-off-by: Alberto Tudela <[email protected]> * Improved dock_panel state machine Signed-off-by: Alberto Tudela <[email protected]> * Added loading dock plugins log Signed-off-by: Alberto Tudela <[email protected]> * Redo UI Signed-off-by: Alberto Tudela <[email protected]> * Update tooltips Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Added parameter `rotate_to_heading_once` (ros-navigation#4721) Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [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 <[email protected]> Co-authored-by: agennart <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (ros-navigation#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [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 <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Fix missing dependency on nav2_costmap_2d (ros-navigation#4742) Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Updating error logging in Smac collision detector object (ros-navigation#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * [map_io] Replace std logs by rclcpp logs (ros-navigation#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * Fix battery sub creation bug Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * improvements Signed-off-by: Tony Najjar <[email protected]> * change back to NO_INFORMATION Signed-off-by: Tony Najjar <[email protected]> * Revert "change back to NO_INFORMATION" This reverts commit 9f8c69c. Signed-off-by: Tony Najjar <[email protected]> * Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * 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 <[email protected]> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <[email protected]> --------- Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Added collision detection for docking (ros-navigation#4752) * Added collision detection for docking Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <[email protected]> * Fix smoke testing Signed-off-by: Alberto Tudela <[email protected]> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <[email protected]> * Added docs and params Signed-off-by: Alberto Tudela <[email protected]> * Minor changes in README Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Use BT.CPP Tree::sleep (ros-navigation#4761) * Use BT.cpp sleep Signed-off-by: Tony Najjar <[email protected]> * Implement BT Loop Rate Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix formatting Signed-off-by: Tony Najjar <[email protected]> * move to nav2_behavior_tree Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix lint Signed-off-by: Tony Najjar <[email protected]> * cache Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Simplify namespaced bringups and multirobot sim (ros-navigation#4715) * WIP single robot namespacing working Signed-off-by: Luca Della Vedova <[email protected]> * Remove manual namespace substitution Signed-off-by: Luca Della Vedova <[email protected]> * Remove all multirobot specific configs Signed-off-by: Luca Della Vedova <[email protected]> * Refactor parsing function to common, add for rest of layers Signed-off-by: Luca Della Vedova <[email protected]> * Fix dwb_critics test Signed-off-by: Luca Della Vedova <[email protected]> * Add alternative API for costmap construction Signed-off-by: Luca Della Vedova <[email protected]> * Address review feedback Signed-off-by: Luca Della Vedova <[email protected]> * Remove remaining usage of `use_namespace` parameter Signed-off-by: Luca Della Vedova <[email protected]> * Always join with parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Use private parameter for parent namespace Signed-off-by: Luca Della Vedova <[email protected]> * Fix integration test Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Use private parameter for parent namespace" This reverts commit 0c958dc. Signed-off-by: Luca Della Vedova <[email protected]> * Revert "Fix integration test" This reverts commit 137d577. Signed-off-by: Luca Della Vedova <[email protected]> * Remove global map_topic parameter Signed-off-by: Luca Della Vedova <[email protected]> * Simplify Costmap2DROS constructor Signed-off-by: Luca Della Vedova <[email protected]> --------- Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Make RecoveryNode return Running (ros-navigation#4777) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Make RecoveryNode return RUNNING Signed-off-by: Tony Najjar <[email protected]> * PR review Signed-off-by: Tony Najjar <[email protected]> * add halt at the end Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Migrating twist to twiststamped in simulations for recommended default bringups (ros-navigation#4779) * migrating from twist to twiststamped Signed-off-by: Steve Macenski <[email protected]> * bump ci cache for updated TB4 sim files Signed-off-by: Steve Macenski <[email protected]> * fixing collision monitor, velocity smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fix assisted teleop test Signed-off-by: Steve Macenski <[email protected]> * fixing docking server smoke test Signed-off-by: Steve Macenski <[email protected]> * bust nav2 minimal tb sim cache --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * address comments Signed-off-by: Tony Najjar <[email protected]> * set response to true Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * fail if out of bounds Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: stevedan <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: redvinaa <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Signed-off-by: Luca Della Vedova <[email protected]> Co-authored-by: Rein Appeldoorn <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: ruffsl <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Vince Reda <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Luca Della Vedova <[email protected]> Signed-off-by: Joseph Duchesne <[email protected]>

ajtudela added 5 commits October 9, 2024 14:48

Added load and save panel

00bc015

Signed-off-by: Alberto Tudela <[email protected]>

Improved dock_panel state machine

78db512

Signed-off-by: Alberto Tudela <[email protected]>

Added loading dock plugins log

258754e

Signed-off-by: Alberto Tudela <[email protected]>

Redo UI

4466a04

Signed-off-by: Alberto Tudela <[email protected]>

Update tooltips

270cf03

Signed-off-by: Alberto Tudela <[email protected]>

ajtudela force-pushed the improve_panel branch from ef6c2c4 to 270cf03 Compare October 9, 2024 12:48

stevedanomodolor mentioned this pull request Oct 10, 2024

Feat/smac planner include orientation flexibility #4127

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7 tasks

Fix null-dereference

ee755e7

Signed-off-by: Alberto Tudela <[email protected]>

evshary mentioned this pull request Oct 15, 2024

Unable to run nav2 with rviz2 together ZettaScaleLabs/rmw_zenoh#32

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SteveMacenski approved these changes Oct 15, 2024

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SteveMacenski merged commit 682e089 into ros-navigation:main Oct 15, 2024
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SteveMacenski mentioned this pull request Oct 15, 2024

rviz2 Docking Panel plugin randomly crashes when system is under high load #4689

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SteveMacenski added the backport-jazzy label Oct 16, 2024

mergify bot mentioned this pull request Oct 16, 2024

Improve Docking panel (backport #4717) #4723

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ajtudela deleted the improve_panel branch October 28, 2024 07:36

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Improve Docking panel #4717

Improve Docking panel #4717

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Improve Docking panel #4717

Improve Docking panel #4717

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ajtudela commented Oct 9, 2024

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