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Improvements in getCostsCallback (ros-navigation#4767)
* 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]>
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