Merge main into humble_main
#5157
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Add pre-commit Signed-off-by: Nils-ChristianIseke <[email protected]> * Add codespell workflow Signed-off-by: Nils-ChristianIseke <[email protected]> * Codespell write_changes=false. As otherwise CI does not fail. Signed-off-by: Nils-ChristianIseke <[email protected]> * Configure isort Signed-off-by: Nils-ChristianIseke <[email protected]> * add precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Introducing some issues. Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Introducing some issues." This reverts commit 5377b65. Signed-off-by: Nils-ChristianIseke <[email protected]> * Removing pre-commit workflow. Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix formatting error Signed-off-by: Nils-ChristianIseke <[email protected]> * Merge remote-tracking branch 'origin/main' into precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Change v31 to v32 Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Merge remote-tracking branch 'origin/main' into precommit" This reverts commit 8a7ca39. Signed-off-by: Nils-ChristianIseke <[email protected]> * Rm submodule Signed-off-by: Nils-ChristianIseke <[email protected]> * pre-commit run --all after merge Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]>
Signed-off-by: Tatsuro Sakaguchi <[email protected]>
The definition of the slot was removed in commit e6f500e ("nav2_rviz_plugins: Remove slots without implementation (ros-navigation#4974)", 2025-03-10), because it had no implementation. But we forgot to remove the reference to this slot, because the compiler cannot detect it. We remove the reference now. Without this, rviz shows warnings like: QObject::connect: No such slot nav2_rviz_plugins::CostmapCostTool::updateAutoDeactivate() QObject::connect: (sender name: 'Single click') Signed-off-by: Michal Sojka <[email protected]>
…igation#5006) * * Parametrize collision checking in nav2_graceful_controller Signed-off-by: suchetanrs <[email protected]> * * Fix linting errors Signed-off-by: suchetanrs <[email protected]> * * Address PR comments * Add parameter to dynamic reconfigure Signed-off-by: suchetanrs <[email protected]> * * Add test for the use_collision_detection parameter Signed-off-by: suchetanrs <[email protected]> --------- Signed-off-by: suchetanrs <[email protected]>
* Update smac planner types Signed-off-by: Michael Carlstrom <[email protected]> * Test ament_mypy Signed-off-by: Michael Carlstrom <[email protected]> * Add packages Signed-off-by: Michael Carlstrom <[email protected]> * Fix arg name Signed-off-by: Michael Carlstrom <[email protected]> * Add ** Signed-off-by: Michael Carlstrom <[email protected]> * Specific package Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]>
…n#5023) Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Yancey <[email protected]>
* Configured mypy strict on nav2_smac_planner. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Modify workflow to contain mypy configuration. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dependency for type support Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
* Configured mypy for nav2_common Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_common to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed all instances of Any. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixed unsafe fixes using ruff. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…on#5010) * Migrate costmap bound check to clearArea for STVL override Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added unbounded map to world function. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added test for mapToWorldNoBounds Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…s in MPPI critics (ros-navigation#4996) * Add warning when settings not aligned; Add tunable option for near collision Signed-off-by: mini-1235 <[email protected]> * Linting Signed-off-by: mini-1235 <[email protected]> * Add more information for warning Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Throw controller exception instead of invalid argument Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]>
…5029) * Added pre-commit with ament ignores to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed codespell from workflow and enabled write changes in pre-commit. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Update pull request template with a testing description section. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…avigation#5034) * feat(nav2_rotation_shim_controller): add use_path_orientations Signed-off-by: Kemal Bektas <[email protected]> * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp 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]> Co-authored-by: Steve Macenski <[email protected]>
* Configured nav2_bringup to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_bringup to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
* Add service introspection for client and server side, more tests to go Signed-off-by: mini-1235 <[email protected]> * Add test for service server, fix repeat declaration Signed-off-by: mini-1235 <[email protected]> * Fix cpplint Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Declare and set the parameter in service client and server class Signed-off-by: mini-1235 <[email protected]> * Add typedef; Fix costmap cost tool and bt service Signed-off-by: mini-1235 <[email protected]> * Rebase; Add tests for coverage Signed-off-by: mini-1235 <[email protected]> * Fix costmap cost tool; Typedef Signed-off-by: mini-1235 <[email protected]> * Cleanup Signed-off-by: mini-1235 <[email protected]> * Add spin thread Signed-off-by: mini-1235 <[email protected]> * Add spin Signed-off-by: mini-1235 <[email protected]> * Change spin thread to internal executor Signed-off-by: mini-1235 <[email protected]> * Use rclcpp spin when no internal executor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Refactor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
* Configured nav2_collision_monitor to use mypy strict. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_collision_monitor to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
* Configured mypy to run on the costmap_2d package. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added mypy_nav2_costmap_2d to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…avigation#5027) * Halt recovery action when main action succeeds to reset status Signed-off-by: Steve Macenski <[email protected]> * Update nav2_behavior_tree/plugins/control/recovery_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>
* Define attributes for nav2_msgs. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configured opennav_docking to use strict mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added opennav_docking to the mypy linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
* Clean set port Signed-off-by: Alberto Tudela <[email protected]> * Remove set Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>
* Configured nav2_lifecycle_manager to be compatible with mypy Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_lifecycle_manager to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: Johannes Plapp <[email protected]>
* Configured nav2_loopback_sim to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_loopback_sim to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Separated packages from list for mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
* Add constraint; fix settings Signed-off-by: mini-1235 <[email protected]> * Add lower and upper bound Signed-off-by: mini-1235 <[email protected]> * Update tests Signed-off-by: mini-1235 <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
* Configured nav2_map_server to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_map_server to the mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…ation#5057) * Publishing a full MPPI trajectory if desirable Signed-off-by: Steve Macenski <[email protected]> * only create publisher when needed Signed-off-by: Steve Macenski <[email protected]> * adjust topics Signed-off-by: Steve Macenski <[email protected]> * Moving for lint Signed-off-by: Steve Macenski <[email protected]> * updating topics in tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>
* Add a double spin Signed-off-by: Alberto Tudela <[email protected]> * Add comment Signed-off-by: Alberto Tudela <[email protected]> * Move spin to constructor Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>
There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <[email protected]>
…ction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <[email protected]> * xml update Signed-off-by: Guillaume Doisy <[email protected]> * rename to use_start Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * descriptions Signed-off-by: Guillaume Doisy <[email protected]> * simplify logic Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
… string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <[email protected]> * raw pointer Signed-off-by: Guillaume Doisy <[email protected]> * suggestions from review Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
…gation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge
* Replace dock_backwards_ param with dock plugin function Signed-off-by: Alberto Tudela <[email protected]> * Deprecated dock_backwards warning Signed-off-by: Alberto Tudela <[email protected]> * Convert dockDirection from bool to enum Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve deprecated param handling Signed-off-by: Alberto Tudela <[email protected]> * Set default to forward Signed-off-by: Alberto Tudela <[email protected]> * Added tests Signed-off-by: Alberto Tudela <[email protected]> * Update nav2_docking/README.md Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Upper and others Signed-off-by: Alberto Tudela <[email protected]> * Revert declare_parameters_from_overrides Signed-off-by: Alberto Tudela <[email protected]> * Added throw on configure plugin Signed-off-by: Alberto Tudela <[email protected]> * Remove node_utils Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
…-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <[email protected]> * Update pre-commit config changes Signed-off-by: Vignesh T <[email protected]> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Update include header include order Signed-off-by: Vignesh T <[email protected]> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <[email protected]> * Add comments for the code understanding Signed-off-by: Vignesh T <[email protected]> * Fix else braces rule issue Signed-off-by: Vignesh T <[email protected]> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Take flip part out of if-else Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> --------- Signed-off-by: Vignesh T <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
* Add dock_database tests Signed-off-by: Alberto Tudela <[email protected]> * Add utils test Signed-off-by: Alberto Tudela <[email protected]> * Improve filter tests Signed-off-by: Alberto Tudela <[email protected]> * Added simple charging tests Signed-off-by: Alberto Tudela <[email protected]> * Improve comments Signed-off-by: Alberto Tudela <[email protected]> * Fix backward and redo main test Signed-off-by: Alberto Tudela <[email protected]> * Change test period to reduce test time Signed-off-by: Alberto Tudela <[email protected]> * Revert "Change test period to reduce test time" This reverts commit ef1555e. Signed-off-by: Alberto Tudela <[email protected]> * Delete print pose Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
) Signed-off-by: mini-1235 <[email protected]>
* skeleton of main server and visualization tools * adding complete Kd-tree search for initial and goal node iDs for search * initial planner complete * added path converter * fix conversion util * adding change graph service * added edge scoring to the search + pluginlib definitions + a plugin example instance * moved to src directory * linting * contextual error codes + default bringup * adding rviz default views of rgaph * adding missing exception file * fix segfault that was previously optimized out * whoops, removing duplicate plugin registration * remove nanoflann TODO * adding 2 more edge plugins, use of closed edges in the API design, and added service to modify a set of closed edges being tracked * fix indexing bug for certain request types * adding costmap scoring route plugin * readme todo list updates * readme details * adding unit test coverage * add dynamic cost adjustment by application systems * adding in operations API * minor fixes * add compute and track route action def * initial prototype compiling and basic interface working for tracking action * updates to TODO list * state management * remove divide by zero potential error * added in working mostly demog * adding rerouting service and a bunch of new tests for operations * adding new trigger event plugin + base class for service calls + test coverage to complete operations manager * conventions * adding initial (maybe working?) collision checker + added blocked ID propogation from operations to allow for rerouting with info from operations * adding in 3 new algorithms: Time Scorer, Time Marker, and Semantic Scorer * adding complete unit testing for collision monitor * adding tests for the planner on a fully connected 4x4 graph * adding rereouting with starting point to use for the initial condition when along route * sharing common shared action server code in main server * refactor, added goal intent extractor, updated necessary tests * updating todo notes * adding tests and functionoing goal intent extractor and pruning cost updates * a little cleanup * adding readme * completing unit tests * large reorg of information around the rerouting state information and output formats for practical use * Nav2 route server parser (ros-navigation#3398) * aws graph working * graph parser first stage * naming cleanup * remove * update graph file * added fileExists to api * moved filepath param * vect to string * parser cleanup * debug log * added tests for geojson graph parser * added logging to parser * cleanup * catch exceptions in route service * code review * undo cmake * added graph loader test * undo cmake * code review * frame convesion support * comments * fix * Parse edge and node metadata * parse operations * completed metadata parsing * added recursion for parser * code review * undo cmake * support vectors * refactor tests * fix * general cleanup * code review * added timestamp --------- Co-authored-by: Steve Macenski <[email protected]> * adding unit tests for complex handling of reentrant requests * adding demos for python3 API * adding conditions if graph is empty in routing request * working MVP tracking demos working * adding integration testing expanded TODO list before beta testers * Example graph (ros-navigation#3438) * added simple graph * added metadata and operations to graph * update * add space * added test for sample_graph * added to readme * testing system-wise, mostly working * update remaining TODO list * updates for pruning starting in rerouting * adding a full roster of default plugins * complete tested feature set * adding configuration guide to readme * adding plugins info * testing collapse * smaller titles * adding becnhmarking script * adding metrics to readme * adding image for architecture * resize * resize * adding design info * new image * turtlebot3 world graph (ros-navigation#3472) * turtlebot3 world graph * remove line * add line back * scripts for route (ros-navigation#3490) * tmp push for moving computers * Nav2 route server goal orientation scorer (ros-navigation#4866) * added goal pose and bool to check for last edge for all scorers Signed-off-by: Alexander Yuen <[email protected]> * added goal_orientation scorer Signed-off-by: Alexander Yuen <[email protected]> * added test for GoalOrientationScorer Signed-off-by: Alexander Yuen <[email protected]> * changed goal pose to a const ref, and moved score to end as implicit return Signed-off-by: Alexander Yuen <[email protected]> * changed goal arguments to const ref Signed-off-by: Alexander Yuen <[email protected]> * using const ref for goal pose, rearranged total_score to match header Signed-off-by: Alexander Yuen <[email protected]> * linting on goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <[email protected]> * using M_PI as default threshold, fixed angle wrapping by using angles library, no longer modifying cost Signed-off-by: Alexander Yuen <[email protected]> * changed arguments to use const refs, changed argument order in score function to matach header Signed-off-by: Alexander Yuen <[email protected]> * changed calling of score to match argument sequence, changed GoalOrientaitonScorer to test the opposite direction and check the return value Signed-off-by: Alexander Yuen <[email protected]> * switched cost edge pairs to imply return of cost, default orientation as M_PI / 2.0 Signed-off-by: Alexander Yuen <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> * minor updates Signed-off-by: Steve Macenski <[email protected]> * fix a few bugs, clarify a few things Signed-off-by: Steve Macenski <[email protected]> * more validation and inline comments to help readers understand complex interactions Signed-off-by: Steve Macenski <[email protected]> * CI turning over Signed-off-by: Steve Macenski <[email protected]> * adding error_msg Signed-off-by: Steve Macenski <[email protected]> * updated cmake style to be in line with repo Signed-off-by: Steve Macenski <[email protected]> * Adding afew mores features from TODO list Signed-off-by: Steve Macenski <[email protected]> * Nav2 route server start pose orientation scorer (ros-navigation#4950) * adding flag to identify start node, passing tf_buffer to edge scorer Signed-off-by: Alexander Yuen <[email protected]> * passing tf to route planner Signed-off-by: Alexander Yuen <[email protected]> * added null buffer to tests Signed-off-by: Alexander Yuen <[email protected]> * added null buffer to planner configure in performance bench marking test Signed-off-by: Alexander Yuen <[email protected]> * changed arguments of all old edge scorers to also take tf_buffer Signed-off-by: Alexander Yuen <[email protected]> * changed configure to take tf_buffer, added bool to identify start_edge in score method for all existing edge scorers Signed-off-by: Alexander Yuen <[email protected]> * added start_pose_orientation_scorer to CMake Signed-off-by: Alexander Yuen <[email protected]> * added StartPoseOrientationScorer as and edge scroer Signed-off-by: Alexander Yuen <[email protected]> * added tf_buffer to constructor, added start edge bool on score method, added tf_buffer as a protected variable Signed-off-by: Alexander Yuen <[email protected]> * added tf_buffer to configure method, added start_id_ member variable, added isStart method to identify initial node for route_planner.hpp Signed-off-by: Alexander Yuen <[email protected]> * modified all configures to take a tf_buffer, modified all score functions to take a start edge bool, added test for start_pose_orientation_scorer Signed-off-by: Alexander Yuen <[email protected]> * adding start_pose_orientation_scorer.cpp Signed-off-by: Alexander Yuen <[email protected]> * edge scorer modified to take in tf_buffer and pass it to scorer plugins, bool for start edge also passed down to plugins Signed-off-by: Alexander Yuen <[email protected]> * removed redundant parameter declarations, changed robot frame to base frame, year bump Signed-off-by: Alexander Yuen <[email protected]> * changed robot frame to base frame, year bump on copy right Signed-off-by: Alexander Yuen <[email protected]> * removed unnecessary tf_buffer_ from edge_scorer Signed-off-by: Alexander Yuen <[email protected]> * added EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * all edge scorer plugins changed to use EdgeType Signed-off-by: Alexander Yuen <[email protected]> * edge_scorer modified to use EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * edge_cost_function base class modified to use EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * modified tests for new scorer signature Signed-off-by: Alexander Yuen <[email protected]> * added method to classify edge type Signed-off-by: Alexander Yuen <[email protected]> * ament_cpplinting Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * changed EdgeType to const ref Signed-off-by: Alexander Yuen <[email protected]> * added option to score orientations instead of outright rejecting start poses Signed-off-by: Alexander Yuen <[email protected]> * updated docstrings to have better description for goal pose and start pose orientation goal checker Signed-off-by: Alexander Yuen <[email protected]> * fixed merge conflict in goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <[email protected]> * fixed merge conflict in edge_cost_function.hpp Signed-off-by: Alexander Yuen <[email protected]> * removed TODO from costmap_scorer.cpp Signed-off-by: Alexander Yuen <[email protected]> * added getStart method to goal_intent_extract and start pose argument for findRoute Signed-off-by: Alexander Yuen <[email protected]> * added RouteData struct to types.hpp Signed-off-by: Alexander Yuen <[email protected]> * added start_pose to edge scorer hpp and cpp Signed-off-by: Alexander Yuen <[email protected]> * fixed type getStart return type in goal_intent_extractor.cpp Signed-off-by: Alexander Yuen <[email protected]> * added passing of start_pose down to scorer in route_planner Signed-off-by: Alexander Yuen <[email protected]> * added start pose to base edge cost function class Signed-off-by: Alexander Yuen <[email protected]> * underscore fix for goal_intent_extractor_ Signed-off-by: Alexander Yuen <[email protected]> * changed signature of all edge cost functions to take start_pose Signed-off-by: Alexander Yuen <[email protected]> * populating RouteData and passing it into findRoute Signed-off-by: Alexander Yuen <[email protected]> * passing route_data down to getTraversalCost Signed-off-by: Alexander Yuen <[email protected]> * plugins modified to take in route_data, tests updated accordingly Signed-off-by: Alexander Yuen <[email protected]> * using route data for goal_orientation_scorer and start_pose_orientation_scorer, modified tests accordingly Signed-off-by: Alexander Yuen <[email protected]> * removed route frame, robot frame, and getRobotPose from start_pose_orientation_scorer Signed-off-by: Alexander Yuen <[email protected]> * removed used of stat_pose and goal_pose as it is replaced with route data Signed-off-by: Alexander Yuen <[email protected]> * added InvalidCriticUse exception to nav2_core, goal_orientation_scorer and start_pose_orientation_scorer throws this exception if route_data.use_poses is false, route_server catches this exception, added exception test in the edge scorer tester Signed-off-by: Alexander Yuen <[email protected]> * added INVALID_CRITIC_USE error code in route actions Signed-off-by: Alexander Yuen <[email protected]> * added orientation weighting for cost as an option instead of out right rejection Signed-off-by: Alexander Yuen <[email protected]> * updated docstring for goal orientation scorer Signed-off-by: Alexander Yuen <[email protected]> * renamed Critic to EdgeScorer Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer in edge cost functions Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer, storing exception message in error msg Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer in edge scorer tests Signed-off-by: Alexander Yuen <[email protected]> * changed INVALID_CRITIC_USE to IVALID_EDGE_SCORER_US in actions * changed RouteData and route_data to RouteRequest and route_request respectively, added doxygen for RouteRequest struct Signed-off-by: Alexander Yuen <[email protected]> * added doxygen for EdgeType Signed-off-by: Alexander Yuen <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> * updates Signed-off-by: Steve Macenski <[email protected]> * better handle the route situation in the simple commander API Signed-off-by: Steve Macenski <[email protected]> * completed TB4 migration Signed-off-by: Steve Macenski <[email protected]> * route updates Signed-off-by: Steve Macenski <[email protected]> * updating radme Signed-off-by: Steve Macenski <[email protected]> * one last comment for the day Signed-off-by: Steve Macenski <[email protected]> * adding in BT ndoes, tests, and graphs for bringup Signed-off-by: Steve Macenski <[email protected]> * updating error code locations Signed-off-by: Steve Macenski <[email protected]> * test for route planner complete Signed-off-by: Steve Macenski <[email protected]> * Update to use service server from nav2_utils for service introspection Signed-off-by: Steve Macenski <[email protected]> * fix small error Signed-off-by: Steve Macenski <[email protected]> * adding in additional smoke tests, prototype working of tracking test to be continued Signed-off-by: Steve Macenski <[email protected]> * updates Signed-off-by: Steve Macenski <[email protected]> * completed system tests Signed-off-by: Steve Macenski <[email protected]> * reenable collision checking Signed-off-by: Steve Macenski <[email protected]> * remove unnecssary logging Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * Update package.xml Signed-off-by: Steve Macenski <[email protected]> * closing test gap Signed-off-by: Steve Macenski <[email protected]> * a few more lines Signed-off-by: Steve Macenski <[email protected]> * changing permissions Signed-off-by: Steve Macenski <[email protected]> * fix system test Signed-off-by: Steve Macenski <[email protected]> * adding in additional coverage Signed-off-by: Steve Macenski <[email protected]> * finalized test coverage Signed-off-by: Steve Macenski <[email protected]> * adding file Signed-off-by: Steve Macenski <[email protected]> * simple commander demo working Signed-off-by: Steve Macenski <[email protected]> * python happiness Signed-off-by: Steve Macenski <[email protected]> * precommit spelling happy Signed-off-by: Steve Macenski <[email protected]> * wtf pprecommit, why didn't you mention this before Signed-off-by: Steve Macenski <[email protected]> * spelling Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/README.md Signed-off-by: Steve Macenski <[email protected]> * Update route_planner.cpp Signed-off-by: Steve Macenski <[email protected]> * fix mistake in merge conflict resolution Signed-off-by: Steve Macenski <[email protected]> * type check fix Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * more design ideas Signed-off-by: Steve Macenski <[email protected]> * Configuring nav2_route_server branch to be mypy compliant (ros-navigation#5081) * Added definitions for nav2_msgs actions and messages. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enabled example_route to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added return definition for route_example_launch.py. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Ported robot_navigator.py to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Demo 1 completed Signed-off-by: Steve Macenski <[email protected]> * second demo completed Signed-off-by: Steve Macenski <[email protected]> * final linting Signed-off-by: Steve Macenski <[email protected]> * adding route server for test to pass Signed-off-by: Steve Macenski <[email protected]> * adding smoother server Signed-off-by: Steve Macenski <[email protected]> * Configured nav2_system_tests to be mypy compliant. (ros-navigation#5085) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Route Tool Rviz Panel (ros-navigation#4775) * added route tool skeleton code and gui Signed-off-by: John Chrosniak <[email protected]> * rviz2 panel can load route graph Signed-off-by: John Chrosniak <[email protected]> * can add nodes using route tool Signed-off-by: John Chrosniak <[email protected]> * added logic for creating edges Signed-off-by: John Chrosniak <[email protected]> * graph nodes can be edited, existing edges will still connect if a node is moved Signed-off-by: John Chrosniak <[email protected]> * can edit edges Signed-off-by: John Chrosniak <[email protected]> * can delete nodes and edges Signed-off-by: John Chrosniak <[email protected]> * route graphs can be saved Signed-off-by: John Chrosniak <[email protected]> * fixed bug for loading in route graphs Signed-off-by: John Chrosniak <[email protected]> * added dynamic text to UI, created launch file and rviz configuration Signed-off-by: John Chrosniak <[email protected]> * fixed bug for deleting nodes Signed-off-by: John Chrosniak <[email protected]> * actually fixed node removal bug Signed-off-by: John Chrosniak <[email protected]> * publishing clicked point populates x and y fields Signed-off-by: John Chrosniak <[email protected]> * removed debugging log statements Signed-off-by: John Chrosniak <[email protected]> * added check to make sure node/edges exist before editing Signed-off-by: John Chrosniak <[email protected]> * bug fix Signed-off-by: John Chrosniak <[email protected]> * migrated route tool to rviz plugin Signed-off-by: John Chrosniak <[email protected]> * minor refactoring Signed-off-by: John Chrosniak <[email protected]> * added metadata and operations to graph saver so nothing should be erased Signed-off-by: John Chrosniak <[email protected]> * edited set route service to clear current route before setting new Signed-off-by: John Chrosniak <[email protected]> * Update README.md Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * documentation cleanup Signed-off-by: John Chrosniak <[email protected]> * changed copyright Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * moved copyright due to compiler error Signed-off-by: John Chrosniak <[email protected]> * revert removal of files Signed-off-by: John Chrosniak <[email protected]> * added gen ai comment Signed-off-by: John Chrosniak <[email protected]> * fixed rebasing issue Signed-off-by: John Chrosniak <[email protected]> * fix linting errors Signed-off-by: John Chrosniak <[email protected]> * added export for graph saver dependencies Signed-off-by: John Chrosniak <[email protected]> * added ui file to library Signed-off-by: John Chrosniak <[email protected]> * added nav2_route_core to link libaries Signed-off-by: John Chrosniak <[email protected]> * fixed cmake error Signed-off-by: John Chrosniak <[email protected]> * fixed build issues Signed-off-by: John Chrosniak <[email protected]> * uncrustified Signed-off-by: John Chrosniak <[email protected]> * cpplint Signed-off-by: John Chrosniak <[email protected]> * added unit tests and fixed bugs Signed-off-by: John Chrosniak <[email protected]> * increased test coverage Signed-off-by: John Chrosniak <[email protected]> * fixed linter errors Signed-off-by: John Chrosniak <[email protected]> * fixed pre-commit errors Signed-off-by: John Chrosniak <[email protected]> * fixed formatting error Signed-off-by: John Chrosniak <[email protected]> * double -> single quotes Signed-off-by: John Chrosniak <[email protected]> * added test for using default filepath Signed-off-by: John Chrosniak <[email protected]> * fixed license Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/include/nav2_route/graph_saver.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * linter fix Signed-off-by: John Chrosniak <[email protected]> --------- Signed-off-by: John Chrosniak <[email protected]> Co-authored-by: Saikrishna Bairamoni <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fixing linting Signed-off-by: Steve Macenski <[email protected]> * Updating readme table Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * adding multifloor Signed-off-by: Steve Macenski <[email protected]> * adding BFS goal intent search Signed-off-by: Steve Macenski <[email protected]> * fix bug Signed-off-by: Steve Macenski <[email protected]> * adding unit tests for goal intent search Signed-off-by: Steve Macenski <[email protected]> * fixing collision check Signed-off-by: Steve Macenski <[email protected]> * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: John Chrosniak <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: alexanderjyuen <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: John Chrosniak <[email protected]> Co-authored-by: Saikrishna Bairamoni <[email protected]>
* include functionality to allow multiple goal heading for smac planner Signed-off-by: stevedanomodolor <[email protected]> * include missing parameter inclusion Signed-off-by: stevedanomodolor <[email protected]> * increase test coverage Signed-off-by: stevedanomodolor <[email protected]> --------- Signed-off-by: stevedanomodolor <[email protected]>
* Support zero value for std_wz in mppi controller Signed-off-by: mini-1235 <[email protected]> * Update for better readability Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
* message_filters hpp headers have been backported Signed-off-by: Tim Clephas <[email protected]> * fixup! message_filters hpp headers have been backported Signed-off-by: Tim Clephas <[email protected]> --------- Signed-off-by: Tim Clephas <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
* Align citation text to be within the bullet points. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Align formatting to match bibtex guide. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add justified spacing for readability. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
…ce to cusp (ros-navigation#5134) Related issue: ros-navigation#5098
…uttons (ros-navigation#5137) Signed-off-by: Pradheep <[email protected]>
* Added keepout region to warehouse map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Support keepout_map as a launch argument. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added a dictionary to switch between tb4 maps. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dedicated launch file for map modifiers. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added support for depot keepout filter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Updated keepout masks for depot and warehouse. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed keepout filter launch arguments to keepout zones. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed keepout map launch argument to keepout mask Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed map_modifier.launch.py to keepout_zone_launch.py. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Preserve duplication of nodes for keepout test. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed padding from keepout zones from depot map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added keepout zone at the centre of the warehouse map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added utility script to handle namespaces for keepout_filter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Used utility function to simplify namespace calls. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Moved joinWithParentNamespace to the Layer object. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
Signed-off-by: selazarev <[email protected]>
* [lifecycle_manager] expose service_timeout Signed-off-by: Guillaume Doisy <[email protected]> * restore original change_state, and detect non_default_timeout Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * spell Signed-off-by: Guillaume Doisy <[email protected]> * collapse change_state and remove non_default_timeout logic Signed-off-by: Guillaume Doisy <[email protected]> * Update nav2_util/src/lifecycle_service_client.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Adi Vardi <[email protected]>
…os-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <[email protected]> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: suchetanrs <[email protected]>
Contributor
|
@suchetanrs, all pull requests must be targeted towards the |
a9814c3
into
ros-navigation:humble_main
9 of 12 checks passed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
20 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Basic Info
Description of contribution in a few bullet points
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: