Tags: HelloWorldRobotics/navigation2
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Iron Sync 3 - Sept 25 (ros-navigation#3837) * Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Update smac_planner_hybrid.cpp (ros-navigation#3760) * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rename PushRosNamespace to PushROSNamespace (ros-navigation#3763) * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Fixing typo in compute path through poses error codes (ros-navigation#3799) Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> * Fixes for flaky WPF test (ros-navigation#3785) * Fixes for flaky WPF test: * New RewrittenYaml ability to add non-existing parameters * Prune distance fix for WPF test * Treat UNKNOWN status as error in WPF * Clear error codes after BT run * Remove unnecessary setInitialPose() from WPF test * Update nav2_waypoint_follower/src/waypoint_follower.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Clean error code in any situation * Fix UNKNOWN WPF status handling --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix `min_points` comparison check (ros-navigation#3795) * Fix min_points checking * Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * Fix CD configuration link reference (ros-navigation#3811) * Fix CD configuration page reference * Add CM work on 6th ROS Developers Day reference * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * Add nav2_gps_waypoint_follower (ros-navigation#2814) * Add nav2_gps_waypoint_follower * use correct client node while calling it to spin * changed after 1'st review * apply requested changes * nav2_util::ServiceClient instead of CallbackGroup * another iteration to adress issues * update poses with function in the follower logic * add deps of robot_localization: diagnostics * fix typo in underlay.repo * add deps of robot_localization: geographic_info * minor clean-ups * bond_core version has been updated * rotation should also be considered in GPS WPFing * use better namings related to gps wpf orientation * handle cpplint errors * tf_listener needs to be initialized * apply requested changes * apply requested changes 3.0/3.0 * fix misplaced ";" * use run time param for gps transform timeout * change timeout var name * make use of stop_on_failure for GPS too * passing emptywaypont vectors are seen as failure * update warning for empty requests * consider utm -> map yaw offset * fix missed RCLCPP info * reorrect action;s name * waypoint stamps need to be updated * Fix segmentation fault on waypoint follower * Parametric frames and matrix multiplications * Replace oriented navsatfix for geographic_msgs/geopose * Remove deprecated oriented navsatfix message * Update branch name on robot_localization dependency * Fix parametric frames logic * Rename functions and adress comments * fix style in underlay.repos * remove duplicate word in underlay.repos * update dependency version of ompl * Template ServiceClient class to accept lifecycle node * Remove link to stackoverflow answer * Remove yaw offset compensation * Fix API change * Fix styling * Minor docs fixes * Fix style divergences * Style fixes * Style fixes v2 * Style fixes v3 * Remove unused variables and timestam overrides * restore goal timestamp override * WIP: Add follow gps waypoints test * Style fixes and gazebo world inertia fix * Reduce velocity smoother timeout * empty commit to rerun tests * Increment circle ci cache idx * Remove extra space in cmakelists.txt * Fix wrong usage of the global action server * update follow gps waypoints action definition * Fix action definition and looping * update params for the unit testing * WIP: update tests * fix tests * fixes to nav2 simple commander * add robot_localization localizer * Bring back from LL client * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * missing argument in test function * small test error * style fixes nav2 simple commander * rename cartesian action server --------- Co-authored-by: jediofgever <fetulahatas1@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping iron from 1.2.2 to 1.2.3 for release * Update waypoint_follower.cpp --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anna Mannucci <19239559+annamannucci@users.noreply.github.com> Co-authored-by: Mannucci, Anna (Bosch (CR)) <Anna.Mannucci@de.bosch.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: jediofgever <fetulahatas1@gmail.com>
[Humble] Sync 8 - Sept 25 (ros-navigation#3836) * Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * bumping 1.1.9 to 1.1.10 for Humble release --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com>
Iron sync 2, Aug 4, 1.2.2 (ros-navigation#3740) * Only apply Wnon-virtual-dtor if the compile language is CXX (ros-navigation#3614) * https://stackoverflow.com/questions/25525047/cmake-generator-expression-differentiate-c-c-code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * Fix Wshadow errors and enforce it (ros-navigation#3617) * Fix Wshadow errors and enforce it Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove workaround for pluginlib * This was only needed because it was included transitively * By finding and linking properly, the compiler flags get propogated as SYSTEM correctly Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add-Wnull-dereference and fix warnings (ros-navigation#3622) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * correct error message (ros-navigation#3631) * correct error message * clean up * cleanup * remove header * Let Navigators have different error codes (ros-navigation#3642) * Change ERROR to DEBUG * INFO message on init * format code * Replace newlines with spaces * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * Ceres exposes a namespaced export and recommends it in their docs (ros-navigation#3652) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Enable multiple MPPI path angle modes depending on preferences in behavior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX (ros-navigation#3662) * Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX * Update CMakeLists.txt * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * fix some new build warnings from sync (ros-navigation#3674) * fix some new build warnings * fixing last issue * Update navigate_through_poses_action.hpp * adding unsigned int to tests * all to unsigned shorts * test new warning resolution * Update * convert unsigned shorts to uint16_t for linter * Fix costmap publisher test (ros-navigation#3679) * added printouts * ignore system tests * fix * cleanup * Update test_costmap_2d_publisher.cpp remove space * remove empty message (ros-navigation#3691) * Collision Monitor fixups (ros-navigation#3696) * Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform() * Use ParameterFile (allow_substs) (ros-navigation#3706) Signed-off-by: ymd-stella <world.applepie@gmail.com> * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * Update costmap_2d_ros.cpp (ros-navigation#3687) * updated nav2_behavior_tree test util install path (ros-navigation#3718) * launch linting (ros-navigation#3729) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * adding tolerance back in for smac lattice and hybrid-A* planners (ros-navigation#3734) * Completing Hybrid-A* visualization of expansion footprints PR (ros-navigation#3733) * smach_planner_hybrid: add support visualization for hybrid Astar * smac_planner_hyrid: revert some * smach_planner_hybrid: improving code quality * utils: add some useful functions * utils: fix mistake * nav2_smac_planner: fix format problem * utils: fix format and revise functions * smach_planner_hybrid: delete _viz_expansion parameter * smac_planner_hybrid: fix format * README: update parameter * utils: corrct mistake return * utils: make timestamp a const reference * nav2_smac_planner: correct format problem * add unit test functions * further detection of element equality * test_utils: add non-trival translation and rotation * smac_planner_hybrid: pass value instead of references * completing hybrid A* visualization --------- Co-authored-by: xianglunkai <1322099375@qq.com> * Update README.md (ros-navigation#3736) * Update README.md * Update README.md * sync iron to 1.2.2 to release --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: RBT22 <43723477+RBT22@users.noreply.github.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Aaditya Ravindran <aravindran@locusrobotics.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: xianglunkai <1322099375@qq.com>
Humble sync 7 August 4 1.1.9 (ros-navigation#3739) * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * bumping Humble to 1.1.9 for release * fix merge conflict resolution in collision monitor node --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com>
fixing merge conflicts for release on humble sync 6 (ros-navigation#3623 )
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