Update Smac Planner for rounding to closest bin rather than flooring #4760
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
Contributor
|
@LinusTxtonomy, all pull requests must be targeted towards the |
SteveMacenski
approved these changes
Nov 22, 2024
RBT22
pushed a commit
to EnjoyRobotics/navigation2
that referenced
this pull request
Feb 4, 2025
…os-navigation#4636) (ros-navigation#4760) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
emilnovak
pushed a commit
to EnjoyRobotics/navigation2
that referenced
this pull request
Feb 11, 2025
* Update Smac Planner for rounding to closest bin rather than flooring (ros-navigation#4636) (ros-navigation#4760) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fixing path longer on approach (ros-navigation#4622) (ros-navigation#4766) * fixing path longer on approach * removing the short circuit * adding additional layer of check --------- Signed-off-by: Pradheep <padhupradheep@gmail.com> * Add acceleration limits to DriveOnHeading and BackUp behaviors (backport ros-navigation#4810) (ros-navigation#4877) * Add acceleration limits to DriveOnHeading and BackUp behaviors (ros-navigation#4810) * Add acceleration constraints Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Cleanup code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Format code Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add <limits> header to drive_on_heading.hpp Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove vel pointer Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Use the limits only if both of them is set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix onActionCompletion params Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add default acc params and change decel sign Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add minimum speed parameter Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update minimum speed parameter to 0.10 Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Log warning when acceleration or deceleration limits are not set Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add param sign assert Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove unnecessary param checking Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Refactor acceleration limits to handle forward and backward movement separately Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Fix sign checking condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Replace throwing with silent sign correction Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Update parameter defaults to zero Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add off condition Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Move forward outside Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add option to use open-loop control with Rotation Shim (backport ros-navigation#4880) (ros-navigation#4896) * Add option to use open-loop control with Rotation Shim (ros-navigation#4880) * Initial implementation Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * replace feedback param with closed_loop Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Reset last_angular_vel_ in activate method Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add closed_loop parameter to dynamicParametersCallback Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Add tests Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Override reset function Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Remove reset Signed-off-by: RBT22 <rozgonyibalint@gmail.com> --------- Signed-off-by: RBT22 <rozgonyibalint@gmail.com> * Create footprint_collision_checker.py (ros-navigation#4899) Backport of footprint_collision_checker to Nav2 Humble Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com> --------- Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: RBT22 <rozgonyibalint@gmail.com> Signed-off-by: ThomasHaley-neya <thaley@neyarobotics.com> Co-authored-by: LinusTxtonomy <152272158+LinusTxtonomy@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: ThomasHaley-neya <thaley@neyarobotics.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 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.
Backport of #4636 after running into an issue with the angles on humble branch described here #4755