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#5157
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* Add pre-commit Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Add codespell workflow Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Codespell write_changes=false. As otherwise CI does not fail. Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Configure isort Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * add precommit Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Introducing some issues. Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Revert "Introducing some issues." This reverts commit 5377b65. Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Removing pre-commit workflow. Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Fix formatting error Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Merge remote-tracking branch 'origin/main' into precommit Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Change v31 to v32 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Revert "Merge remote-tracking branch 'origin/main' into precommit" This reverts commit 8a7ca39. Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * Rm submodule Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * pre-commit run --all after merge Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com>
Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
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 <michal.sojka@cvut.cz>
…igation#5006) * * Parametrize collision checking in nav2_graceful_controller Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> * * Fix linting errors Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> * * Address PR comments * Add parameter to dynamic reconfigure Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> * * Add test for the use_collision_detection parameter Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> --------- Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>
* Update smac planner types Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Test ament_mypy Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add packages Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix arg name Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add ** Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Specific package Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * re-run ci Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * re-run ci Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
…n#5023) Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Yancey <135342560+Yancey2023@users.noreply.github.com>
* Configured mypy strict on nav2_smac_planner. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Modify workflow to contain mypy configuration. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added dependency for type support Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Configured mypy for nav2_common Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_common to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed all instances of Any. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixed unsafe fixes using ruff. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…on#5010) * Migrate costmap bound check to clearArea for STVL override Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added unbounded map to world function. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added test for mapToWorldNoBounds Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…s in MPPI critics (ros-navigation#4996) * Add warning when settings not aligned; Add tunable option for near collision Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add more information for warning Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test for coverage Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Throw controller exception instead of invalid argument Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
…5029) * Added pre-commit with ament ignores to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed codespell from workflow and enabled write changes in pre-commit. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Update pull request template with a testing description section. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…avigation#5034) * feat(nav2_rotation_shim_controller): add use_path_orientations Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Configured nav2_bringup to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_bringup to the linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Add service introspection for client and server side, more tests to go Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test for service server, fix repeat declaration Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix cpplint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test for coverage Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Declare and set the parameter in service client and server class Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add typedef; Fix costmap cost tool and bt service Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Rebase; Add tests for coverage Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix costmap cost tool; Typedef Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Cleanup Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add spin thread Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add spin Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Change spin thread to internal executor Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Use rclcpp spin when no internal executor Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Refactor Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Configured nav2_collision_monitor to use mypy strict. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_collision_monitor to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Configured mypy to run on the costmap_2d package. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added mypy_nav2_costmap_2d to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…avigation#5027) * Halt recovery action when main action succeeds to reset status Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_behavior_tree/plugins/control/recovery_node.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Define attributes for nav2_msgs. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured opennav_docking to use strict mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added opennav_docking to the mypy linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Clean set port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Remove set Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
* Configured nav2_lifecycle_manager to be compatible with mypy Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_lifecycle_manager to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Signed-off-by: Johannes Plapp <johannes.plapp@logivations.com>
* Configured nav2_loopback_sim to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_loopback_sim to the workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Separated packages from list for mypy workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
* Add constraint; fix settings Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add lower and upper bound Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update tests Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
* Configured nav2_map_server to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_map_server to the mypy workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…ation#5057) * Publishing a full MPPI trajectory if desirable Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * only create publisher when needed Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adjust topics Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Moving for lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating topics in tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Add a double spin Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add comment Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Move spin to constructor Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com>
…ction (ros-navigation#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
… string (ros-navigation#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
…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 <ajtudela@gmail.com> * Deprecated dock_backwards warning Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Convert dockDirection from bool to enum Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve deprecated param handling Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Set default to forward Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update nav2_docking/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Upper and others Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Revert declare_parameters_from_overrides Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added throw on configure plugin Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Remove node_utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
…-navigation#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Add dock_database tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add utils test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve filter tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added simple charging tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Improve comments Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix backward and redo main test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Change test period to reduce test time Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Revert "Change test period to reduce test time" This reverts commit ef1555e. Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Delete print pose Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* 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 <stevenmacenski@gmail.com> * 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 <alex@polymathrobotics.com> * added goal_orientation scorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added test for GoalOrientationScorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed goal pose to a const ref, and moved score to end as implicit return Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed goal arguments to const ref Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using const ref for goal pose, rearranged total_score to match header Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting on goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using M_PI as default threshold, fixed angle wrapping by using angles library, no longer modifying cost Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed arguments to use const refs, changed argument order in score function to matach header Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * switched cost edge pairs to imply return of cost, default orientation as M_PI / 2.0 Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * minor updates Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix a few bugs, clarify a few things Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more validation and inline comments to help readers understand complex interactions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * CI turning over Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding error_msg Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updated cmake style to be in line with repo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding afew mores features from TODO list Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * 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 <alex@polymathrobotics.com> * passing tf to route planner Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added null buffer to tests Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added null buffer to planner configure in performance bench marking test Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed arguments of all old edge scorers to also take tf_buffer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * added start_pose_orientation_scorer to CMake Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added StartPoseOrientationScorer as and edge scroer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added tf_buffer to constructor, added start edge bool on score method, added tf_buffer as a protected variable Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * adding start_pose_orientation_scorer.cpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * removed redundant parameter declarations, changed robot frame to base frame, year bump Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed robot frame to base frame, year bump on copy right Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed unnecessary tf_buffer_ from edge_scorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added EdgeType enum class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * all edge scorer plugins changed to use EdgeType Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * edge_scorer modified to use EdgeType enum class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * edge_cost_function base class modified to use EdgeType enum class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * modified tests for new scorer signature Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added method to classify edge type Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * ament_cpplinting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * linting Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed EdgeType to const ref Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added option to score orientations instead of outright rejecting start poses Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * updated docstrings to have better description for goal pose and start pose orientation goal checker Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixed merge conflict in goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixed merge conflict in edge_cost_function.hpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed TODO from costmap_scorer.cpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added getStart method to goal_intent_extract and start pose argument for findRoute Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added RouteData struct to types.hpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added start_pose to edge scorer hpp and cpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * fixed type getStart return type in goal_intent_extractor.cpp Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added passing of start_pose down to scorer in route_planner Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added start pose to base edge cost function class Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * underscore fix for goal_intent_extractor_ Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed signature of all edge cost functions to take start_pose Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * populating RouteData and passing it into findRoute Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * passing route_data down to getTraversalCost Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * plugins modified to take in route_data, tests updated accordingly Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * using route data for goal_orientation_scorer and start_pose_orientation_scorer, modified tests accordingly Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed route frame, robot frame, and getRobotPose from start_pose_orientation_scorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * removed used of stat_pose and goal_pose as it is replaced with route data Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * added INVALID_CRITIC_USE error code in route actions Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * added orientation weighting for cost as an option instead of out right rejection Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * updated docstring for goal orientation scorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * renamed Critic to EdgeScorer Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed Critic to EdgeScorer in edge cost functions Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed Critic to EdgeScorer, storing exception message in error msg Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * changed Critic to EdgeScorer in edge scorer tests Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * 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 <alex@polymathrobotics.com> * added doxygen for EdgeType Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> * updates Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * better handle the route situation in the simple commander API Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completed TB4 migration Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * route updates Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating radme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * one last comment for the day Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding in BT ndoes, tests, and graphs for bringup Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating error code locations Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * test for route planner complete Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update to use service server from nav2_utils for service introspection Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix small error Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding in additional smoke tests, prototype working of tracking test to be continued Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updates Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completed system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * reenable collision checking Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * remove unnecssary logging Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update package.xml Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * closing test gap Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * a few more lines Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * changing permissions Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix system test Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding in additional coverage Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * finalized test coverage Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding file Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * simple commander demo working Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * python happiness Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * precommit spelling happy Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * wtf pprecommit, why didn't you mention this before Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * spelling Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_route/README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update route_planner.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix mistake in merge conflict resolution Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * type check fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * more design ideas Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * 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 <leanderdsouza1234@gmail.com> * Enabled example_route to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added return definition for route_example_launch.py. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Ported robot_navigator.py to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Demo 1 completed Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * second demo completed Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * final linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding route server for test to pass Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding smoother server Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Configured nav2_system_tests to be mypy compliant. (ros-navigation#5085) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Route Tool Rviz Panel (ros-navigation#4775) * added route tool skeleton code and gui Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * rviz2 panel can load route graph Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * can add nodes using route tool Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added logic for creating edges Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * graph nodes can be edited, existing edges will still connect if a node is moved Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * can edit edges Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * can delete nodes and edges Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * route graphs can be saved Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed bug for loading in route graphs Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added dynamic text to UI, created launch file and rviz configuration Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed bug for deleting nodes Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * actually fixed node removal bug Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * publishing clicked point populates x and y fields Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * removed debugging log statements Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added check to make sure node/edges exist before editing Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * bug fix Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * migrated route tool to rviz plugin Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * minor refactoring Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added metadata and operations to graph saver so nothing should be erased Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * edited set route service to clear current route before setting new Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update README.md Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * addressed comments Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * documentation cleanup Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * changed copyright Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * addressed comments Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * moved copyright due to compiler error Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * revert removal of files Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added gen ai comment Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed rebasing issue Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fix linting errors Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added export for graph saver dependencies Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added ui file to library Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added nav2_route_core to link libaries Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed cmake error Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed build issues Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * uncrustified Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * cpplint Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added unit tests and fixed bugs Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * increased test coverage Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed linter errors Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed pre-commit errors Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed formatting error Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * double -> single quotes Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * added test for using default filepath Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * fixed license Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * addressed comments Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update nav2_route/include/nav2_route/graph_saver.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> * linter fix Signed-off-by: John Chrosniak <chrosniakj@gmail.com> --------- Signed-off-by: John Chrosniak <chrosniakj@gmail.com> Co-authored-by: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fixing linting Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating readme table Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * lint Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding multifloor Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding BFS goal intent search Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix bug Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * adding unit tests for goal intent search Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fixing collision check Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: John Chrosniak <chrosniakj@gmail.com> Co-authored-by: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com>
* include functionality to allow multiple goal heading for smac planner Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com> * include missing parameter inclusion Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com> * increase test coverage Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com> --------- Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>
* Support zero value for std_wz in mppi controller Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update for better readability Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* message_filters hpp headers have been backported Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * fixup! message_filters hpp headers have been backported Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> --------- Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
* Align citation text to be within the bullet points. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Align formatting to match bibtex guide. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Add justified spacing for readability. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
…ce to cusp (ros-navigation#5134) Related issue: ros-navigation#5098
…uttons (ros-navigation#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com>
* Added keepout region to warehouse map. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Support keepout_map as a launch argument. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added a dictionary to switch between tb4 maps. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added dedicated launch file for map modifiers. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added support for depot keepout filter. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Updated keepout masks for depot and warehouse. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Renamed keepout filter launch arguments to keepout zones. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Renamed keepout map launch argument to keepout mask Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Renamed map_modifier.launch.py to keepout_zone_launch.py. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Preserve duplication of nodes for keepout test. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Removed padding from keepout zones from depot map. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added keepout zone at the centre of the warehouse map. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added utility script to handle namespaces for keepout_filter. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Used utility function to simplify namespace calls. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Moved joinWithParentNamespace to the Layer object. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
Signed-off-by: selazarev <slazarev8@gmail.com>
* [lifecycle_manager] expose service_timeout Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * restore original change_state, and detect non_default_timeout Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * spell Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * collapse change_state and remove non_default_timeout logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * Update nav2_util/src/lifecycle_service_client.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Adi Vardi <adi.vardi@enway.ai>
…os-navigation#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>
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Basic Info
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Description of documentation updates required from your changes
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