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* Working replanning if path is vaild, however there is a bug with new goal points * Completed tested of path replanning * Delete uncrustify.cfg * Clean up for code review * steady * small code review changes * listen to server_timeout in input port * Lint issues * reverted file for navigate to pose * lint fixes * added global update condition * headless * revert default bt * Add image of new bt tree * circle ci and comments * add test for globally updated goal condition * added plath replanning only if path is invalid to navigate to pose * Added nodes to nav2_tree_nodes * cleanup BT tree for invalid path * code fixeds * lint fixes * added default timeout * lint fix * server timeout fix * removed images of new BTs * added rate controller * lint fix * Moved server timeout to constructor * fixed xml lint error * fixed test for is path valid * new bt image for reference * remove reference
* Added call to controller action server with a path to follow ++ Added a new function in robot_navigator,py ++ Added a launch script to test function ++ Updated setup.py to include demo_follow_path.py * Code refactoring * Code refactoring * Code refactoring for consistency * Updated README.md * Resolved executable conflict in setup.py for example_follow_path.py * Code refactoring with ament_flake8
* fix Typo * add recoveries * add docs * added demo using backup and spin * rename isNavigationComplete to isTaskComplete * rename cancelNav to cancelTask * add prints * fix premature exit * rename NavResult to TaskResult * fix readme order * fix import order * renaming * renaming
…2784) * Fixing the issue #2781: raytraceLine with same start and end point no longer causes segmentation fault * Some whitespace modifications to make the code pass release_test * Add testcase for raytraceLine the same point Co-authored-by: Alexey Merzlyakov <[email protected]>
* add option to specify navigator and localizer to wait for * add docs for waituntilNav2Active * wait for pose only for amcl * revert order
The enum module was added in PEP 435 and is present in Python versions 3.4 and newer, which includes all currently supported Python versions.
…2760) * added dynamic params to inflation layer * Fixed codestyle divergence * Added test for inflation param setting * Added dynamic parameter setting to voxel layer * Fixed code styling * Added test for parameter setting of voxel layer * Added dynamic parameter setting for static layer * Added test for dynamic param setting of static layer * turtlesim3 simulation testing bugfixes * Imported some after param change function calls from ROS1 for all the layers * Updated changes to the main branch * Review changes by Alexey * Review comments by Alexey 2 * Fixed codestyle divergence * Removed blank line * Review comments by Alexey 3 * Removed blank lineS * Review change by Steven
Signed-off-by: Alberto Soragna <[email protected]>
* remove unused odometry smoother in bt navigator Signed-off-by: Alberto Soragna <[email protected]> * reorganize bt navigator to shared odom_smoother object with servers Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: wep21 <[email protected]>
* added options * update docs
* edge fix * code review
* found error * complete test setup * updated metrics * reverted planner server * revert launch changes * remove edits * reverted nav2_bringup * revet robot navigator * add spaces * removed map * linting fix * removed package, moved valuable stuff to tools * addede more planners * planner benchmarking
* use rolling-ros-base-focal * hotfix: remove rosdep update from ci
* Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <[email protected]> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <[email protected]> * Added testing for the Lattice Generator Signed-off-by: mattbooker <[email protected]> * Fixed linting errors Signed-off-by: mattbooker <[email protected]> * Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <[email protected]> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <[email protected]> * Added testing for the Lattice Generator Signed-off-by: mattbooker <[email protected]> * Fixed linting errors Signed-off-by: mattbooker <[email protected]> * Updated sample primitive files Signed-off-by: mattbooker <[email protected]> * Removed default_model.json file (duplicate of sample primitives) Signed-off-by: mattbooker <[email protected]> * Fixed issue caused by merge Signed-off-by: mattbooker <[email protected]> * Replaced default primitive files Signed-off-by: mattbooker <[email protected]> * Removed whitespace in folder names Signed-off-by: mattbooker <[email protected]> * Moved angle normalization to occur before output instead of during generation Signed-off-by: mattbooker <[email protected]> * Adjusted angle normalization to output in the range of [0, 2pi) Signed-off-by: mattbooker <[email protected]> * Updated primitive files with latest changes Signed-off-by: mattbooker <[email protected]> * Fixed normalize_angle docstring Signed-off-by: mattbooker <[email protected]>
* fix empty address access on halt all actions * fix unsafe declaration of parameters * restore odom smoother * fix styling issues * add missing semicolumn
* created integrated distance util * chng transform begin , end and always limit lp pt * chg trnsfm begin end and use euclidean distance * linting fix * linting fix * limit trnsfm to cusp * remove print * linting fix * lint fix * hypot * use direction change as upper bound for closest pose * bound closest waypoint by direction change * use max_transform_dist for closest_pose_upper_bound * remove first_element_beyond optimization todo * added path_utils for test path generation * initial test for path_utils * added full failing test for path_utils * fixed path_utils segfault * properly initialize straight transform * fixed right turn infinite loop * fixed path_utils transforms for half-turns * all path_utils tests passing * added half turn test for path_utils * remove unused dependencies from test_path_utils * move path_utils classes into path_building_blocks namespace * use hypot for euclidean_distance * rename findDirectionChange to findCusp * use integrated distance for lookahead distance * Revert "use integrated distance for lookahead distance" This reverts commit 6e4c6cd. * parameterize transformation_begin bound * change default to a regular constant * use std::hypot for x, y, z * initial failing test for transformGlobalPlan * refactor transform global plan into separate test fixture * make TransformGlobalPlan test fixture, and fix transforms * no_pruning_on_large_costmap test passing * added another transformGlobalPlan test * added a test for all poses outside of costmap * added good shortcut test for transformGlobalPlan * added more tests for rpp costmap pruning * cpplint * remove unused rclcpp::init and rclcpp::shutdown * change default max_distance_between_iterations to max_costmap_extent * rename max_distance_between_iterations to max_robot_pose_search_dist * increase default dwb prune distance * add initial docs for max_robot_pose_search_dist to README * add note about when to set max_robot_pose_search_dist * rename first_element_beyond to first_after_integrated_distance * renamed findCusp to findVelocitySignChange * move path_utils to RPP tests * only check velocity sign change when reversing is enabled * do not check cusp for dwb transformed plan end Co-authored-by: sathak93 <[email protected]> Co-authored-by: Adam Aposhian <[email protected]>
* adding Bt to cancel wait * Adding cancel for spining recovery * adding BT for cancelling the backup behavior * adding cancel recoveries to param files for wider test coverage * updating BT's XML * updating XML nodes
* fix nav2_smac_planner cpplint * fix dwb_core cpplint * fix nav2_map_server cpplint * fix nav2_waypoint_follower include order * fix nav_2d_utils include order
* satisfying uncrustify * cpplint fixes
* Added goal accepted check before flagging navigator as running * Added final bt status as a parameter to goal completed callback of navigators (for reference) * Formatting for line length * Fixed indentation formatting * Fixed indentation formatting
Signed-off-by: zhenpeng ge <[email protected]>
* fixed tests * undo
Signed-off-by: zhenpeng ge <[email protected]>
Lifecycle status for global and local cost nodes not correct. ros2 lifecycle/service commands shows unconfigured for these two. This is due to directly calling on_configure/on_activate/on_cleanup calls in parent node. This PR to replace on_xxxxxx() to configure()/activate()/cleanup() calls of lifecycle base. Signed-off-by: Arshad <[email protected]>
* Get parameters on configure transition Signed-off-by: MartiBolet <[email protected]> * Remove past setting of parameters Signed-off-by: MartiBolet <[email protected]> * Expose transition functions to public for test Signed-off-by: MartiBolet <[email protected]>
#2994) * fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp * Update navigate_through_poses_action.hpp Co-authored-by: Steve Macenski <[email protected]>
* WIP velocity smoother with ruckig * a few comments * vel smoother prototype * updating defaults * adding defaults to readme * removing note from readme * updates to velocity smoother TODO items * adding unit tests * finishing system tests * adding failure to change parameters tests * fix last bits * fixing negative sign bug * lint * update tests * setting defaults * Adding warning * Update velocity_smoother.cpp
* adding timeout for action client initialization Signed-off-by: Vinny Ruia <[email protected]> * adding constant 1s timeout, catching exception Signed-off-by: Vinny Ruia <[email protected]>
#3036) * - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. * - Previous commit had incorrect usage of method transformPose based on different nav2 branch. - Now a placeholder pose, input pose and desired frame id is passed. Signed-off-by: Steven Brills <[email protected]> * Failed lint check due to stray blank line. Removed the blank line * - Modified findVelocitySignChange function to take the transformed plan in robot's frame - Removed need to pass pose to the findVelocitySignChange function * - Modified the test file to reflect change in new parameters that findVelocitySignChange expects. Signed-off-by: Steven Brills <[email protected]> * - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object. Signed-off-by: Steven Brills <[email protected]> * - transformGlobalPlanWrapper call bug fix Signed-off-by: Steven Brills <[email protected]> * - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used. Signed-off-by: Steven Brills <[email protected]> * - Missing ; in test method Signed-off-by: Steven Brills <[email protected]> * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead * -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead Signed-off-by: Steven Brills <[email protected]> Co-authored-by: Steven Brills <[email protected]>
* cleanup warnings * removed referenc
* first draft for goal updated controller Signed-off-by: relffok <[email protected]> * added goal_updated_controller to all yamls * added GoalUpdatedController API * added GoaUpdatedController to default plugins * removed first_time param * added test for GoalUpdatedController * linter fix
Co-authored-by: Srijanee Biswas <[email protected]>
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7 tasks
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