ros-navigation · SteveMacenski · May 23, 2024 · Apr 8, 2024 · Apr 11, 2024 · Apr 12, 2024
diff --git a/nav2_amcl/package.xml b/nav2_amcl/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_amcl</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>
     <p>
       amcl is a probabilistic localization system for a robot moving in

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -49,6 +49,7 @@
 #pragma GCC diagnostic pop
 
 #include "nav2_amcl/portable_utils.hpp"
+#include "nav2_util/validate_messages.hpp"
 
 using namespace std::placeholders;
 using rcl_interfaces::msg::ParameterType;
@@ -523,11 +524,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
 
   RCLCPP_INFO(get_logger(), "initialPoseReceived");
 
-  if (msg->header.frame_id == "") {
-    // This should be removed at some point
-    RCLCPP_WARN(
-      get_logger(),
-      "Received initial pose with empty frame_id. You should always supply a frame_id.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received initialpose message is malformed. Rejecting.");
     return;
   }
   if (nav2_util::strip_leading_slash(msg->header.frame_id) != global_frame_id_) {
@@ -1381,6 +1379,10 @@ void
 AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
 {
   RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received.");
+  if (!nav2_util::validateMsg(*msg)) {
+    RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting.");
+    return;
+  }
   if (first_map_only_ && first_map_received_) {
     return;
   }

diff --git a/nav2_amcl/src/pf/CMakeLists.txt b/nav2_amcl/src/pf/CMakeLists.txt
@@ -15,6 +15,7 @@ target_include_directories(pf_lib PRIVATE ../include)
 if(HAVE_DRAND48)
   target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
 endif()
+target_link_libraries(pf_lib m)
 
 install(TARGETS
   pf_lib

diff --git a/nav2_behavior_tree/package.xml b/nav2_behavior_tree/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behavior_tree</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>

diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
 {
   return new_path != old_path && old_path.poses.size() != 0 &&
          new_path.poses.size() != 0 &&
-         old_path.poses.back() == new_path.poses.back();
+         old_path.poses.back().pose == new_path.poses.back().pose;
 }
 
 bool PathLongerOnApproach::isRobotInGoalProximity(

diff --git a/nav2_behaviors/package.xml b/nav2_behaviors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_behaviors</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Carlos Orduno</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bringup</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Bringup scripts and configurations for the Nav2 stack</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

diff --git a/nav2_bt_navigator/README.md b/nav2_bt_navigator/README.md
@@ -2,7 +2,7 @@
 
 The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose and NavigateThroughPoses task interfaces. It is a [Behavior Tree](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/docs/BT_basics.md)-based implementation of navigation that is intended to allow for flexibility in the navigation task and provide a way to easily specify complex robot behaviors.
 
-See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
+See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
 
 ## Overview
 

diff --git a/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_bt_navigator</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_collision_monitor/package.xml b/nav2_collision_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_collision_monitor</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Collision Monitor</description>
   <maintainer email="[email protected]">Alexey Merzlyakov</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
@@ -171,7 +171,12 @@ double Polygon::getCollisionTime(
   Velocity vel = velocity;
 
   // Array of points transformed to the frame concerned with pose on each simulation step
-  std::vector<Point> points_transformed;
+  std::vector<Point> points_transformed = collision_points;
+
+  // Check static polygon
+  if (getPointsInside(points_transformed) >= max_points_) {
+    return 0.0;
+  }
 
   // Robot movement simulation
   for (double time = 0.0; time <= time_before_collision_; time += simulation_time_step_) {

diff --git a/nav2_collision_monitor/test/collision_monitor_node_test.cpp b/nav2_collision_monitor/test/collision_monitor_node_test.cpp
@@ -645,7 +645,8 @@ TEST_F(Tester, testProcessApproach)
   // 3. Obstacle is inside robot footprint
   publishScan(0.5, curr_time);
   ASSERT_TRUE(waitData(0.5, 500ms, curr_time));
-  publishCmdVel(0.5, 0.2, 0.0);
+  // Publish impossible cmd_vel to ensure robot footprint is checked
+  publishCmdVel(1000000000.0, 0.2, 0.0);
   ASSERT_TRUE(waitCmdVel(500ms));
   ASSERT_NEAR(cmd_vel_out_->linear.x, 0.0, EPSILON);
   ASSERT_NEAR(cmd_vel_out_->linear.y, 0.0, EPSILON);

diff --git a/nav2_common/package.xml b/nav2_common/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_common</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Common support functionality used throughout the navigation 2 stack</description>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_constrained_smoother/package.xml b/nav2_constrained_smoother/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_constrained_smoother</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Ceres constrained smoother</description>
   <maintainer email="[email protected]">Matej Vargovcik</maintainer>
   <maintainer email="[email protected]">Steve Macenski</maintainer>

diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_controller</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Controller action interface</description>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
   <license>Apache-2.0</license>

diff --git a/nav2_core/package.xml b/nav2_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_core</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>A set of headers for plugins core to the Nav2 stack</description>
   <maintainer email="[email protected]">Steve Macenski</maintainer>
   <maintainer email="[email protected]">Carl Delsey</maintainer>

diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
@@ -67,7 +67,6 @@ class ClearCostmapService
 
   // Clearing parameters
   unsigned char reset_value_;
-  std::vector<std::string> clearable_layers_;
 
   // Server for clearing the costmap
   rclcpp::Service<nav2_msgs::srv::ClearCostmapExceptRegion>::SharedPtr clear_except_service_;

diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp
@@ -48,6 +48,7 @@
 #include "nav2_costmap_2d/layered_costmap.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "nav2_costmap_2d/footprint.hpp"
 
 namespace nav2_costmap_2d
 {
@@ -160,6 +161,17 @@ class StaticLayer : public CostmapLayer
   rcl_interfaces::msg::SetParametersResult
   dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
 
+  std::vector<geometry_msgs::msg::Point> transformed_footprint_;
+  bool footprint_clearing_enabled_;
+  /**
+   * @brief Clear costmap layer info below the robot's footprint
+   */
+  void updateFootprint(
+    double robot_x, double robot_y, double robot_yaw, double * min_x,
+    double * min_y,
+    double * max_x,
+    double * max_y);
+
   std::string global_frame_;  ///< @brief The global frame for the costmap
   std::string map_frame_;  /// @brief frame that map is located in
 

diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format ="3">
   <name>nav2_costmap_2d</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>
     This package provides an implementation of a 2D costmap that takes in sensor
     data from the world, builds a 2D or 3D occupancy grid of the data (depending

diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -45,6 +45,7 @@
 #include "pluginlib/class_list_macros.hpp"
 #include "tf2/convert.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "nav2_util/validate_messages.hpp"
 
 PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::StaticLayer, nav2_costmap_2d::Layer)
 
@@ -132,6 +133,7 @@ StaticLayer::getParameters()
   declareParameter("map_subscribe_transient_local", rclcpp::ParameterValue(true));
   declareParameter("transform_tolerance", rclcpp::ParameterValue(0.0));
   declareParameter("map_topic", rclcpp::ParameterValue(""));
+  declareParameter("footprint_clearing_enabled", rclcpp::ParameterValue(false));
 
   auto node = node_.lock();
   if (!node) {
@@ -140,6 +142,7 @@ StaticLayer::getParameters()
 
   node->get_parameter(name_ + "." + "enabled", enabled_);
   node->get_parameter(name_ + "." + "subscribe_to_updates", subscribe_to_updates_);
+  node->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
   std::string private_map_topic, global_map_topic;
   node->get_parameter(name_ + "." + "map_topic", private_map_topic);
   node->get_parameter("map_topic", global_map_topic);
@@ -277,6 +280,10 @@ StaticLayer::interpretValue(unsigned char value)
 void
 StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_map)
 {
+  if (!nav2_util::validateMsg(*new_map)) {
+    RCLCPP_ERROR(logger_, "Received map message is malformed. Rejecting.");
+    return;
+  }
   if (!map_received_) {
     processMap(*new_map);
     map_received_ = true;
@@ -328,7 +335,7 @@ StaticLayer::incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr u
 
 void
 StaticLayer::updateBounds(
-  double /*robot_x*/, double /*robot_y*/, double /*robot_yaw*/, double * min_x,
+  double robot_x, double robot_y, double robot_yaw, double * min_x,
   double * min_y,
   double * max_x,
   double * max_y)
@@ -366,6 +373,24 @@ StaticLayer::updateBounds(
   *max_y = std::max(wy, *max_y);
 
   has_updated_data_ = false;
+
+  updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
+}
+
+void
+StaticLayer::updateFootprint(
+  double robot_x, double robot_y, double robot_yaw,
+  double * min_x, double * min_y,
+  double * max_x,
+  double * max_y)
+{
+  if (!footprint_clearing_enabled_) {return;}
+
+  transformFootprint(robot_x, robot_y, robot_yaw, getFootprint(), transformed_footprint_);
+
+  for (unsigned int i = 0; i < transformed_footprint_.size(); i++) {
+    touch(transformed_footprint_[i].x, transformed_footprint_[i].y, min_x, min_y, max_x, max_y);
+  }
 }
 
 void
@@ -387,6 +412,10 @@ StaticLayer::updateCosts(
     return;
   }
 
+  if (footprint_clearing_enabled_) {
+    setConvexPolygonCost(transformed_footprint_, nav2_costmap_2d::FREE_SPACE);
+  }
+
   if (!layered_costmap_->isRolling()) {
     // if not rolling, the layered costmap (master_grid) has same coordinates as this layer
     if (!use_maximum_) {
@@ -469,6 +498,10 @@ StaticLayer::dynamicParametersCallback(
         has_updated_data_ = true;
         current_ = false;
       }
+    } else if (param_type == ParameterType::PARAMETER_BOOL) {
+      if (param_name == name_ + "." + "footprint_clearing_enabled") {
+        footprint_clearing_enabled_ = parameter.as_bool();
+      }
     }
   }
   result.successful = true;

diff --git a/nav2_costmap_2d/src/clear_costmap_service.cpp b/nav2_costmap_2d/src/clear_costmap_service.cpp
@@ -40,8 +40,6 @@ ClearCostmapService::ClearCostmapService(
   logger_ = node->get_logger();
   reset_value_ = costmap_.getCostmap()->getDefaultValue();
 
-  node->get_parameter("clearable_layers", clearable_layers_);
-
   clear_except_service_ = node->create_service<ClearExceptRegion>(
     "clear_except_" + costmap_.getName(),
     std::bind(

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -85,8 +85,6 @@ Costmap2DROS::Costmap2DROS(
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
 
-  std::vector<std::string> clearable_layers{"obstacle_layer", "voxel_layer", "range_layer"};
-
   declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
   declare_parameter("footprint_padding", rclcpp::ParameterValue(0.01f));
   declare_parameter("footprint", rclcpp::ParameterValue(std::string("[]")));
@@ -113,7 +111,6 @@ Costmap2DROS::Costmap2DROS(
   declare_parameter("unknown_cost_value", rclcpp::ParameterValue(static_cast<unsigned char>(0xff)));
   declare_parameter("update_frequency", rclcpp::ParameterValue(5.0));
   declare_parameter("use_maximum", rclcpp::ParameterValue(false));
-  declare_parameter("clearable_layers", rclcpp::ParameterValue(clearable_layers));
 }
 
 Costmap2DROS::~Costmap2DROS()

diff --git a/nav2_dwb_controller/costmap_queue/package.xml b/nav2_dwb_controller/costmap_queue/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>costmap_queue</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>The costmap_queue package</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_core/package.xml b/nav2_dwb_controller/dwb_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_core</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>TODO</description>
   <maintainer email="[email protected]">Carl Delsey</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_critics/package.xml b/nav2_dwb_controller/dwb_critics/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_critics</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>The dwb_critics package</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_msgs/package.xml b/nav2_dwb_controller/dwb_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>dwb_msgs</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Message/Service definitions specifically for the dwb_core</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>

diff --git a/nav2_dwb_controller/dwb_plugins/package.xml b/nav2_dwb_controller/dwb_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>dwb_plugins</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>
       Standard implementations of the GoalChecker
       and TrajectoryGenerators for dwb_core

diff --git a/nav2_dwb_controller/nav2_dwb_controller/package.xml b/nav2_dwb_controller/nav2_dwb_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav2_dwb_controller</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>
     ROS2 controller (DWB) metapackage
   </description>

diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav2_dwb_controller/nav_2d_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>nav_2d_msgs</name>
-  <version>1.1.14</version>
+  <version>1.1.15</version>
   <description>Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.</description>
   <maintainer email="[email protected]">David V. Lu!!</maintainer>
   <license>BSD-3-Clause</license>