removing live groot monitoring from Nav2 by SteveMacenski · Pull Request #2696 · ros-navigation/navigation2

SteveMacenski · 2021-11-19T22:17:04Z

There have been near-endless tickets of issues regarding live groot monitoring, so we'll be removing it from Nav2 since it really hasn't worked out well since we introduced it.

It was a great feature idea but never quite panned out, especially after we introduced multiple navigator types in the BT Navigator server. The issue we run into primarily is that Zero-MQ prevents users from producing multiple logger types in the same process. Since BT nav has multiple servers, the swapping between them for viewing has never had a clean hand off causing folks to file tickets or have nasty logs appear or ZMQ crashes in the background. The BT.CPP client for this doesn't allow us to have a clean shutdown process so we're left with hoping that ZMQ properly handles the situation, which it rarely does. Further, Groot only supports visualizing one type of tree at a time so for applications often switching between navigator types, its not possible to use a single groot client, causing great frustration.

So, what I propose here is to remove live monitoring of the BT from Nav2. We can still use Groot to modify, visualize, and generally work with behavior trees, the only thing being removed is to live view the executing behavior tree as Nav2 is currently executing it (it used to light up the boxes of the current nodes). This was of dubious value anyhow, since the tree ticks so fast its difficult to visualize and get meaningful insights into things as the system is moving so quickly.

Ex. tickets

elyarzv · 2022-02-28T23:00:14Z

I have created a behavior tree in ROS1. I am able to have live tree monitoring in Groot. The only problem is that is doesn't reflect the status of the last node and consequetly the whole tree.

it sometimes crashed (see ros-navigation/navigation2#2696)

* Name bt_navigator action nodes uniquely (#2410) Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com> * Fix code coverage (#2419) * Include filter only by packge name as using package source paths can exclude coverage from other packages such as header files reported usign under workspace's install path * formating * Process gcno Process both gcno and gcda coverage files. This option is useful for capturing untested files in the coverage report. * Validate sources Check if every source file exists * Dump statistic Dump total statistic at the end * Branch coverage Include only the most useful branches in the coverage report. * Fix install path * Explicitly exclude packages to ignore rviz package but still explicitly include packages as the include filter is what mostly speeds up processing * Revert "Branch coverage" This reverts commit 20f28949904ef965c8b5b011f3e387037adc93ce. * Keep path fixes relative to workspace As the working directory used for running code coverage report script is already at the root of the colcon workspace, avoiding the use of unnecessary path globbing * Followup to PR 2413 for main branch (fix for operator= in observation.hpp) (#2425) * in observation.hpp fixed operator= * style fix * Update README.md * Add lazy_theta_star (#1839) * Add lazy_theta_star * Added license * Added license * Update lazy_theta_star_b.cpp * restructured files - separated planner part and the algorithm - implemented all the changes as suggested * restructured files * Update CMakeLists.txt * removed unnecessary comments * removed comments * Delete planner.cpp * Delete lazy_theta_star_b.cpp * Delete lazy_theta_star_b.h * Delete planner.h * Delete CMakeLists.txt * Delete global_planner_plugin.xml * Delete package.xml * replaced the files - refactored code - improved reliability - have to write a code similar to that in nav2_system_tests, to test it (working on it) * removed comments * removed comments * Update lazy_theta_star2.cpp * update files - replaced manual management of priority queue with stl priority queue - added the parameter ".lethal_cost" - removed unnecessary parameters passed to the functions * update files - updated the header files in accordance to their .cpp counterparts * Delete lazy_theta_star2.h * Delete lazy_theta_star_planner.h * Delete lazy_theta_star2.cpp * Delete lazy_theta_star_planner.cpp * Delete CMakeLists.txt * Delete package.xml * Delete global_planner_plugin.xml * upload the changed code Changes from last time are: - the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs - parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now - * Delete lazy_theta_star_p_planner directory * Replace the old files - the structure of code has been changed - new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function] - documentation added for variables and functions - the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon) - fixed a bug where the incorrect traversal cost of the node was taken * Delete lazy_theta_star_p_planner directory * update the files - renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner - renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp - added a readme file outlining the parameters, usage notes and images to be added soon - added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic) - replaced the SharedPtr with a WeakPtr for node - removed +1 and the pusher_ variable added to compensate for it * Update README.md * update the code - linted the code - **updates to readme, are still pending** - changed the type of message from INFO to DEBUG - replaced the capital letters with the smaller ones * update the readme file * Update README.md * Update README.md * Update README.md * Update README.md * Delete global_planner_plugin.xml * fix the linting issues * remove the space on line 7 * change RCLCPP_INFO to RCLCPP_DEBUG * Update README.md * Add test coverage - added tests to check the algorithm itself and its helper functions - added smoke test to detect plugin level issues - inlined some functions - shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class - removed the functions `dist()` and `getCellCost()` from the ThetaStar class * update the test file * update the test file * Update README.md * Update README.md * Update README.md * add test on the size of the output path * Update README.md * Update README.md * change the function name from `isSafeToPlan()` to `isUnsafeToPlan()` * update the files - inlined the functions `getIndex` and `addIndex` - removed typos from the comments * fix typos * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * fix the typo - the first isSafe calls output wasn't negated, it has been fixed * Update theta_star.hpp - added the `getCost()` function (again) - replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`. - the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct - the global variable `curr_node` was renamed to `exp_node` - removed the struct `pos` * Update theta_star.cpp * update default parameters * update default parameters * Update README.md * update the test file * fix linting issues * Update README.md * Update README.md * Update README.md * Update theta_star_planner.cpp * update LETHAL_COST * update README.md * update dependency list * Update package.xml * Remove deprecated pluginlib boost feature disable (#2431) Boost features have been deprecated and removed in pluginlib for rolling * Improve coverage for NavFn package (#2420) * feat(navfn): improve coverage * wip(navfn): add new test launch * refactor(navfn): check expect_failure flag value * Reduce nodes for nav2_waypoint_follower (#2441) * Reduce node of waypoint_follower by using callback group and executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linting failures Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * missing comma in bt_navigator plugin list (#2447) * Feature addition: capability for the RRP to drive the robot backwards (#2443) * Feature addition: capability for the RRP to drive the robot backwards * findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop * satisfying ament_uncrustify and ament_cpplint * removing the unnecessary condition in the cusp determination * Satisfying ament_uncrustify - 2 * Adding launch_testing_ros dep on nav2 utils to install (#2450) * Update README.md (#2461) * Refactor actions to rebuild CI image from CI (#2405) * Add dependabot config * Workarround missing ARG support in dependabot Parrent image can't yet be parameterized for version parsing https://github.com/dependabot/dependabot-core/issues/2057 * Fix CCACHE_DIR to be absolute path https://github.com/ros-planning/navigation2/pull/2403 * Remove FAIL_ON_BUILD_FAILURE ARG now that CI image builds from rolling testing and no longer ros2 nightly so forcing image rebuilds is no longer needed * Trigger rebuild on changes to Dockerfile * Add github-actions to dependabot * Refactor actions to rebuild CI image from CI * Clean old dockerhub build hook * Rename action * Combine workflows to avoid dispaching as that requires a github personal access token which is an inconvenience to generate and add to repo secrets * Add needs param to define job order * Use job outputs for condition instead of env Seems that env in context is not yet avalable at the job level but only at the current job's step level https://github.community/t/how-to-set-and-access-a-workflow-variable/17335/6 https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idoutputs * Use multi-line syntax for tags param * Use toJSON for job conditional * Test with always * Update param syntax * Test with always * Update if syntax * Test if trigger for only check_ci_files * Simplify if params * Try using GitHub's Container registry * Indent formating * Add step conditional * Default arg to build from unpinned parrent stage allowing CI to build from pinned testing image while enabling dependabot to find and update testing image version ensuring CI images are up-to-date with upstream registries * Set build arg for continuous integration * Ignore .github folder * testing * Update colcon-cache * Revert to rolling * Revert testing * Update README * SMAC Planner: Treating "inscribed" costs not as collision anymore (#2464) * Reduce map saver nodes (#2454) * reduce MapSaver nodes by using callback group/executor combo Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * set use_rclcpp_node false * a cleaner solution using a future and spin_until_future_complete() Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Update nav2_controller.cpp (#2462) Add `costmap_thread_.reset()` on the destructor of ControllerServer class * Reduce lifecycle manager nodes (#2456) * remove bond_client_node_ in class LifecycleManager Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * clear unused variables Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix lint Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use dedicated executor thread Signed-off-by: William Woodall <william@osrfoundation.org> * fix building error Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * support to process executor for NodeThread Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use NodeThread for LifecycleManager Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> Co-authored-by: William Woodall <william@osrfoundation.org> * sync with main and use ros_diff_drive in case name changes (#2472) Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com> * Reduce lifecycle service client nodes (#2469) * remove LifecycleServiceClient's constructor which create internal node Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix the linter Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Python string format (#2466) * Convert to python format strings for readability * Merge concatenated strings * Revert converting generated files * Single quotes for consistency * Just print the exception * Fix Smac cleanup (#2477) * fix smac2d cleanup * same for hybrid * Naming BT client node after action name (#2470) * Put action name in node namespace instead of node name * Put namespace remapping in node options * Rename client node with action name replacing "/" by "_" * Code formatting * Code formatting * improve SimpleActionServer (#2459) * improve SimpleActionServer Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use Nodethread for executor Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * add constructor's arg options and member variable executor_ Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix nav2 params and launch file to publish Local and global costmaps in multi robots example (#2471) * adjust launch file with needed gazebo plugin and set groot to False for multi-robot params * correct unwanted changes * change port and set groot to false * fix lints Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com> * reduce planner server nodes (#2480) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Reduce controller server nodes (#2479) * reduce controller server nodes by setting SimpleActionServer's argument spin_thread true Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove duplicated action_server_.reste() Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Update regulated_pure_pursuit_controller.cpp (#2484) * [SmacPlanner2D] make tolerance parameter dynamic (#2475) * make tolerance dyn param * full reconfigure * fix typo * Place function above the variables * lock param callback * Modify the BtServiceNode to include an on_success call. (#2481) * Modify the BtServiceNode to include an on_success call. * PR: Fix linter error by removing trailing whitespaces. * PR: Rename on_success() to on_completion() to improve understandability. * Accept path of length 1 (#2495) * Use regex anchors when checking for updates (#2500) to fix conner cases like this: https://github.com/ros-planning/navigation2/runs/3277796714?check_suite_focus=true https://stackoverflow.com/a/4709921 * Update README.md * adding default template constructor (#2501) * Fix null pointer in amcl on_cleanup (#2503) * fix data race: addPlugin() and resizeMap() can be executed concurrently (#2512) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * fix data race: VoxelLayer::matchSize may be executed concurrently (#2513) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * catch runtime_error if the message from laser is malformed (#2511) * catch runtime_error if the message from laser is malformed * fix styling Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * Smac planner bad alloc (#2516) * test(nav2_smac_planner): show short path bad_alloc When given a goal that is one or zero costmap cells away, AStarAlgorithm throws std::bad_alloc * fix(nav2_smac_planner): fixed bad_alloc * [ObstacleLayer] Use message_filter timeout (#2518) * , tf2::durationFromSec(transform_tolerance) * use message_filter timeout in AMCL * also for sensor_msgs::msg::PointCloud2 * fix possible use-after-free: unsafe shared_ptr in multithread (#2510) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * Spawn turtlebot3 separately (#2473) * add nav2 gazebo spawner * fix origin pose * add robot_description * remove urdf arg * fix whitespace * spawn from file ;add initial pose * remove spawn launch include * param and rviz edit * conflict resolve * pose * remove world tags and add tf remap * use nav2 waffle model and spawn entity * change nav2_spawner to spawn_entity * add tf remap * delete nav2_gazebo_spawner * sdf param * added in readme * changes * fix export dependency and library (#2521) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Add argument node options (#2522) * add argument node_options Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * change node's name Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix code style Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Add more semantic checks for amcl parameters (#2528) * Fix null pointer in amcl on_cleanup * Add more semantic checks for amcl * fix possible use-after-free: unsafe shared_ptr in multithread (#2530) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * Hot fix rrp slow (#2526) * review update * updated the 2nd review comments * String formatting * fix multi_robot_test (#2524) * Update README.md * remove old build tools (#2532) * Fix out of voxel grid array regression (#2460) * Update dwb_local_planner.hpp (#2533) Add remarks * nav2_bringup reorder (#2527) * nav2_bringup reorder * change to trigger * manual remove cmd * revert * add manual rm comd * change * change * change * change * change * change * revert * change * change * change v1 to v2 * try --cmake-clean-cache * try --cmake-clean-cache * v2 cache * v3 cache * Add new test for smac_planner_2d (#2531) * Add new test for smac_planner_2d * Fix costmap initialization * Change set_parameters() with set_parameters_atomically() * Improving coverage * Remove debug helper method * Fix linting issue introduced in https://github.com/ros-planning/navigation2/pull/2533 (#2539) * [All 2D planners] Fix last pose orientation, fix small path and add ignore_goal_orientation parameter (#2488) * end point orientation * add ignore_goal_orientation to dyn param * back() instead of [path.poses.size() - 1] * Smac2d use_final_approach_orientation name * add in NavFn * add in theta_star * wip * deal with navfn double end pose case * add tests * back and revert test smac2d * get path hotfix * navfn wip * Corner cases * Checks consistency accross the 3 2D planners * comment * interpolate final orientation in planner instead of smoother * clarify and homogenize comments * using same cell test instead of distance compared to resolution * remove unneeded else * lint * fix smac2d goal orientation override * fix and add tests * update comment * typo * simplify if (_use_final_approach_orientation) block * Use worldToMapEnforceBounds in clear_costmap_service (#2544) to avoid buffer overflow Signed-off-by: zouyonghao <yonghaoz1994@gmail.com> * Add new test for nav2_regulated_pure_pursuit (#2542) * unit test for findDirChg * lint fix * add test for unchanged direction * fix for loop ending * Enabled runtime configuration of parameters for Hybrid A* (#2540) * Enabled runtime configuration of parameters for Hybrid A* * Fix parameter name * Fix parameter type * fix pf_ use-before-initial in laserReceived() callback (#2550) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * add semantic checks (#2557) Co-authored-by: Kai-Tao Xie <kaitaoxie@qq.com> * Fix deprecated type conversion (#2538) (#2543) Replace implicit deprecated type conversion from rclcpp::Client::FutureAndRequestId to std::shared_future with call to convenience method FutureAndRequestId::share() Co-authored-by: Nikolay Panov <pn.interface@gmail.com> * Register nodes as components (#2562) Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Updates to Nav2 Theta Star Planner docs (#2559) * - removing 'w_heuristic_cost_' from Nav2 Theta Star Planner as a user configurable parameter - updates to `nav2_theta_star_planner/README.md` to remove its reference wherever applicable - updates to `nav2_theta_star_planner/src/theta_star_planner.cpp` to set `w_heuristic_cost` as `std::min(1.0, w_euc_cost_)` - fixed an incorrect check of whether the start and goal pose are the same in `nav2_theta_star_planner/src/theta_star_planner.cpp` * Update theta_star_planner.hpp clean up stuff from forced merge * Update theta_star_planner.cpp clean up stuff from a forced merge * Update README.md * Update theta_star_planner.cpp Re-adding the goal to ensure, that the last pose, is the goal exactly * fix linting issues * Update theta_star_planner.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixed vector::reserve exception in smac planner due to precision error (#2563) - Related issue: https://github.com/ros-planning/navigation2/issues/2547 * Fixing minor build warnings (#2564) * Fixed test_bt_navigator_with_groot_monitoring (#2568) * removed redundant params in smac example (#2570) * Support manual composed bringup for Nav2 applications (#2555) * support manual composed bringup for Nav2 applications Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * fix linters Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * rm composed_bringup_launch.py Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/src/composed_bringup.cpp * Update nav2_bringup/README.md * Update nav2_bringup/README.md * Update nav2_bringup/README.md * Update nav2_bringup/README.md * update nav2_bringup/README.md Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * remove unused use_lifecycle_mgr Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixed model loading issue with Gazebo and Rviz2 (#2577) 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * [Draft] Set parameters result example (#2576) * change dyn param method * typo * remove unnecessary log * handler init in activate * Fix typo (#2583) fix typo in warning msg; * The smac planner max_planning_time parameter can timeout the A* planning stage (#2586) - Until now the max_planning_time parameter only had an effect on the smoothing and sampling stages of the planner, so the actual A* planning could possibly take a lot longer * Change dynamic parameters method (#2585) * dyn param method * dont add to reset for checkers * fix test * Resolving 2453: Adding timeout for recoveries in case of stuck conditions (#2589) * allowing backup and spin to have timeouts in case of error / getting stuck * fix linting * Removing multi-robot test, flaky in CI and unneeded (#2601) * Create mergify.yml (#2602) * Create .mergify.yml * Rename .mergify.yml to mergify.yml * Fixes for Windows into main (#2603) * Fix nav2_util * Don't include libgen.h on Windows * Replace sleep with Sleep on Windows * Fix rviz plugin Undef NO_ERROR from windows headers * Fix smac_planner * Define _USE_MATH_DEFINES for M_PI * Replace uint with unsigned int * Don't add compiler flags that aren't supported on MSVC * Use vector instead of VLA when building with MSVC * Fix dirname for \ paths * Fix typo * Fix linter * Delete head branch automatically on PR merge (#2608) * Modified the projection_time calculation (#2609) (#2610) (cherry picked from commit 8faa0f0550027edc7bf2640f23cff13b2af60a8f) Co-authored-by: Narahari Rahul Malayanur <60045406+Naraharirahul@users.noreply.github.com> * Update mergify.yml (#2612) * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml * Update mergify.yml (#2616) * Update mergify.yml for Foxy backports and maintainer exceptions (#2620) * Update mergify.yml * Update mergify.yml * adding dynamic params to RPP and cleaningup style in others (#2607) * adding dynamic params to RPP and cleaningup style in others * adding tests * tests working * adding alot more read me context and updates (#2625) * Stopping networking-related BT failures from failing task, rather fail specific BT node (#2624) * addig try/catch around non-tree exceptions to fail node * Update bt_action_node.hpp * linting * Updating mergify rules for capitalization of usernames (#2630) * adding groot separation by BT type (continuation on 2409) (#2627) * adding groot separation by BT type * fixing linting * refactor of #2624 for simplicity (#2629) * removing kinematic limiting from RPP (#2631) * removing kinematic limiting from RPP * update tests * Resolving 2574: Smac 2D on map (#2588) * Fixed model loading issue with Gazebo and Rviz2 1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses) 2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2 uses) * fixing off map expansions Co-authored-by: aliben <aliben.develop@gmail.com> * Add dynamic parameters do Costmap2DROS (#2592) * dyn params for costmap2dros * simplify dyn footprint padding * add test * updated header for rolling * Bug fix: set the BT Navigator "default_nav_to_pose_bt_xml" and "default_nav_through_pose_bt_xml" from the yaml file (#2664) * removing the has_parameter() and replacing with the get_parameter() * fixing navigate_through_poses as well * Adding comment to clarify intent * Refactored amcl code for modularization of motion models(main branch) (#2642) * Delete nav2_amcl directory * Add files via upload * Remove "." * Update CHANGELOG.rst * Remove redundant code from CMakelists.txt * Reverted amcl_node.cpp * Cleaned up differential_motion_model.cpp * Update plugins.xml Removed redundant code,to make both the models under one library. * Cleaned up omni_motion_model.cpp * Cleaned up motion_model.cpp * Delete CHANGELOG.rst * Update CMakeLists.txt * Update motion_model.hpp * Add header files via upload * Update amcl_node.cpp * Update differential_motion_model.cpp * Update omni_motion_model.cpp * Update CMakeLists.txt * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update amcl_node.cpp * Update differential_motion_model.cpp * Update motion_model.cpp * Update omni_motion_model.cpp * Update differential_motion_model.cpp * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update differential_motion_model.cpp * Update motion_model.cpp * Update omni_motion_model.cpp * Update differential_motion_model.hpp * Update motion_model.hpp * Update omni_motion_model.hpp * Update motion_model.cpp * Update motion_model.cpp * Update nav2_params.yaml * Update CMakeLists.txt * Update nav2_multirobot_params_2.yaml * Update nav2_multirobot_params_1.yaml * Update speed_global_params.yaml * Update speed_local_params.yaml * Update keepout_params.yaml * Footprint collision checking for nav2_regulated_pure_pursuit (#2556) * initial * initial * initialize * un * working * lint fix * wrk * clean_up * remove code repettion * rm unused variable * initialize footprint on configure itself * revert to defaulted constructer * remove rviz change * remove unneccessary changes * review changes * define traverse unkown * set true * reviw changes * styling changes * collision checking condition * used back() * make loop end condition fixed * review changes * fix * removed midpose curvature * removed stop collision check at goal pose * Windows fix (#2672) * Add support for reconfiguring params using GUI in ThetaStarPlanner (#2665) * - removing 'w_heuristic_cost_' from Nav2 Theta Star Planner as a user configurable parameter - updates to `nav2_theta_star_planner/README.md` to remove its reference wherever applicable - updates to `nav2_theta_star_planner/src/theta_star_planner.cpp` to set `w_heuristic_cost` as `std::min(1.0, w_euc_cost_)` - fixed an incorrect check of whether the start and goal pose are the same in `nav2_theta_star_planner/src/theta_star_planner.cpp` * Update theta_star_planner.hpp clean up stuff from forced merge * Update theta_star_planner.cpp clean up stuff from a forced merge * Update README.md * Update theta_star_planner.cpp Re-adding the goal to ensure, that the last pose, is the goal exactly * fix linting issues * Update theta_star_planner.cpp * update the README and code to prevent errors * add support for reconfiguring params using GUI * Update theta_star_planner.hpp * fix linting issues * remove being set as the param * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp * Update theta_star_planner.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Corrected reinitialization in nav2_smac_planner::HybridMotionTable (#2680) - The HybridMotionTable did not reinitialize properly in case the min_turning_radius or the motion_model was changed. * State Lattice Planner Work Revival (#2582) * adding state lattice beginning point * refactoring to remove analytic expansion into its own object * moving smoother and collision checker into cpp files * allowing smac planner to work with irregular bin distributions * integrating @jwallice42 s work and enabling reverse expansions * adding in intermediate collision checking and backtracing * adding traversal function * adding test coverage and passing for node lattice * adding updated rosdep key * compiling, generating paths (though bogus) * adding working base code * adding search info * fully working for non-lateral lattices * removing downsampler for lattice, pushing in cost penalty * adding in updated heuristics, tuned gains, and generally working for ackermann cases * reverse expansion working * adding complete support, refactoring, etc * adding forgotten files * adding readme updates * adding max planning time to state lattice * adding dynamic parameters * removing extra config file * fix linting * updating test * adding several unit tests * adding system test * fixing crash * adding default model * adding corrected exporting of plugins * adding more test coverage * reorder tests to see if natters * unlink motions_lib plugin library in nav2_amcl (#2675) * separate amcl_core library from motions_lib plugin library Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update plugins.xml Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update default value of robot_model_type Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * debugging flaky shutdown on plugin planner tests (#2682) * debugging flaky shutdown on plugin planner tests * adding independent tests * adding types * adding new QoS and fix param declares * try this * try tihis * try 10hz * try sleeping on setup * add footprint pub * adding additional pub for debug * try adding a spin for debug types * Fix spin recovery test (#2684) * debugging flaky shutdown on plugin planner tests * adding independent tests * adding types * adding new QoS and fix param declares * try this * try tihis * try 10hz * try sleeping on setup * add footprint pub * adding additional pub for debug * try adding a spin for debug types * replacing spin with sleep * Updating regex for mergify (#2691) * Smoother server (#2569) * old version of smoother server with path truncation and without collision checker and footprint subscriber * Removed path truncation from smoother server, added footprint subscriber and path collision checking * smoother code styling fixes * Update nav2_tree_nodes.xml * WIP: PR #2569 fixes * smoother server changes as requested in PR #2569, tests added * cpplint fixes * added nav2_smoother to composed bringup * smoother server: improved test coverage, details fixed * removed smoother from composed bringup lifecycle nodes as it fails on non-existing plugins * removed smoother server default plugin since it's not merged yet, readded into bringup * nav2_smoother tests: added mocked class loader to improve nav2_smoother.cpp test coverage * nav2_smoother 100% test coverage * test_smoother_server cpplint fix * test_smoother_server added cleanup transition * nav2_smoother added default plugin type autoconfig test * Update nav2_smoother/README.md * removed smoother_server_rclcpp_node from nav2_params.yaml, added smoother_server to other config YAML files Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * removing dead code from AMCL (#2693) * Lifecycle startup fix (#2694) * removed init_timer from lifecycle callback group * lifecycle manager: startup() on autostart_ calling from callback_group_ (Bond::waitUntilFormed needs node spinning in the background) Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * If not downsampling costmap, default factor to 1 (#2695) * removing live groot monitoring from Nav2 (#2696) * removing live groot monitoring from Nav2 * rename test * fixing linting issues * readd default * linting * Remove "wrong"/unnecessary dependency (#2700) * Theta star planner fix (#2703) * add test to check if the goal is unsafe with theta star planner Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * check if a plan is generated (#2698) Signed-off-by: Daisuke Sato <daisukes@cmu.edu> * adding max analytic expansion length (#2697) * adding max analytic expansion length * fix tests and add dynamic parameter support * [RPP] remove velocity scaling option (now required) and enable orientation sp projection times (#2701) * remove velocity scaling option (now required) and enable orientation sp projection times * get max radius * Version bump up colcon extensions (#2706) * Always initialize clearing endpoints in voxel layer (#2705) * Prohibit of simultaneous usage of callbacks accessing to pf_ object (#2712) * CostmapTopicCollisionChecker tf stamp fix (#2687) * fixed tf lookup in costmap_topic_collision_checker unorientFootprint method * minor cleanup * uncrustified * fixed stamps for tests which include CostmapTopicCollisionChecker * updated CostmapTopicCollisionChecker construction for nav2_smoother * cleaned up CostmapTopicCollisionChecker and FootprintSubscriber * global_frame declaration returned to recovery_server as it is needed by recovery plugins * collision checker params updated * Made transformFootprint same-input-output-safe * uncrustified footprint.cpp * CostmapTopicCollisionChecker enabled to fetch footprint only once per multiple checks (same like costmap) * CostmapTopicCollisionChecker: updated doxygen * Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update costmap_topic_collision_checker.hpp Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding dynamic parameters support for controller, planner, and waypoint servers (#2704) * adding dynamic parameters support for controller, planner, and waypoint servers * reset dynaic params on deactivate * adding mutex to dynamic parameters support for 3 servers * removing waypoint follower lock * kill composition for 1 test * adding test coverage for dynamic parameters in main task servers * changing header for composed bringup * adding backwards state update (#2717) * Clean .gcda files for invalidated package tests (#2715) * Clean .gcda files for invalidated package tests "Each time you run the program, the execution counts are summed into any existing .gcda files, so be sure to remove any old files if you do not want their contents to be included." https://llvm.org/docs/CommandGuide/llvm-cov.html * Clean .gcno files for invalidated package builds "At the time you compile the instrumented code, a .gcno data file will be generated for each object file." https://llvm.org/docs/CommandGuide/llvm-cov.html * Bump up cache for testing * Revert .gcno cleaning cmake should handle stale files * Explicitly test uppassed tests as well keeping TEST_FAILURES even if redudnet, as it's still useful to echo for diagnostics * Bump up cache for testing * Cache test results to avoid this error with colcon test-results: Path 'test_results' does not exist * Bump up cache for testing * changing formulation of Hybrid-A* to be admissible and retune (#2713) * adding shim rotation controller plugin (#2718) * adding shim rotation controller plugin * adding to metapackage * adding max kinematic accel * removing old note * adding video to readme * adding collision detector * adding projection time for collision checking to rotation shim controller * add another test case * adding dynamic param tests for sim ahead time * Update PULL_REQUEST_TEMPLATE.md * Update mergify.yml * Smac anomalies fix (#2724) * fixed analytic expansion poses skipping and restoring of original pose if neighbor not interesting * Revert "fixed restoring of original pose" This reverts commit a4f51ee28b03bf49f2cb63debfed49f7390fe6ef except of analytic expansion skipping * -- * removed API change, doing cleanup inside AnalyticExpansion * smac analytic expansion: removed node skipping * Update analytic_expansion.cpp * fixed linting errors * changed raw pointers to unique_ptrs * Update analytic_expansion.cpp * linter errors fix Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> * Fixed min lookahead dist when moving backwards (#2726) Co-authored-by: seasony-vp <72447461+seasony-vp@users.noreply.github.com> * adding reversing to smoothers (#2727) * adding reversing to smoothers * smoother working * fixing CI * update test * Smoother feasbility (#2731) * first go at a new smoother feasibility * adding doxygen * adding fix for reeds shepp mini expansion issue * removing comments * removing old line * reordering declaration * fixing last bug * phew, that was a hard bug to fix... * adding test coverage * increase general test coverage (#2735) * increase test coverage * adding more coverage * adding more coverage * Apt upgrade with new pkgs (#2737) * Apt upgrade with new pkgs using --with-new-pkgs flag to ensure all packages in CI image are updated https://unix.stackexchange.com/a/241062/213124 * Pipe stdout from apt upgrade to log file for better debuging and transparency * adding dynamic parameter tests to navfn (#2743) * RPP max lookahead collision detection time limited by lookahead point itself (#2741) * adding RPP max lookahead collision detection time limited by lookahead point itself * linting * linting * allowing rviz to visualize laser scans again with rolling binaries (#2745) * increasing backup distance and speed (#2746) * increasing backup distance and speed * increasing speed * Update colcon and install lld (#2761) * Use LLD linker (#2734) * Use LLD linker https://lld.llvm.org https://github.com/colcon/colcon-mixin-repository/pull/28 * Bump cache for testing * docs: clarify that container images are for building, not deploying (#2763) Signed-off-by: Adam Aposhian <aposhian.dev@gmail.com> * Simplify coverage jobs for CI (#2762) * Test coverage from release build * Bump up cache for testing * Merge test jobs and name coverage uploads using set RMW * fix invert logic (#2772) * Updated primitives file to latest version (#2774) * Updated primitives file to latest version Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed tests for parsing and path checking * Fix : misspelling in smac_planner's readme (#2778) * Linting fix (#2779) * Bugfix tf lookup of goal pose in nav2_controller (#2780) Signed-off-by: Erik Örjehag <erik@orjehag.se> * adding support for in-place rotations in state lattice (#2747) * [costmap2d] make robot_base_frame param dynamic (#2782) * make costmap2d robot_base_frame_param dynamic * add test * add rejecting logic and test * support dynamic composed bringup (#2750) * support dynamic composed bringup Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update delcares in launch Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * use component_container_isolated Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * update README Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com> * State Lattice Planner Control Set Generation (#2587) * Initial version of motion primitive generation using sampling Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed to lattice motion primitive generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * minor clarity fix for yaw equation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * WIP - change of parameters + altering of step_distance Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Implemented simplified method using arcs and geometry Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added testing for trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed several bugs and changed trajectory generator to use step distance Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added left turn parameter Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tester to match latest trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Implemented lattice generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added edge case for parallel lines at 90 degrees Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added generation of paths in all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Update to parameter names and return values Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Bug fixes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added sample config file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added script for generating and writing to file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed end pose in list not being actual end point Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Output now sorted by startAngle then endAngle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Start level calculated by flooring instead of rounding Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Tidy code and added indentation to output file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed start/end angle being set to 180 or -0 Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added dataclasses instead of passing around tuples Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added yaws to path Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tests Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug in line path and added function comments Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated to reflect changes in trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed missing negative sign for start angles Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed min trajectory length being calculated wrongly Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed negative zero appearing in poses Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Set step distance to always be 10% of grid separation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Explicitly create yaws as float64 type Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated tests to reflect step distance change Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added motion model handling Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed dataclasses to be frozen Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * step distance must now be passed in to trajectory generator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added trajectory generation for all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added logging Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added arc length and total length computed properties to trajectoryParams Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed trajectory generation for all quadrants Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a method to create params for trajectories with no arcs Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Simplified lattice generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved some functions to a separate file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed to use purely radians Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed -0.0 appearing again Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed angle difference calculation to account for turning direction Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Yaws properly generate when crossing -180/180 boundary Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed input/output parameters to be snake case Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved yaw interpolation to helper Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed rounding in outputs Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed paths to be relative to file location Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a trajectory visualizer for easier testing/debugging Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Sorted primitives by angle starting at 0.0 and running CCW Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed path generation when distance was very small Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added R-Tree to speedup minimal path search Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added printing of time taken Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed max length to stopping threshold Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Use numpy functions instead of python functions for converting trajectories to list Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a requirements.txt file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed saving of visualizations to create the folder if it does not exist Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed unused import Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Generated a few samples for use Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed spaces from folder names Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed interpolating of yaws to use vectorization Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug causing differing precision in angles when flipping Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Plots now have same axis across trajectories Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Replaced function with lambda Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added a README Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated samples Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Refactored to follow pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Commented code and adjusted to match pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Commented code and adjusted to match pycodestyle Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved MotionModel class into LatticeGenerator Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed start/end angle in output to be index of angle in heading_angles Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Sample primitives now only contain 5cm x [0.5m, 1m] x [ackermann, diff, omni] Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added config file parsing Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated README to include file structure details Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Renamed level to wavefront for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added Apache 2.0 License Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed how paths are passed in and updated the output file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated sample primitives and added visualizations Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added rotation matrix helper function Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added additional helper functions Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed path spacing issues Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed member variables of Parameter dataclass Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Changed how path spacing is handled Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated docstrings and type annotations Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added printing of distances between points for trajectory visualizer Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed bug in omni and diff model generation Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Regenerated all sample files using latest version Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added more comments for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Updated readme for better clarity Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added recommended values to parameters Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Refactored TrajectoryPath and added docstrings for classes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added comments for purpose of script Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Added docstring to classes Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed leftover print statement Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Moved version constant to separate file Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Removed backslashes in docstrings and made summaries one-liners Signed-off-by: Matthew Booker <mattbooker97@gmail.com> * Smac planner admissible obstacle heuristic (#2765) * added obstacle_heuristic_admissible, change_reverse_penalty, max_analytic_expansion_angle_range, max_analytic_expansion_cost_subelevation and max_analytic_expansion_length options * a_star test build fixed * tests partially fixed * -- * tests fixed * obstacle heuristic improved * removed max_analytic_expansion_length * returned heuristic costmap downsampling * cleanup before feature separation * change_reverse_penalty feature separation * analytic_expansion_constraints feature separation * smac smoother bypass separation * smac planner debug separation * uncrustified smac planner changes * improved smac admissible heuristic code readability * fixed cleanup errors * smac planner: added retrospective_penalty for speedup * smac retrospective penalty: fixed errors, adjusted value in readme * fixed doxygen, added new params to tests * fixed smac tests * Update node_hybrid.cpp * removed inadmissible heuristic computation, updated names + signedness to match previous implementation * Smac: updated README.md * Smac planner: setting retrospective_penalty default to 0.025, updating readme and costmap_downsampler code styling * Smac: fixed out-of-map cell obstacle heuristic crash, updated tests * Smac: fixed merge errors and test values * Smac: reorganized obstacle heuristic method code * Smac: removed redundant check * Update nav2_smac_planner/src/smac_planner_hybrid.cpp Co-authored-by: afrixs <matej.vargovcik@gmail.com> Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Updating smoother for unknown space (#2791) * adding an abstract BTNode for action cancellation (#2787) * adding an abstract BT for action cancellation * review update and adding test * adding controller cancel BT Node * Fixing the copyrights * review updates * satisfying lint * adding the bt to the defaults * update * Cleaned up version of is path valid (#2591) * 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 * Feature to call controller action server to follow path (#2789) * 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 * BT nodes xml naming fix (#2805) * Add recoveries to simple commander (#2792) * 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 * added planner_id (#2806) * Fixing the issue #2781: raytraceLine with same start and end point (#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 <60094858+AlexeyMerzlyakov@users.noreply.github.com> * Add optional node names to wait (#2811) * add option to specify navigator and localizer to wait for * add docs for waituntilNav2Active * wait for pose only for amcl * revert order * Drop unneeded dependency on python-enum34 (#2819) 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. * remove resizing on update message callback (#2818) * smoother fix (#2822) * Dynamic parameter setting of costmap layers (inflation/static/voxel) (#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 * restrict test_msgs to test_dependency (#2827) Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * remove unused odometry smoother in bt navigator (#2829) * remove unused odometry smoother in bt navigator Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * reorganize bt navigator to shared odom_smoother object with servers Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com> * fix: modify build failure of nav2 bt navigator (#2836) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add all action options (#2834) * added options * update docs * edge fix (#2840) * edge fix * code review * Launch single (#2837) * 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 * adding stable dynamic reconfigure behavior (#2843) * Update RPP readme * Adding theta* to the main packages list * Ci focal rolling (#2851) * use rolling-ros-base-focal * hotfix: remove rosdep update from ci * Fix large angle changes in lattice primitive generator (#2831) * Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <mattbooker97@gmail.com> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Added testing for the Lattice Generator Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: mattbooker <mattbooker97@gmail.com> * Changed normalize_angle to exclude -pi and include pi Signed-off-by: mattbooker <mattbooker97@gmail.com> * Run normalize_angle on yaws to fix angle changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Added testing for the Lattice Generator Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed linting errors Signed-off-by: mattbooker <mattbooker97@gmail.com> * Updated sample primitive files Signed-off-by: mattbooker <mattbooker97@gmail.com> * Removed default_model.json file (duplicate of sample primitives) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed issue caused by merge Signed-off-by: mattbooker <mattbooker97@gmail.com> * Replaced default primitive files Signed-off-by: mattbooker <mattbooker97@gmail.com> * Removed whitespace in folder names Signed-off-by: mattbooker <mattbooker97@gmail.com> * Moved angle normalization to occur before output instead of during generation Signed-off-by: mattbooker <mattbooker97@gmail.com> * Adjusted angle normalization to output in the range of [0, 2pi) Signed-off-by: mattbooker <mattbooker97@gmail.com> * Updated primitive files with latest changes Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fixed normalize_angle docstring Signed-off-by: mattbooker <mattbooker97@gmail.com> * Fix: bt_navigator crashes on lc transitions (#2848) * fix empty address access on halt all actions * fix unsafe declaration of parameters * restore odom smoother * fix styling issues * add missing semicolumn * fix-collision checker must capture lethal before unknow (#2854) * Bound closest pose by costmap and turnaround point (#2812) * 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 6e4c6cd3a795faf29f977df7316b5d58d9c1f135. * 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 <sathak0730@gmail.com> Co-authored-by: Adam Aposhian <adam.aposhian@fireflyautomatix.com> * Apply raytraceLine 3D fixes to its 2D version (#2857) (back-port of #2460 and #2784) * adding Bt to cancel wait, spin and backup (#2856) * 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 cpplint include order errors (#2860) * 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 * Linter fixes (#2861) * satisfying uncrustify * cpplint fixes * Additional revision for costmap_bresenham_2d test (#2862) * Removing old unused function and comment (#2863) * fix core linting errors (#2864) * fix core linting * fix smac tests * fix filepath * fix angle normalization * fix smac testes * finish lint * euclidean distance: by default use 2d mode (#2865) Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com> * add the missing ports and description for the XML nodes (#2866) * add the missing ports and description * update * update * Fixed first_map_only parameter issue (#2870) * Fixed first_map_only parameter issue Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Adressed comments on PR Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Fixed linting error Signed-off-by: Harshal Deshpande <hardesh1deshpande@gmail.com> * Mixed replan (#2841) * working global time expired node * test for global_time_expired_condition * revert navigate to pose * added ' * added space * fix * code review * added 15 sec replanning time * new bt * revert bt * fix * reset timer when path is updated * name change and fixes, it works! * completed tests * revert * code review * code review * replanning time adjustment, rename * removed commented code * test fix * remove comment * Adding a new BT node Is_path_longer_on_approach (#2802) * adding behavior and updating BT tree * update BT * updating copyrights * fixing wrong test fixture * review update * update comments * review update * review update after testing * Update na…

* removing live groot monitoring from Nav2 * rename test * fixing linting issues * readd default * linting

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Revert removing live groot monitoring from Nav2 (#2696) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to Groot2 Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON conversions Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add register to types Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added Json test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix some tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix flake Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package dependency Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fix in tst Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

* Pre-Commit (#4915) * 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> * Fix path comparison to avoid unnecessary updates (#5009) Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> * nav2_rviz_plugins: Don't use non-existent slot (#5016) The definition of the slot was removed in commit e6f500e ("nav2_rviz_plugins: Remove slots without implementation (#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> * * Parametrize collision checking in nav2_graceful_controller (#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 (#4927) * 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> * Declare_parameter_if_not_declared in docking navigator (#5023) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix naming of launch file Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixed naming conventions of launch file Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * navfn : fix performance issue (#4945) Signed-off-by: Yancey <135342560+Yancey2023@users.noreply.github.com> * Configured mypy strict for nav2_smac_planner (#5022) * 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> * Mypy nav2 common (#5031) * 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> * Clear costmap if reset distance exceeds costmap bounds. (#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> * Add near collision cost and warnings for misaligned parameter settings in MPPI critics (#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> * Added pre-commit with ament ignores to the workflow. (#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> * feat(nav2_rotation_shim_controller): add use_path_orientations (#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> * Mypy nav2 bringup (#5040) * 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 (#4955) * 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> * Mypy nav2_collision_monitor (#5043) * 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> * Mypy nav2 costmap 2d (#5044) * 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> * Halt recovery action when main action succeeds to reset status (#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> * Mypy opennav_docking (#5047) * 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> * Remove unused code in BT utils (#5048) * 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> * Mypy nav2 lifecycle manager (#5051) * 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> * fix initializing in drive on heading action node (#5053) Signed-off-by: Johannes Plapp <johannes.plapp@logivations.com> * Mypy nav2 loopback sim (#5052) * 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> * Fix mppi bidirectional settings (#4954) * 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> * Mypy nav2 map server (#5058) * 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> * Publishing a full time-series MPPI trajectory if desirable (#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 double spin_some in some BT nodes (#5055) * 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> * Remove duplicate test (#5062) There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> * Remove docking absolute topic namespaces (#5068) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Mypy nav2 simple commander (#5059) * Added most nav2_simple_commander files that can be trivially converted to be mypy compatible. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Modified edge cases and types for robot_navigator to pass mypy checks. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_simple_commander to the linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added logs and ignored type errors due to spins w/o timeout. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Make NavigateThroughPoses navigator report waypoint statuses information. (fix #4846) (#4994) * Add WaypointStatus message type & Remove MissedWaypoint message type Signed-off-by: zz990099 <771647586@qq.com> * Add waypoint_statuses records in RemoveInCollisionGoals/RemovePassedGoals actions Signed-off-by: zz990099 <771647586@qq.com> * Add validation tests Signed-off-by: zz990099 <771647586@qq.com> * Make NavigateThroughPoses navigator report waypoint statuses information Signed-off-by: zz990099 <771647586@qq.com> * Make WaypointFollower use WaypointStatus message type in action result Signed-off-by: zz990099 <771647586@qq.com> * Split MISSED status into SKIPPED & FAILED Signed-off-by: zz990099 <771647586@qq.com> * fix edge case handle in RemoveInCollision/RemovePassed BT actions Signed-off-by: zz990099 <771647586@qq.com> * Add validation test cases for RemoveInCollision&RemovePassed BT actions Signed-off-by: zz990099 <771647586@qq.com> * Update RemovePassedGoals/RemoveInCollisionGoals node in Groot XML Signed-off-by: zz990099 <771647586@qq.com> --------- Signed-off-by: zz990099 <771647586@qq.com> * Enable Groot2 monitoring (#5065) * Revert removing live groot monitoring from Nav2 (#2696) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to Groot2 Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON conversions Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add register to types Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added Json test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix some tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix flake Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package dependency Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fix in tst Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix incorrect world <-> map coordinates conversions (#5049) * Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * [AMCL] 50% initialisation (and reset) speed improvement (#4941) * index lookup and comparator optimisation Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Add note to Asynchronous nodes (#5035) * Add warning to some of the nodes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * remove unused includes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Add warning to remaining nodes using isStatusActive to initialize Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Change to note & update phrsing Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * replace reset by re-initialize Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [AMCL] Rebuild cspace map only when needed (#5076) * for LikelihoodFieldModel Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * for LikelihoodFieldModelProb Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * init max_occ_dist in map.c and remove unnecessary condition Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Consistency in Groot 2 (#5078) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Remove duplicate code (#5080) * Remove duplicate code Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add twist validation for controller server Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Added waypointstatus to bt_utils (#5077) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Lock costmap in getCostsCallback (#5075) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * lock costmap Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvement Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove spacing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unlock Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Mypy nav2 system tests (#5083) * Configured nodes of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured launch files of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_system_tests to the linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configure the entire nav2 stack with mypy (#5084) * Configured tools to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added mypy as a pre-commit hook. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Simplified workflow by including all packages with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#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> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#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> * Merged Fix navfn_planner from humble PR #5087 (#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 * Docking backwards as plugin param (#5079) * 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> * Update map_io library to use Eigen method for faster map loading (#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> * Fix CI builds (#5104) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Increase docking coverage && fix backward docking (#5097) * 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> * Run ament_uncrustify to remove linting issues Signed-off-by: coderwyvern <saudintantrimain@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Signed-off-by: Michal Sojka <michal.sojka@cvut.cz> Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Yancey <135342560+Yancey2023@users.noreply.github.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Johannes Plapp <johannes.plapp@logivations.com> Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> Signed-off-by: zz990099 <771647586@qq.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: coderwyvern <saudintantrimain@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Co-authored-by: Michal Sojka <michal.sojka@cvut.cz> Co-authored-by: suchetanrs <79915569+suchetanrs@users.noreply.github.com> Co-authored-by: Michael Carlstrom <rmc@carlstrom.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Yancey <135342560+Yancey2023@users.noreply.github.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Johannes Plapp <johannes.plapp@logivations.com> Co-authored-by: RasmusLar <101558931+RasmusLar@users.noreply.github.com> Co-authored-by: zz99 <86543200+zz990099@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@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: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai>

* Revert removing live groot monitoring from Nav2 (ros-navigation#2696) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to Groot2 Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON conversions Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add register to types Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added Json test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix some tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix flake Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package dependency Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fix in tst Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

* Pre-Commit (#4915) * 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 5377b656361ef220dce6d6af36013060798f06de. 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 8a7ca3983a0b93ef5a94e9517e9598de96be2fe6. 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> * Fix path comparison to avoid unnecessary updates (#5009) Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> * nav2_rviz_plugins: Don't use non-existent slot (#5016) The definition of the slot was removed in commit e6f500e5 ("nav2_rviz_plugins: Remove slots without implementation (#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> * * Parametrize collision checking in nav2_graceful_controller (#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 (#4927) * 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> * Declare_parameter_if_not_declared in docking navigator (#5023) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix naming of launch file Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixed naming conventions of launch file Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * navfn : fix performance issue (#4945) Signed-off-by: Yancey <135342560+Yancey2023@users.noreply.github.com> * Configured mypy strict for nav2_smac_planner (#5022) * 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> * Mypy nav2 common (#5031) * 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> * Clear costmap if reset distance exceeds costmap bounds. (#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> * Add near collision cost and warnings for misaligned parameter settings in MPPI critics (#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> * Added pre-commit with ament ignores to the workflow. (#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> * feat(nav2_rotation_shim_controller): add use_path_orientations (#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> * Mypy nav2 bringup (#5040) * 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 (#4955) * 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> * Mypy nav2_collision_monitor (#5043) * 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> * Mypy nav2 costmap 2d (#5044) * 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> * Halt recovery action when main action succeeds to reset status (#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> * Mypy opennav_docking (#5047) * 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> * Remove unused code in BT utils (#5048) * 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> * Mypy nav2 lifecycle manager (#5051) * 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> * fix initializing in drive on heading action node (#5053) Signed-off-by: Johannes Plapp <johannes.plapp@logivations.com> * Mypy nav2 loopback sim (#5052) * 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> * Fix mppi bidirectional settings (#4954) * 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> * Mypy nav2 map server (#5058) * 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> * Publishing a full time-series MPPI trajectory if desirable (#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 double spin_some in some BT nodes (#5055) * 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> * Remove duplicate test (#5062) There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> * Remove docking absolute topic namespaces (#5068) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Mypy nav2 simple commander (#5059) * Added most nav2_simple_commander files that can be trivially converted to be mypy compatible. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Modified edge cases and types for robot_navigator to pass mypy checks. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_simple_commander to the linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added logs and ignored type errors due to spins w/o timeout. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Make NavigateThroughPoses navigator report waypoint statuses information. (fix #4846) (#4994) * Add WaypointStatus message type & Remove MissedWaypoint message type Signed-off-by: zz990099 <771647586@qq.com> * Add waypoint_statuses records in RemoveInCollisionGoals/RemovePassedGoals actions Signed-off-by: zz990099 <771647586@qq.com> * Add validation tests Signed-off-by: zz990099 <771647586@qq.com> * Make NavigateThroughPoses navigator report waypoint statuses information Signed-off-by: zz990099 <771647586@qq.com> * Make WaypointFollower use WaypointStatus message type in action result Signed-off-by: zz990099 <771647586@qq.com> * Split MISSED status into SKIPPED & FAILED Signed-off-by: zz990099 <771647586@qq.com> * fix edge case handle in RemoveInCollision/RemovePassed BT actions Signed-off-by: zz990099 <771647586@qq.com> * Add validation test cases for RemoveInCollision&RemovePassed BT actions Signed-off-by: zz990099 <771647586@qq.com> * Update RemovePassedGoals/RemoveInCollisionGoals node in Groot XML Signed-off-by: zz990099 <771647586@qq.com> --------- Signed-off-by: zz990099 <771647586@qq.com> * Enable Groot2 monitoring (#5065) * Revert removing live groot monitoring from Nav2 (#2696) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to Groot2 Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON conversions Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add register to types Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added Json test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix some tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix flake Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package dependency Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fix in tst Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix incorrect world <-> map coordinates conversions (#5049) * Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> --------- Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> * [AMCL] 50% initialisation (and reset) speed improvement (#4941) * index lookup and comparator optimisation Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Add note to Asynchronous nodes (#5035) * Add warning to some of the nodes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * remove unused includes Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Add warning to remaining nodes using isStatusActive to initialize Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Change to note & update phrsing Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * replace reset by re-initialize Signed-off-by: Adi Vardi <adi.vardi@enway.ai> --------- Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * [AMCL] Rebuild cspace map only when needed (#5076) * for LikelihoodFieldModel Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * for LikelihoodFieldModelProb Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * typo Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * init max_occ_dist in map.c and remove unnecessary condition Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Consistency in Groot 2 (#5078) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Remove duplicate code (#5080) * Remove duplicate code Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add twist validation for controller server Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Added waypointstatus to bt_utils (#5077) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Lock costmap in getCostsCallback (#5075) * Add IsStoppedBTNode Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add topic name + reformat Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix comment Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix abs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove log Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * add getter functions for raw twist Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unused code Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use odomsmoother Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update groot Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add test Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * reset at success Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix stopped Node Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Add tests to odometry_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix linting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * lock costmap Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * improvement Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove spacing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * remove unlock Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Mypy nav2 system tests (#5083) * Configured nodes of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configured launch files of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added nav2_system_tests to the linting workflow. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Configure the entire nav2 stack with mypy (#5084) * Configured tools to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Added mypy as a pre-commit hook. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Simplified workflow by including all packages with mypy. Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> --------- Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#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> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#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> * Merged Fix navfn_planner from humble PR #5087 (#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 * Docking backwards as plugin param (#5079) * 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> * Update map_io library to use Eigen method for faster map loading (#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> * Fix CI builds (#5104) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Increase docking coverage && fix backward docking (#5097) * 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 ef1555ec43cb4849fd658c32377189cf414ff9b7. 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> * Initialize dock backwards (#5114) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Precompute yaw trigonometric values in smac planner (#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Nav2 Route Server (#5056) * 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 (#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 (#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 (#3472) * turtlebot3 world graph * remove line * add line back * scripts for route (#3490) * tmp push for moving computers * Nav2 route server goal orientation scorer (#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 (#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 (#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. (#5085) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Route Tool Rviz Panel (#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> * Feat/smac planner include orientation flexibility (#4127) * 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 (#5110) * 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> * Update update_ci_image.yaml to include jazzy build (#5120) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update update_ci_image.yaml to add humble Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * message_filters hpp headers have been backported (#5127) * 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> * Update PULL_REQUEST_TEMPLATE.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Bibtex formatting (#5126) * 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> * Make sure fixed curvature lookahead distance doesn't overshoot distance to cusp (#5134) Related issue: https://github.com/ros-navigation/navigation2/issues/5098 * removing the start navigation message in the paused state from rviz buttons (#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Added keepout filter for depot and warehouse maps (#5125) * 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> * Fix lattice backward 180 deg issue (#5141) Signed-off-by: selazarev <slazarev8@gmail.com> * [lifecycle_manager] expose service_timeout (#4838) * [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> * Update simple_action_server.hpp for description (#5150) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * reset motion model (#5149) Signed-off-by: Adi Vardi <adi.vardi@enway.ai> * Show error if inflation radius is smaller than circumscribed radius (#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: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Signed-off-by: Michal Sojka <michal.sojka@cvut.cz> Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Yancey <135342560+Yancey2023@users.noreply.github.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Johannes Plapp <johannes.plapp@logivations.com> Signed-off-by: Rasmus Larsson <rasmus.larsson@accenture.com> Signed-off-by: zz990099 <771647586@qq.com> Signed-off-by: Dylan De Coeyer <dylan.decoeyer@quimesis.be> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Adi Vardi <adi.vardi@enway.ai> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: Alexander Yuen <alex@polymathrobotics.com> Signed-off-by: John Chrosniak <chrosniakj@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: selazarev <slazarev8@gmail.com> Signed-off-by: Guillaume Doisy <doisyg@users.noreply.github.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Co-authored-by: Michal Sojka <michal.sojka@cvut.cz> Co-authored-by: Michael Carlstrom <rmc@carlstrom.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Yancey <135342560+Yancey2023@users.noreply.github.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Johannes Plapp <johannes.plapp@logivations.com> Co-authored-by: RasmusLar <101558931+RasmusLar@users.noreply.github.com> Co-authored-by: zz99 <86543200+zz990099@users.noreply.github.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@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: Adi Vardi <57910756+adivardi@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: alexanderjyuen <103065090+alexanderjyuen@users.noreply.github.com> Co-authored-by: John Chrosniak <chrosniakj@gmail.com> Co-authored-by: Saikrishna Bairamoni <84093461+SaikrishnaBairamoni@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: moooeeeep <moooeeeep@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Semyon <slazarev8@gmail.com>

* Revert removing live groot monitoring from Nav2 (ros-navigation#2696) Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to Groot2 Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON conversions Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix rebase Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Add register to types Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix null-dereference Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added Json test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix some tests Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix flake Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Update package dependency Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fixes Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Fix test Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Minor fix in tst Signed-off-by: Alberto Tudela <ajtudela@gmail.com> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <ajtudela@gmail.com> --------- Signed-off-by: Alberto Tudela <ajtudela@gmail.com> Signed-off-by: Sakshay Mahna <sakshum19@gmail.com>

removing live groot monitoring from Nav2

a580660

SteveMacenski mentioned this pull request Nov 19, 2021

removing live groot monitoring ros-navigation/docs.nav2.org#233

Merged

SteveMacenski added 3 commits November 19, 2021 14:44

rename test

f3c2b28

fixing linting issues

fc58434

readd default

e42aaca

ros-navigation deleted a comment from mergify bot Nov 20, 2021

linting

e78b4ff

SteveMacenski merged commit c15ccbf into main Nov 20, 2021

SteveMacenski deleted the remove_live_groot branch November 20, 2021 02:07

macstepien added a commit to husarion/rosbot_xl_ros that referenced this pull request Jul 12, 2022

Disable groot monitoring

b8a71ef

it sometimes crashed (see ros-navigation/navigation2#2696)

savalena pushed a commit to savalena/navigation2 that referenced this pull request Jul 5, 2024

removing live groot monitoring from Nav2 (ros-navigation#2696)

549058d

* removing live groot monitoring from Nav2 * rename test * fixing linting issues * readd default * linting

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Feb 25, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

e2e3f87

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Mar 5, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

9083eba

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Mar 5, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

6050b80

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Mar 11, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

93f5e50

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Mar 25, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

db0ddec

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Apr 3, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

a1805d7

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

RasmusLar mentioned this pull request Apr 7, 2025

Remove duplicate test #5062

Merged

7 tasks

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Apr 8, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

bc0b292

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

ajtudela added a commit to grupo-avispa/navigation2 that referenced this pull request Apr 10, 2025

Revert removing live groot monitoring from Nav2 (ros-navigation#2696)

996573c

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

removing live groot monitoring from Nav2#2696

removing live groot monitoring from Nav2#2696
SteveMacenski merged 5 commits intomainfrom
remove_live_groot

SteveMacenski commented Nov 19, 2021 •

edited

Loading

Uh oh!

elyarzv commented Feb 28, 2022 •

edited

Loading

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

Conversation

SteveMacenski commented Nov 19, 2021 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

elyarzv commented Feb 28, 2022 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

SteveMacenski commented Nov 19, 2021 •

edited

Loading

elyarzv commented Feb 28, 2022 •

edited

Loading