Set start and goal as float by BriceRenaudeau · Pull Request #4255 · ros-navigation/navigation2

BriceRenaudeau · 2024-04-10T13:29:53Z

Create a worldToMapContinous to compute the decimals for the world to map conversion.
Change the setGoal to use floats as inputs and static_cast to unsigned int's for the getIndex method.
Do the same with setStart as well

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3955 and #4249
Primary OS tested on	Ubuntu
Robotic platform tested on	sim
Does this PR contain AI generated software?	No

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify · 2024-04-10T13:54:24Z

@BriceRenaudeau, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

BriceRenaudeau · 2024-04-10T17:05:14Z

CI failure not related.

nav2_costmap_2d/src/costmap_2d.cpp

SteveMacenski · 2024-04-10T17:54:11Z

@BriceRenaudeau the first 2 failures seem related to this PR. I've never before seen those tests fail and they're targeting Smac

BriceRenaudeau · 2024-04-11T13:44:34Z

@BriceRenaudeau the first 2 failures seem related to this PR. I've never before seen those tests fail and they're targeting Smac

Le planner returns: "Start occupied" on the verySmallPath tests.

mergify · 2024-04-11T14:31:16Z

@BriceRenaudeau, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-04-11T19:33:00Z

Le planner returns: "Start occupied" on the verySmallPath tests.

Indeed - there are no failures of this kind before this PR. This must be causing it - CI still unhappy :(

codecov · 2024-04-12T13:24:35Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.78%. Comparing base (f815e8b) to head (50f387f).
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4255      +/-   ##
==========================================
+ Coverage   89.75%   89.78%   +0.03%     
==========================================
  Files         431      431              
  Lines       19574    19594      +20     
==========================================
+ Hits        17568    17593      +25     
+ Misses       2006     2001       -5

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Signed-off-by: Brice <brice.renaudeau@gmail.com>

SteveMacenski · 2024-04-12T16:47:10Z

Wonderful!

* Set start and goal as float Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix worldToMapContinuous type Signed-off-by: Brice <brice.renaudeau@gmail.com> * add static_cast<float> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix linting Signed-off-by: Brice <brice.renaudeau@gmail.com> * floor float to check start = goal Signed-off-by: Brice <brice.renaudeau@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com>

* Set start and goal as float Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix worldToMapContinuous type Signed-off-by: Brice <brice.renaudeau@gmail.com> * add static_cast<float> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix linting Signed-off-by: Brice <brice.renaudeau@gmail.com> * floor float to check start = goal Signed-off-by: Brice <brice.renaudeau@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

* Set start and goal as float Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix worldToMapContinuous type Signed-off-by: Brice <brice.renaudeau@gmail.com> * add static_cast<float> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix linting Signed-off-by: Brice <brice.renaudeau@gmail.com> * floor float to check start = goal Signed-off-by: Brice <brice.renaudeau@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com>

BriceRenaudeau force-pushed the SMAC-planner]-Start-and-goal-are-moved-to-closest-cell branch from eb22ae2 to 6a233ed Compare April 10, 2024 13:31

BriceRenaudeau force-pushed the SMAC-planner]-Start-and-goal-are-moved-to-closest-cell branch from da0fb12 to 35442e0 Compare April 10, 2024 14:07

SteveMacenski reviewed Apr 10, 2024

View reviewed changes

nav2_costmap_2d/src/costmap_2d.cpp Outdated Show resolved Hide resolved

SteveMacenski linked an issue Apr 10, 2024 that may be closed by this pull request

[SMAC planner] Start and goal are moved to closest cell #4249

Closed

BriceRenaudeau force-pushed the SMAC-planner]-Start-and-goal-are-moved-to-closest-cell branch 2 times, most recently from 3486821 to 2518661 Compare April 11, 2024 14:31

BriceRenaudeau and others added 5 commits April 12, 2024 15:36

Set start and goal as float

37d50bb

Signed-off-by: Brice <brice.renaudeau@gmail.com>

fix worldToMapContinuous type

3ad76d5

Signed-off-by: Brice <brice.renaudeau@gmail.com>

add static_cast<float>

5fffe6d

Signed-off-by: Brice <brice.renaudeau@gmail.com>

fix linting

992c08c

Signed-off-by: Brice <brice.renaudeau@gmail.com>

floor float to check start = goal

50f387f

Signed-off-by: Brice <brice.renaudeau@gmail.com>

BriceRenaudeau force-pushed the SMAC-planner]-Start-and-goal-are-moved-to-closest-cell branch from 366b68d to 50f387f Compare April 12, 2024 13:36

SteveMacenski merged commit cc2b696 into ros-navigation:main Apr 12, 2024

SteveMacenski mentioned this pull request Apr 1, 2025

nav2_smac_planner: Fix incorrect conversion between costmap and worlrd coordinates #4949

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Set start and goal as float#4255

Set start and goal as float#4255
SteveMacenski merged 5 commits intoros-navigation:mainfrom
BriceRenaudeau:SMAC-planner]-Start-and-goal-are-moved-to-closest-cell

BriceRenaudeau commented Apr 10, 2024

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BriceRenaudeau commented Apr 10, 2024

Basic Info

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SteveMacenski commented Apr 10, 2024

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