Use PoseStampedArray by tonynajjar · Pull Request #4791 · ros-navigation/navigation2

tonynajjar · 2024-12-11T10:42:54Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.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

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

mergify · 2024-12-11T10:43:28Z

This pull request is in conflict. Could you fix it @tonynajjar?

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

mergify · 2024-12-11T11:16:43Z

@tonynajjar, 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).

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

mergify · 2024-12-11T12:03:01Z

@tonynajjar, 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).

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

mergify · 2025-01-07T08:47:10Z

@tonynajjar, 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).

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar · 2025-01-07T09:03:24Z

tools/underlay.repos

    type: git
    url:  https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
    version: 091b5ff12436890a54de6325df3573ae110e912b
+  ros/common_interfaces:


just for CI testing. Do you know when we can remove this? Are rolling binaries released nightly?

No, they are released monthlyish like other ROS distributions - it'll take a few weeks before we can remove it 😦

mergify · 2025-01-07T09:06:41Z

@tonynajjar, 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).

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar · 2025-01-07T13:05:38Z

Just docs for the migration guide

ros-navigation/docs.nav2.org#630

FYI notification on Discourse/Slack would be good so folks expect it

Will do after the final review, can you give it another look?

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

nav2_msgs/action/ComputePathThroughPoses.action

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

codecov · 2025-01-07T14:07:42Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
...avior_tree/include/nav2_behavior_tree/bt_utils.hpp	`100.00% <100.00%> (ø)`
...ugins/action/compute_path_through_poses_action.hpp	`100.00% <100.00%> (ø)`
...e/plugins/action/navigate_through_poses_action.hpp	`100.00% <100.00%> (ø)`
...lugins/action/remove_in_collision_goals_action.hpp	`100.00% <100.00%> (ø)`
...tree/plugins/action/remove_passed_goals_action.hpp	`100.00% <100.00%> (ø)`
...gins/condition/globally_updated_goal_condition.hpp	`100.00% <100.00%> (ø)`
..._tree/plugins/condition/goal_updated_condition.hpp	`100.00% <100.00%> (ø)`
...tree/plugins/decorator/goal_updated_controller.hpp	`100.00% <100.00%> (ø)`
...havior_tree/plugins/decorator/speed_controller.hpp	`100.00% <100.00%> (ø)`
...lugins/action/remove_in_collision_goals_action.cpp	`87.09% <100.00%> (ø)`
... and 8 more

... and 4 files with indirect coverage changes

SteveMacenski

I'm generally noticing that the header stamp/frame isn't being populated in some places and I think it aught to be if we're going to be using it to check for updates. I believe that all things that populate a PoseStampedArray should have its header fully populated.

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp

nav2_behavior_tree/test/test_bt_utils.cpp

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

nav2_system_tests/src/system/nav_through_poses_tester_node.py

...ehavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

This reverts commit 02336a2.

* 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> * Use PoseStampedArray Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * use geometry_msgs Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * more fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * revert Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * . Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * update Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix bt_utils Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * populate Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: stevedanomodolor <stevedan.o.omodolor@gmail.com>

tonynajjar and others added 24 commits November 25, 2024 16:49

Add IsStoppedBTNode

4e878a2

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

add topic name + reformat

9139f9f

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix comment

c7ec42e

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix abs

5a8ea92

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

remove log

9b5a93e

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

add getter functions for raw twist

89c8d34

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

remove unused code

c0098c4

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

use odomsmoother

18b8b76

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix formatting

5c0560a

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

update groot

66ed384

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Add test

91230b2

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

reset at success

d2c2db3

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Merge branch 'add-is-stopped-BT-node'

c40896d

Merge branch 'ros-navigation:main' into main

11920d5

Merge branch 'main' into add-is-stopped-BT-node

e58ddfd

FIX velocity_threshold_

37a5636

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Fix stopped Node

d237785

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Add tests to odometry_utils

5a4204f

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix linting

0295ef9

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Merge branch 'add-is-stopped-BT-node'

4c4da1a

Merge branch 'ros-navigation:main' into main

e4ef654

Merge branch 'ros-navigation:main' into main

58dc8bb

Use PoseStampedArray

bdef481

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

Merge branch 'ros-navigation:main' into main

c0ba65d

tonynajjar added 2 commits December 11, 2024 11:44

Merge remote-tracking branch 'origin/main' into use_posestampedarray

7c082e7

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix

038f051

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fixes

622e6e1

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar added 3 commits January 7, 2025 09:41

more fixes

d96cd2d

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

.

5d0b1e5

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

revert

7a261b7

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

.

36c21de

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar commented Jan 7, 2025

View reviewed changes

Tony Najjar and others added 3 commits January 7, 2025 10:13

Merge branch 'ros-navigation:main' into main

f1c4016

Merge branch 'main' into use_posestampedarray

80e0c17

fix

30aed4b

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar marked this pull request as ready for review January 7, 2025 12:33

tonynajjar mentioned this pull request Jan 7, 2025

PoseStampedArray docs ros-navigation/docs.nav2.org#630

Merged

tonynajjar requested a review from SteveMacenski January 7, 2025 13:04

tonynajjar mentioned this pull request Jan 7, 2025

Adapt GoalUpdater to update goals as well #4771

Merged

7 tasks

fix

ac70360

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

tonynajjar commented Jan 7, 2025

View reviewed changes

nav2_msgs/action/ComputePathThroughPoses.action Show resolved Hide resolved

update

4ecd651

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

SteveMacenski requested changes Jan 7, 2025

View reviewed changes

tonynajjar added 3 commits January 8, 2025 11:52

fix bt_utils

c1ad9fe

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

fix import

f79161e

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

populate

77b0329

Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>

SteveMacenski approved these changes Jan 8, 2025

View reviewed changes

SteveMacenski merged commit 02336a2 into ros-navigation:main Jan 9, 2025

pepisg added a commit to kiwicampus/navigation2 that referenced this pull request Jan 15, 2025

Revert "Use PoseStampedArray (ros-navigation#4791)"

836c440

This reverts commit 02336a2.

pepisg added a commit to kiwicampus/navigation2 that referenced this pull request Jan 27, 2025

Revert "Use PoseStampedArray (ros-navigation#4791)"

e8f952a

This reverts commit 02336a2.

tfoote mentioned this pull request Feb 7, 2025

Proposed rename of geometry_msgs/PoseStampedArray to nav_msgs/Goals ros2/common_interfaces#267

Closed

tfoote mentioned this pull request Mar 13, 2025

Switch from geometry_msgs/PoseStampedArray to nav_msgs/Goals #4983

Closed

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tonynajjar commented Dec 11, 2024

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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