Skip to content

Add goal pose to CriticData#4812

Merged
SteveMacenski merged 8 commits intoros-navigation:humblefrom
EnjoyRobotics:mppi-goal-to-critic-humble
Jan 14, 2025
Merged

Add goal pose to CriticData#4812
SteveMacenski merged 8 commits intoros-navigation:humblefrom
EnjoyRobotics:mppi-goal-to-critic-humble

Conversation

@redvinaa
Copy link
Contributor

@redvinaa redvinaa commented Dec 20, 2024

Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #4809 )
Primary OS tested on Ubuntu
Robotic platform tested on custom gazebo simulation, custom hardware
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

  • Added goal pose to MPPI CriticData
  • Now all critics can activate based on distance from global goal pose instead of pruned

Description of documentation updates required from your changes

  • Bugfix, usage doesn't change

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

@redvinaa
Add goal pose to CriticData
2d61b3f 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@mergify
Copy link
Contributor

mergify bot commented Dec 20, 2024

@redvinaa, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

@redvinaa redvinaa force-pushed the mppi-goal-to-critic-humble branch from 4465836 to 2d61b3f Compare December 20, 2024 14:40
@redvinaa
Copy link
Contributor Author

redvinaa commented Dec 20, 2024

Please check implementation and when everything is correct, I'll port to rolling

SteveMacenski
SteveMacenski requested changes Dec 20, 2024
View reviewed changes
Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Generally looks good to me

@redvinaa
Pass goal pose directly to withinPositionGoalTolerance
acc8d91 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa
Fix condition not
c54acd4 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa
Add goal positions to tests
002a3a0 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa
Copy link
Contributor Author

redvinaa commented Jan 2, 2025

Can I have some help with the CI errors? I'm not sure it's because of my changes

@SteveMacenski
Copy link
Member

SteveMacenski commented Jan 3, 2025 •
edited
Loading

@redvinaa the CI errors are because we don't expect PRs directly to existing distributions so its not setup correctly with the caching. You could have build / test issues, but we'd need to to have this opened against main to check for them. This PR is opened in the opposite direction we ususally do (main branch -> then backport to humble, if possible).

I'll review as-if build/tests are passing, but I won't merge into Humble until the same code on main is passing as a proxy

SteveMacenski
SteveMacenski requested changes Jan 3, 2025
View reviewed changes
Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Otherwise LGTM

@redvinaa
Use plan stamp
c7bfd33 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa
Use float instead of auto
4536286 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa redvinaa mentioned this pull request Jan 3, 2025
Merged
@redvinaa
Set pose frame id in test
dc0d15f 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@redvinaa
Fix frame id in test vol 2
9ca4c7c 
Signed-off-by: redvinaa <redvinaa@gmail.com>
@SteveMacenski SteveMacenski merged commit ad2f960 into ros-navigation:humble Jan 14, 2025
@mergify mergify bot mentioned this pull request Jan 14, 2025
Merged
@SteveMacenski SteveMacenski mentioned this pull request Jan 14, 2025
Merged
7 tasks
SteveMacenski added a commit that referenced this pull request Sep 16, 2025
@SteveMacenski
Revert "Add goal pose to CriticData (#4812)"
5245cf8 
This reverts commit ad2f960.
SteveMacenski added a commit that referenced this pull request Sep 16, 2025
@SteveMacenski
Revert "Add goal pose to CriticData (#4812)" (#5527)
d0add84 
This reverts commit ad2f960.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@SteveMacenski SteveMacenski SteveMacenski approved these changes

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@redvinaa @SteveMacenski