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Addition of position goal checker, fix of rotation shim controller (backport #5162)#5176

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Addition of position goal checker, fix of rotation shim controller (backport #5162)#5176
mergify[bot] wants to merge 1 commit intojazzyfrom
mergify/bp/jazzy/pr-5162

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@mergify mergify bot commented May 19, 2025

Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #5094 )
Primary OS tested on (Ubuntu)
Robotic platform tested on ( gazebo simulation of Tally)
Does this PR contain AI generated software? (No)

Description of contribution in a few bullet points

  • Added a new plugin called position_goal_checker, which checks only the xy tolerance and ignores the yaw tolerance. Used the same plugin internally in Rotation Shim Controller.

Description of documentation updates required from your changes

  • Added to documentation Link

Description of how this change was tested

  • Validated RotationShimController in turtlebot simulation

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
This is an automatic backport of pull request #5162 done by [Mergify](https://mergify.com).

@PrabhavSaxena @mergify
Addition of position goal checker, fix of rotation shim controller (#…
8ef1ecd 
…5162)

* added position goal checker plugin

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* updated rotation shim to use position goal checker

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* fixed lint

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* added comments

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

* fixed dynamic parameter, CMake

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>

---------

Signed-off-by: PrabhavSaxena <prabhavsaxena2003@gmail.com>
(cherry picked from commit bd8f422)

# Conflicts:
#	nav2_controller/CMakeLists.txt
#	nav2_rotation_shim_controller/CMakeLists.txt
#	nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
#	nav2_rotation_shim_controller/package.xml
#	nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@mergify mergify bot added the conflicts label May 19, 2025
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mergify bot commented May 19, 2025

Cherry-pick of bd8f422 has failed:

On branch mergify/bp/jazzy/pr-5162
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit bd8f422c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   nav2_controller/include/nav2_controller/plugins/position_goal_checker.hpp
	modified:   nav2_controller/plugins.xml
	new file:   nav2_controller/plugins/position_goal_checker.cpp
	deleted:    nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/tools/utils.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_controller/CMakeLists.txt
	both modified:   nav2_rotation_shim_controller/CMakeLists.txt
	both modified:   nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
	both modified:   nav2_rotation_shim_controller/package.xml
	both modified:   nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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mergify bot commented May 19, 2025

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

@SteveMacenski SteveMacenski mentioned this pull request May 19, 2025
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@SteveMacenski SteveMacenski deleted the mergify/bp/jazzy/pr-5162 branch May 19, 2025 18:43
@mini-1235 mini-1235 mentioned this pull request May 19, 2025
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2 participants

@SteveMacenski @PrabhavSaxena