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Bt test fix #2999

Merged
merged 3 commits into from
Jun 6, 2022
Merged

Bt test fix #2999

merged 3 commits into from
Jun 6, 2022

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jwallace42
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Basic Info

The main branch had issues successfully running the behavior_tree tests.
The following error was recorded previously here ros2/rclcpp#1766.

Info Please fill out this column
Ticket(s) this addresses None
Primary OS tested on Ubuntu 22.04 LTS
Robotic platform tested on None

Description of contribution in a few bullet points

Added resets to static vars that were not being reset which caused the test to fail.

Description of documentation updates required from your changes

None

Future work that may be required in bullet points

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
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mergify bot commented Jun 4, 2022

@jwallace42, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • 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

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mergify bot commented Jun 4, 2022

@jwallace42, 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 SteveMacenski reopened this Jun 6, 2022
@SteveMacenski
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An odd test failed, retriggering CI to see if it was just a fluke ( I suspect it was )

@SteveMacenski SteveMacenski merged commit dd38f3a into ros-navigation:main Jun 6, 2022
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022
@jwallace42 @redvinaa
Bt test fix (ros-navigation#2999)
214a45f 
* fixed tests

* undo
SteveMacenski pushed a commit that referenced this pull request Aug 24, 2022
@jwallace42 @SteveMacenski
Bt test fix (#2999)
4effd8c 
* fixed tests

* undo
SteveMacenski added a commit that referenced this pull request Aug 24, 2022
@SteveMacenski @m2-farzan
@gezp @jwallace42 @arshadlab @MartiBolet @shoufei403 @hodnajit @vinnnyr @SrijaneeBiswas @NikolasE @Aposhian @AlexeyMerzlyakov @padhupradheep @nakai-omer @samiamlabs @aaronchongth @pepisg @ladianchad @kevin-floatic @austin-InDro
Humble Sync 1: Aug 24 (#3148)
74fae42 
* Fix size_t format specifier (#3003)

* clear up params file (#3004)

Signed-off-by: zhenpeng ge <[email protected]>

* Bt test fix (#2999)

* fixed tests

* undo

* linting fix (#3007)

Signed-off-by: zhenpeng ge <[email protected]>

* Add nav2_constrained_smoother to metapackage

* adding humble release to table (#3008)

* Fix for costmap nodes lifecycle status (#3009)

Lifecycle status for global and local cost nodes not correct.
ros2 lifecycle/service commands  shows unconfigured for these two.
This is due to directly calling on_configure/on_activate/on_cleanup
calls in parent node.  This PR to replace on_xxxxxx() to
configure()/activate()/cleanup() calls of lifecycle base.

Signed-off-by: Arshad <[email protected]>

* Get parameters on configure transition addressing #2985 (#3000)

* Get parameters on configure transition

Signed-off-by: MartiBolet <[email protected]>

* Remove past setting of parameters

Signed-off-by: MartiBolet <[email protected]>

* Expose transition functions to public for test

Signed-off-by: MartiBolet <[email protected]>

* fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_… (#2994)

* fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp

* Update navigate_through_poses_action.hpp

Co-authored-by: Steve Macenski <[email protected]>

* Nav2 Velocity Smoother (#2964)

* WIP velocity smoother with ruckig

* a few comments

* vel smoother prototype

* updating defaults

* adding defaults to readme

* removing note from readme

* updates to velocity smoother TODO items

* adding unit tests

* finishing system tests

* adding failure to change parameters tests

* fix last bits

* fixing negative sign bug

* lint

* update tests

* setting defaults

* Adding warning

* Update velocity_smoother.cpp

* Fixing rebase issue

* adding plugin type for static in local + removing unused print (#3021)

* removed extra includes (#3026)

* remove extra sub (#3025)

* Fix missing dependency on nav2_velocity_smoother (#3031)

* adding timeout for action client initialization (#3029)

* adding timeout for action client initialization

Signed-off-by: Vinny Ruia <[email protected]>

* adding constant 1s timeout, catching exception

Signed-off-by: Vinny Ruia <[email protected]>

* cleanup warnings (#3028)

* cleanup warnings

* removed referenc

* installing plugins folder of nav2_behaviors package (#3051)

Co-authored-by: Srijanee Biswas <[email protected]>

* Completed PR 2929 (#3038)

* accepting empty yaml_filename if no initial map is available

* invalid load_map-request does not invalidate existing map, added Testcase

* style

* finish PR 2929

* finish linting

* removing change

* removing change

* Update test_map_server_node.cpp

* Update test_map_server_node.cpp

Co-authored-by: Nikolas Engelhard <[email protected]>

* zero z values in rpp transformed plan (#3066)

* removing get node options default for nav2 utils (#3073)

* adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes (#3071)

* adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes

* fix linting

* remove inline comment

* adding goal updated controller node to test

* Smac Planner 2D changes (#3083)

* removing 4-connected option from smac; fixing 2D heuristic and traversal function from other planner's changes

* fix name of variable since no longer a neighborhood

* partial test updates

* ported unit tests fully

* revert to no costmap downsampling

* Collision monitor (#2982)

* Add Collision Monitor node

* Meet review items

* Fix next review items

* Code cleanup

* Support dynamic footprint. More optimizations.

* Switch to multiple footprints. Move variables.
Remove odom subscriber. Add 0-velocity optimization

* Update nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Meet smaller review items

* Add fixes found during unit test development

* Fix uncrustify issues

* Add unit tests

* Fix number of polygons points

* Move tests

* Add kinematics unit test

* Minor tests fixes

* Remove commented line

* Add edge case checking testcase and references

* Update comment

* Add README.md

* Fixed table

* Minor changes in README.md

* Fix README.md for documentation pages

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Meet review items

* Meet review items (part 2)

* Update polygons picture for README

* Change simulation_time_step to 0.1

* Fix bounding boxes to fit the demo from README.md

* Terminology fixes

Co-authored-by: Steve Macenski <[email protected]>

* removing the extra argument in class dec (#3084)

* Fix for #3078, fix image path in YAML (#3082)

* Fix for #3078, fix image path in YAML

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* do not depend on velocity for approach scaling (#3047)

* do not depend on velocity for approach scaling

* add approach_velocity_scaling_dist to README

* do not pass references to shared ptr

* fixup! do not pass references to shared ptr

* fix approach velocity scaling compile issues

* default approach_velocity_scaling_dist based on costmap size

* change default approach_velocity_scaling_dist to 0.6 to match previous behavior

* update tests for approach velocity scaling

* remove use_approach_linear_velocity_scaling from readme

* smooth approach velocity scaling

* Use correct timeout when checking future (#3087)

* Adds missing commas so default plugin names are not stuck together (#3093)

Signed-off-by: Aaron Chong <[email protected]>

Signed-off-by: Aaron Chong <[email protected]>

* Fix Costmap Filters system tests (#3120)

* Fix Costmap Filters system tests

* Update map_io.cpp

Co-authored-by: Alexey Merzlyakov <[email protected]>

* Finding distance H if obstacle H is <= 0 (#3122)

* adding checks on goal IDs in results for waypoint follower (#3130)

* ComputePathToPose Sets empty path on blackboard if action is aborted or cancelled (#3114)

* set empty path on black on failure

* docs

* switched to correct message type

* set empty path for compute_path_through_poses

* Ignore feedback from old goals in waypoint follower (#3139)

* apply joinchar in pathify (#3141)

Co-authored-by: kevin <[email protected]>

* Log level (#3110)

* added log level for navigation launch

* localization log level

* slam log level

* revert use_comp

* added log level to components

* linting and uncrusitfy fixes for CI (#3144)

* start is now added to the path (#3140)

* start is now added to the path

* lint fix

* Update README.md (#3147)

Current example doesn't work with the updates.

* fixing linting problem

* Setting map map's yaml path to empty string, since overridden in launch (#3123)

* Update nav2_params.yaml

* Update nav2_params.yaml

* Update nav2_params.yaml

* bumping to 1.1.1 for release

Signed-off-by: zhenpeng ge <[email protected]>
Signed-off-by: Arshad <[email protected]>
Signed-off-by: MartiBolet <[email protected]>
Signed-off-by: Vinny Ruia <[email protected]>
Signed-off-by: Aaron Chong <[email protected]>
Co-authored-by: M. Mostafa Farzan <[email protected]>
Co-authored-by: Zhenpeng Ge <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: Arshad Mehmood <[email protected]>
Co-authored-by: MartiBolet <[email protected]>
Co-authored-by: shoufei <[email protected]>
Co-authored-by: hodnajit <[email protected]>
Co-authored-by: Vinny Ruia <[email protected]>
Co-authored-by: SrijaneeBiswas <[email protected]>
Co-authored-by: Srijanee Biswas <[email protected]>
Co-authored-by: Nikolas Engelhard <[email protected]>
Co-authored-by: Adam Aposhian <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: Pradheep Krishna <[email protected]>
Co-authored-by: nakai-omer <[email protected]>
Co-authored-by: Samuel Lindgren <[email protected]>
Co-authored-by: Aaron Chong <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Austin Greisman <[email protected]>
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