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- Modified findVelocitySignChange method to transform cusp into robot… #3036

Merged

SteveMacenski merged 15 commits into ros-navigation:main from stevenbrills:main

Jun 23, 2022

Contributor

stevenbrills commented Jun 21, 2022

… frame before returning distance_to_cusp

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3035
Primary OS tested on	Ubuntu 20.04 Focal Fossa
Robotic platform tested on	Simulation

Description of contribution in a few bullet points

Added a step where the identified cusp pose in the global plan (map frame) is transformed into the robot_pose frame (odom frame) before the distance to cusp is returned.

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 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


          - Modified findVelocitySignChange method to transform cusp into robot…

ef772e9

… frame before returning distance_to_cusp

Contributor

mergify bot commented Jun 21, 2022

@stevenbrills, 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

Contributor

mergify bot commented Jun 21, 2022

@stevenbrills, 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 reviewed

View reviewed changes

nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp Show resolved Hide resolved

Steven Brills added 5 commits

June 22, 2022 09:41


          - Previous commit had incorrect usage of method transformPose based o…

7c38246

…n different nav2 branch.

- Now a placeholder pose, input pose and desired frame id is passed.


          - Previous commit had incorrect usage of method transformPose based o…

494c2ad

…n different nav2 branch.

- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>


          Merge branch 'main' of github.com:stevenbrills/navigation2 into main

5d08928


          Failed lint check due to stray blank line. Removed the blank line

9555cba


          - Modified findVelocitySignChange function to take the transformed pl…

a026e03

…an in robot's frame

- Removed need to pass pose to the findVelocitySignChange function

Contributor

mergify bot commented Jun 22, 2022

@stevenbrills, 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).


          - Modified the test file to reflect change in new parameters that fin…

017cfab

…dVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

Contributor

mergify bot commented Jun 22, 2022

@stevenbrills, 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).


          - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP …

…object.

Signed-off-by: Steven Brills <[email protected]>

Contributor

mergify bot commented Jun 22, 2022

@stevenbrills, 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).


          - transformGlobalPlanWrapper call bug fix

b405589

Signed-off-by: Steven Brills <[email protected]>

SteveMacenski approved these changes

View reviewed changes

Member

SteveMacenski commented Jun 22, 2022

@stevenbrills the tests for RPP failed (or crash / hung) on findVelocitySignChange. Once the tests pass, happy to merge


          - Updated tests now require frame_id and time_stamp for conversion si…

2cf7889

…nce transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

Contributor

mergify bot commented Jun 22, 2022

@stevenbrills, 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).


          - Missing ; in test method

26881d7

Signed-off-by: Steven Brills <[email protected]>

Contributor

mergify bot commented Jun 22, 2022

@stevenbrills, 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).

Member

SteveMacenski commented Jun 22, 2022

Please check out the branch locally do to development and commit and push when things are compiling please 😄

We only have so many resources for CI and the maintainers also get emails for every failed build


          Merge branch 'ros-planning:main' into main

5e433ec

Contributor

mergify bot commented Jun 23, 2022

@stevenbrills, 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).

Steven Brills added 3 commits

June 23, 2022 16:06


          -Modified findVelocitySignChange tests in test_regulated_pp to use tr…

f10a7db

…ansformed_plan instead


          -Modified findVelocitySignChange tests in test_regulated_pp to use tr…

0ac8e36

…ansformed_plan instead

Signed-off-by: Steven Brills <[email protected]>


          Merge branch 'main' of github.com:stevenbrills/navigation2 into main

660dabf

Contributor Author

stevenbrills commented Jun 23, 2022

The tests for RPP are passing now.

SteveMacenski merged commit 99bec08 into ros-navigation:main

Member

SteveMacenski commented Jun 23, 2022 •

edited

Loading

Thanks for the patch and contribution from a fellow Steven!

Contributor Author

stevenbrills commented Jun 23, 2022 •

edited

Loading

Thanks for the patch and contribution from a fellow Steven!
Glad I could contribute!

SteveMacenski added the backport-humble label

mergify bot pushed a commit that referenced this pull request


          - Modified findVelocitySignChange method to transform cusp into robot… (

b787779

#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>
(cherry picked from commit 99bec08)

mergify bot mentioned this pull request

- Modified findVelocitySignChange method to transform cusp into robot… (backport #3036) #3041

Merged

SteveMacenski pushed a commit that referenced this pull request


          - Modified findVelocitySignChange method to transform cusp into robot… (

f87609d

#3036) (#3041)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>
(cherry picked from commit 99bec08)

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

redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request


          - Modified findVelocitySignChange method to transform cusp into robot… (

61c20e6

ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>

jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request


          - Modified findVelocitySignChange method to transform cusp into robot… (

2672bd1

ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>

borongyuan added a commit to borongyuan/navigation2 that referenced this pull request


          - Modified findVelocitySignChange method to transform cusp into robot… (

effa49c

ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>

(cherry picked from commit 99bec08)

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