Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Humble Sync 1: Aug 24 #3148

Merged
merged 42 commits into from
Aug 24, 2022
Merged

Humble Sync 1: Aug 24 #3148

merged 42 commits into from
Aug 24, 2022

Conversation

SteveMacenski
Copy link
Member

Syncing effectively all commits from Humble initial release to date

  • Various clean up of styling, logging, etc
  • Adding constrained smoother package
  • Creating corrected lifecycle states of the costmap internal nodes
  • Fixing some behavior tree types
  • Added corrected action server timeouts
  • Changes to Smac 2D for admissibility
  • Added Collision Monitor
  • Fixed map saver file path locations
  • Decoupled RPP look ahead distance from slowing mechanisms
  • Added waypoint follower goal ID checks
  • Added commentary to yaml regarding map yamls

m2-farzan and others added 30 commits August 24, 2022 14:45
@m2-farzan @SteveMacenski
Fix size_t format specifier (#3003)
6207842
@gezp @SteveMacenski
clear up params file (#3004)
62359c4 
Signed-off-by: zhenpeng ge <[email protected]>
@jwallace42 @SteveMacenski
Bt test fix (#2999)
4effd8c 
* fixed tests

* undo
@gezp @SteveMacenski
linting fix (#3007)
35c6829 
Signed-off-by: zhenpeng ge <[email protected]>
@SteveMacenski
Add nav2_constrained_smoother to metapackage
d2302eb
@SteveMacenski
adding humble release to table (#3008)
6fdab24
@arshadlab @SteveMacenski
Fix for costmap nodes lifecycle status (#3009)
9282f5d 
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]>
@MartiBolet @SteveMacenski
Get parameters on configure transition addressing #2985 (#3000)
71f9a62 
* 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]>
@shoufei403 @SteveMacenski
fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_… (
dcb426c 
#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]>
@SteveMacenski
Nav2 Velocity Smoother (#2964)
d76d2aa 
* 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
@SteveMacenski
Fixing rebase issue
b5e2a6e
@SteveMacenski
adding plugin type for static in local + removing unused print (#3021)
7273781
@jwallace42 @SteveMacenski
removed extra includes (#3026)
11f4ce5
@jwallace42 @SteveMacenski
remove extra sub (#3025)
babe63f
@hodnajit @SteveMacenski
Fix missing dependency on nav2_velocity_smoother (#3031)
d87fd01
@vinnnyr @SteveMacenski
adding timeout for action client initialization (#3029)
5a64f5b 
* 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]>
@jwallace42 @SteveMacenski
cleanup warnings (#3028)
3705a88 
* cleanup warnings

* removed referenc
@SrijaneeBiswas @SteveMacenski
installing plugins folder of nav2_behaviors package (#3051)
2696e2d 
Co-authored-by: Srijanee Biswas <[email protected]>
@SteveMacenski @NikolasE
Completed PR 2929 (#3038)
b87fe57 
* 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]>
@Aposhian @SteveMacenski
zero z values in rpp transformed plan (#3066)
a4d1235
@SteveMacenski
removing get node options default for nav2 utils (#3073)
ad3d909
@SteveMacenski
adding looping timeout for lifecycle service clients + adding string …
821817e 
…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
@SteveMacenski
Smac Planner 2D changes (#3083)
d4e66fc 
* 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
@AlexeyMerzlyakov @SteveMacenski
Collision monitor (#2982)
988b137 
* 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]>
@padhupradheep @SteveMacenski
removing the extra argument in class dec (#3084)
5b30b89
@nakai-omer @SteveMacenski
Fix for #3078, fix image path in YAML (#3082)
5323d31 
* Fix for #3078, fix image path in YAML

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp
@Aposhian @SteveMacenski
do not depend on velocity for approach scaling (#3047)
c2fa8fe 
* 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
@samiamlabs @SteveMacenski
Use correct timeout when checking future (#3087)
989539b
@aaronchongth @SteveMacenski
Adds missing commas so default plugin names are not stuck together (#…
3ea5239 
…3093)

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

Signed-off-by: Aaron Chong <[email protected]>
@SteveMacenski @AlexeyMerzlyakov
Fix Costmap Filters system tests (#3120)
6cf898e 
* Fix Costmap Filters system tests

* Update map_io.cpp

Co-authored-by: Alexey Merzlyakov <[email protected]>
SteveMacenski and others added 11 commits August 24, 2022 14:54
@SteveMacenski
Finding distance H if obstacle H is <= 0 (#3122)
5400de0
@SteveMacenski
adding checks on goal IDs in results for waypoint follower (#3130)
8813663
@jwallace42 @SteveMacenski
ComputePathToPose Sets empty path on blackboard if action is aborted …
dc568b1 
…or cancelled (#3114)

* set empty path on black on failure

* docs

* switched to correct message type

* set empty path for compute_path_through_poses
@pepisg @SteveMacenski
Ignore feedback from old goals in waypoint follower (#3139)
e5305c7
@ladianchad @kevin-floatic @SteveMacenski
apply joinchar in pathify (#3141)
187f729 
Co-authored-by: kevin <[email protected]>
@jwallace42 @SteveMacenski
Log level (#3110)
9e83442 
* added log level for navigation launch

* localization log level

* slam log level

* revert use_comp

* added log level to components
@jwallace42 @SteveMacenski
linting and uncrusitfy fixes for CI (#3144)
104f1e1
@jwallace42 @SteveMacenski
start is now added to the path (#3140)
4f12a60 
* start is now added to the path

* lint fix
@austin-InDro @SteveMacenski
Update README.md (#3147)
e670e36 
Current example doesn't work with the updates.
@SteveMacenski
fixing linting problem
10e769e
@SteveMacenski
Setting map map's yaml path to empty string, since overridden in laun…
b6cde71 
…ch (#3123)

* Update nav2_params.yaml

* Update nav2_params.yaml

* Update nav2_params.yaml
@SteveMacenski SteveMacenski changed the base branch from main to humble August 24, 2022 22:01
@SteveMacenski SteveMacenski changed the title Humble sync 1: Aug 24 Humble Sync 1: Aug 24 Aug 24, 2022
@SteveMacenski SteveMacenski merged commit 74fae42 into humble Aug 24, 2022
@SteveMacenski SteveMacenski deleted the humble_sync1 branch August 24, 2022 22:58
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.