removing hypotf from smac planner heuristic computation #3217
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Do in 2D node as well! From 1000 random paths, helps by ~4% |
SteveMacenski
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Nov 8, 2022
* removing hypotf * swapping to node2d sqrt
SteveMacenski
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Nov 8, 2022
* standalone assisted teleop (#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <[email protected]> * Add the support of range sensors to Collision Monitor (#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix #3152: Costmap extend did not include Y component (#3153) * missing nodes added to nav2_tree_nodes.xml (#3155) * Change deprecated ceres function (#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (#3162) * bugfix (#3109) deadlock when costmap receives new map (#3145) * bugfix (#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <[email protected]> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Daisuke Sato <[email protected]> * simple command costmap api - first few functions (#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <[email protected]> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <[email protected]> * fix trailing underscores Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix missing dependency on nav2_collision_monitor (#3175) * fixed start (#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <[email protected]> Updated-by: Jaehun Kim <[email protected]> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (#3183) * [Smac] check if a node exists before creating (#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (#3218) * removing hypotf from smac planner heuristic computation (#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (#3219) * Disable Output Buffering (#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <[email protected]> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <[email protected]> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <[email protected]> * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <[email protected]> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Abdullah Enes BEDİR <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Tejas Kumar Shastha <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Lukas Fanta <[email protected]> Co-authored-by: Jackson9 <[email protected]> Co-authored-by: Ruffin <[email protected]> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: Nicolas Rocha Pacheco <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]>
7 tasks
hyunseok-yang
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Nov 23, 2022
* standalone assisted teleop (ros-navigation#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <[email protected]> * Add the support of range sensors to Collision Monitor (ros-navigation#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153) * missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155) * Change deprecated ceres function (ros-navigation#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (ros-navigation#3162) * bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145) * bugfix (ros-navigation#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <[email protected]> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Daisuke Sato <[email protected]> * simple command costmap api - first few functions (ros-navigation#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <[email protected]> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <[email protected]> * fix trailing underscores Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix missing dependency on nav2_collision_monitor (ros-navigation#3175) * fixed start (ros-navigation#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (ros-navigation#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (ros-navigation#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (ros-navigation#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <[email protected]> Updated-by: Jaehun Kim <[email protected]> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (ros-navigation#3183) * [Smac] check if a node exists before creating (ros-navigation#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (ros-navigation#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (ros-navigation#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (ros-navigation#3218) * removing hypotf from smac planner heuristic computation (ros-navigation#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (ros-navigation#3219) * Disable Output Buffering (ros-navigation#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (ros-navigation#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (ros-navigation#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (ros-navigation#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (ros-navigation#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (ros-navigation#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (ros-navigation#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <[email protected]> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (ros-navigation#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (ros-navigation#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <[email protected]> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <[email protected]> * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <[email protected]> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Abdullah Enes BEDİR <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Tejas Kumar Shastha <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Lukas Fanta <[email protected]> Co-authored-by: Jackson9 <[email protected]> Co-authored-by: Ruffin <[email protected]> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: Nicolas Rocha Pacheco <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]>
jwallace42
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Dec 14, 2022
…on#3217) * removing hypotf * swapping to node2d sqrt
shrijitsingh99
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Mar 4, 2023
* standalone assisted teleop (ros-navigation#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <[email protected]> * Add the support of range sensors to Collision Monitor (ros-navigation#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153) * missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155) * Change deprecated ceres function (ros-navigation#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (ros-navigation#3162) * bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145) * bugfix (ros-navigation#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <[email protected]> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Daisuke Sato <[email protected]> * simple command costmap api - first few functions (ros-navigation#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <[email protected]> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <[email protected]> * fix trailing underscores Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix missing dependency on nav2_collision_monitor (ros-navigation#3175) * fixed start (ros-navigation#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (ros-navigation#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (ros-navigation#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (ros-navigation#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <[email protected]> Updated-by: Jaehun Kim <[email protected]> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (ros-navigation#3183) * [Smac] check if a node exists before creating (ros-navigation#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (ros-navigation#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (ros-navigation#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (ros-navigation#3218) * removing hypotf from smac planner heuristic computation (ros-navigation#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (ros-navigation#3219) * Disable Output Buffering (ros-navigation#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (ros-navigation#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (ros-navigation#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (ros-navigation#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (ros-navigation#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (ros-navigation#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (ros-navigation#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <[email protected]> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (ros-navigation#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (ros-navigation#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <[email protected]> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <[email protected]> * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <[email protected]> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Abdullah Enes BEDİR <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Tejas Kumar Shastha <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Lukas Fanta <[email protected]> Co-authored-by: Jackson9 <[email protected]> Co-authored-by: Ruffin <[email protected]> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: Nicolas Rocha Pacheco <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]>
shrijitsingh99
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Mar 4, 2023
* standalone assisted teleop (ros-navigation#2904) * standalone assisted teleop * added in action message * code review * moved to behavior server * added assisted teleop bt node * revert * added bt node for assisted teleop * lint fix * added cancel assisted teleop node * code review * working * cleanup * updated feeback * code review * update compute velocity * cleanup * lint fixes * cleanup * test fix * starting to add tests for assisted teleop * fixed tests * undo * fixed test * is_recovery * adjust abort result based on recovery or not * code review * added preempt velocity * working preempt assisted teleop test * completed assisted teleop tests * code review * undo * code review * remove sleep * topic rename * missing comma * added comma :( * added comma Co-authored-by: Steve Macenski <[email protected]> * Add the support of range sensors to Collision Monitor (ros-navigation#3099) * Support range sensors in Collision Monitor * Adjust README.md * Meet review fixes * Fix ros-navigation#3152: Costmap extend did not include Y component (ros-navigation#3153) * missing nodes added to nav2_tree_nodes.xml (ros-navigation#3155) * Change deprecated ceres function (ros-navigation#3158) * Change deprecated function * Update smoother_cost_function.hpp * remove camera_rgb_joint since child frame does not exist (ros-navigation#3162) * bugfix (ros-navigation#3109) deadlock when costmap receives new map (ros-navigation#3145) * bugfix (ros-navigation#3109) deadlock when costmap receives new map Signed-off-by: Daisuke Sato <[email protected]> * introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Daisuke Sato <[email protected]> * simple command costmap api - first few functions (ros-navigation#3159) * initial commit costmap_2d template Signed-off-by: Stevedan Omodolor <[email protected]> * finish task A and tested * lint * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py Co-authored-by: Steve Macenski <[email protected]> * fix trailing underscores Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Fix missing dependency on nav2_collision_monitor (ros-navigation#3175) * fixed start (ros-navigation#3168) * fixed start * return true * fix tests * Fix velocities comparison for rotation at place case (ros-navigation#3177) * Fix velocities comparison for rotation at place case * Meet review item * Remove unnecessary header * Change the comment * set a empty path on halt (ros-navigation#3178) * set a empty path on halt * fixed issues * remove path reset * fixing * reverting * revert * revert * fixed lint * test fix * uncrusify fix * simple command costmap api - update few functions (ros-navigation#3169) * * add aditional function to costmap_2d.py Signed-off-by: Stevedan Omodolor <[email protected]> Updated-by: Jaehun Kim <[email protected]> * finish task B * Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py * Update method docs * Remove underscores at parameters and split getCost into getCostXY and getCostIdx * Update method docstrings * lint code & update docstring, remove default value of getCostXY * lint code with pep257 & flake8 * clear names for bt nodes (ros-navigation#3183) * [Smac] check if a node exists before creating (ros-navigation#3195) * check if a node exists before creating * invert logic to group like with like * Update a_star.cpp * fixing benchmarkign for planners (ros-navigation#3202) * [Smac] Robin hood data structure improves performance by 10-15%! (ros-navigation#3201) * adding robin_hood unordered_map * using robin_hood node map * ignore robin_hood file * linting * linting cont. for triple pointers * linting cont. for uncrustify * [RPP] Add parameter to enable/disable collision detection (ros-navigation#3204) * [RPP] Add parameter to enable/disable collision detection * [RPP] Update README * Update waffle.model * add benchmark launch file + instructions (ros-navigation#3218) * removing hypotf from smac planner heuristic computation (ros-navigation#3217) * removing hypotf * swapping to node2d sqrt * complete smac planner tolerances (ros-navigation#3219) * Disable Output Buffering (ros-navigation#3220) To ensure await asyncio prints [Processing: %s]' every 30s as expected * fix majority of python linting errors introduced in python costmap API additions to get CI turning over again (ros-navigation#3223) * fix majority of python linting errors * finish linting * Assisted teleop simple commander (ros-navigation#3198) * add assisted teleop to python api * cleanup * assisted teleop demo * rename * lint * code review * trigger build * flake8 fix * break cashe * moved all v11 to v12 * lint fix * remove package dep * change default time allowance * Costmap Filter enabling service (ros-navigation#3229) * Add enabling service to costmap filters * Add service testcase * Fix comment * Use toggle_filter service name * Add binary flip costmap filter (ros-navigation#3228) * Add binary flip costmap filter * Move transformPose, worldToMask, getMaskData to CostmapFilter * Added default parametrized binary filter state * Switched to std_msgs/msg/Bool.msg * Use arbitrary filter values * Update waffle.model * Update waffle.model * Update test_actions.cpp * odom alpha restriction to avoid overflow caused by user-misconfiguration (ros-navigation#3238) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * Update controller server goal checker (ros-navigation#3240) * [FIX] Update controller server goal checker * [FIX] Autoformat code * [FIX] Misplaced tabs. Co-authored-by: Pedro Alejandro González <[email protected]> * map-size restriction to avoid overflow and nullptr caused by user-misconfiguration (ros-navigation#3242) * odom alpha restriction * odom alpha code style * odom alpha code style * odom alpha code style * map-size restriction * map-size code style * map-size rejection * map-size codestyle * map-size return false * Add Path Smoothers Benchmarking suite (ros-navigation#3236) * Add Path Smoothers Benchmarking suite * Meet review items * Update tools/smoother_benchmarking/README.md Co-authored-by: Steve Macenski <[email protected]> * Move optional performance patch to the end of README * Fix README Co-authored-by: Steve Macenski <[email protected]> * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <[email protected]> * bumping to 1.1.3 for release Signed-off-by: Daisuke Sato <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Abdullah Enes BEDİR <[email protected]> Co-authored-by: Tobias Fischer <[email protected]> Co-authored-by: Tejas Kumar Shastha <[email protected]> Co-authored-by: Daisuke Sato <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Lukas Fanta <[email protected]> Co-authored-by: Jackson9 <[email protected]> Co-authored-by: Ruffin <[email protected]> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: Nicolas Rocha Pacheco <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]>
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The impact is small, less than 2% or so, but it definitely doesn't hurt performance and I still see deterministically the same path metrics from experiments of 100 randomly generated paths.