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Fix nav2_velocity_smoother for sim time #3360

Merged
merged 2 commits into from
Jan 13, 2023
Merged

Fix nav2_velocity_smoother for sim time #3360

merged 2 commits into from
Jan 13, 2023

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HovorunB
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@HovorunB HovorunB commented Jan 12, 2023 •
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Basic Info

Info Fix nav2_velocity_smoother for sim time
Ticket(s) this addresses
Primary OS tested on Ubuntu
Robotic platform tested on Gazebo simulation

Description of contribution in a few bullet points

If sim time is used: now() might be close to 0 on startup and last_command_time_ is defined 0 making the condition now() - last_command_time_ > velocity_timeout_ False, which assumes that velocity command was received recently and then leads to an error when trying to access command_'s properties ( command_->linear.x )
So i added check for command_ being null before proceeding with smoothing

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

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mergify bot commented Jan 12, 2023

@HovorunB, 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

AlexeyMerzlyakov
AlexeyMerzlyakov approved these changes Jan 13, 2023
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The change LGTM: the main logic is comes from smootherTimer() callback, so we need to wait until first message to be received.

@AlexeyMerzlyakov AlexeyMerzlyakov merged commit c841417 into ros-navigation:main Jan 13, 2023
SteveMacenski added a commit that referenced this pull request Feb 10, 2023
@HovorunB @SteveMacenski
Fix nav2_velocity_smoother for sim time (#3360)
739df47 
* Fix nav2_velocity_smoother for sim time

* Update nav2_velocity_smoother/src/velocity_smoother.cpp

Co-authored-by: Steve Macenski <[email protected]>
SteveMacenski added a commit that referenced this pull request Feb 10, 2023
@SteveMacenski @andriimaistruk
@milidam @malban @AlexeyMerzlyakov @HovorunB @DylanDeCoeyer-Quimesis @borongyuan @austin-InDro @muttistefano
Humble Sync 5 (Feb 10) (#3405)
040c585 
* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (#3333)

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (#3356)

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap

When clearing entirely a costmap (see the `clear_entirely_*` service),
its layers are reset. This sets their `current_` attribute to False,
until they are updated (`updateCosts()`). However, for disabled
plugins/filters, the `updateCosts()` is bypassed so that the `current_`
attribute is never reset to True, and the costmap never becomes
"current" again; because of that the controller_server used to get stuck
in an endless loop (see `while (!costmap_ros_->isCurrent())`
in `ControllerServer::computeControl()`).

This patch fixes that by adding a condition for not considering disabled
plugins/filters in the `LayeredCostmap::isCurrent()`.

* Add forgotten Layer::isEnabled() definition

* Export ompl include directories from nav2_smac_planner. (#3358)

* Update default w_smooth to 2M (#3341)

* Fix nav2_velocity_smoother for sim time (#3360)

* Fix nav2_velocity_smoother for sim time

* Update nav2_velocity_smoother/src/velocity_smoother.cpp

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

* catch general exceptions (#3373)

* catch general exceptions

* Update controller_server.cpp

* nav2_tree_nodes: rename "service_name" input port for action nodes (#3370)

Classes inheriting from nav2_behavior_tree::BtActionNode use
"server_name" as input port. The "service_name" input port is reserved
to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be
a confusion in the nav2_tree_nodes.xml file.

* Fixing Theta* test failures (#3380)

* adding printouts since can't see locally

* one more to isolate

* request in bounds

* remove prints

* Fix SpeedController (#3378)

* Fix SpeedController
* Using blackboard get() method that does not throw error
* Share odom_smoother on the blackboard

Signed-off-by: Borong Yuan <[email protected]>

* Fix SpeedController linting and test errors

Signed-off-by: Borong Yuan <[email protected]>

Signed-off-by: Borong Yuan <[email protected]>

* node_name change during initialization (#3387)

* Added missing conditions to nav2_tree_nodes (#3401)

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes

* Update nav2_tree_nodes.xml

---------

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

* Fix multi-robot launch issues (#3383)

* Fix multi-robot launch issues:
* Use full name of composable nodes container
* Correct and update BT plugins and error codes list
* Fix and update local and global costmap used plugins parameters

* Do not publish voxel map for multi-robot case

* Update controller_server.cpp

* Update nav2_smoother.cpp

---------

Signed-off-by: Borong Yuan <[email protected]>
Co-authored-by: Andrii Maistruk <[email protected]>
Co-authored-by: milidam <[email protected]>
Co-authored-by: Marc Alban <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: HovorunB <[email protected]>
Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]>
Co-authored-by: Borong Yuan <[email protected]>
Co-authored-by: Austin Greisman <[email protected]>
Co-authored-by: muttistefano <[email protected]>
Co-authored-by: blanker <[email protected]>
andrewlycas pushed a commit to StratomInc/navigation2 that referenced this pull request Feb 23, 2023
@HovorunB @SteveMacenski
Fix nav2_velocity_smoother for sim time (ros-navigation#3360)
c07a6fe 
* Fix nav2_velocity_smoother for sim time

* Update nav2_velocity_smoother/src/velocity_smoother.cpp

Co-authored-by: Steve Macenski <[email protected]>
hyunseok-yang pushed a commit to lge-ros2/navigation2 that referenced this pull request Mar 6, 2023
@SteveMacenski @andriimaistruk
@milidam @malban @AlexeyMerzlyakov @HovorunB @DylanDeCoeyer-Quimesis @borongyuan @austin-InDro @muttistefano @hyunseok-yang
Humble Sync 5 (Feb 10) (ros-navigation#3405)
322b1b2 
* Std::string doesn't have such constructor, therefore wrong exception happens when waiting for action server is over (ros-navigation#3333)

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Update bt_action_node.hpp

* Update bt_cancel_action_node.hpp

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap (ros-navigation#3356)

* Do only consider enabled costmap plugins/filters in the isCurrent() method of a LayeredCostmap

When clearing entirely a costmap (see the `clear_entirely_*` service),
its layers are reset. This sets their `current_` attribute to False,
until they are updated (`updateCosts()`). However, for disabled
plugins/filters, the `updateCosts()` is bypassed so that the `current_`
attribute is never reset to True, and the costmap never becomes
"current" again; because of that the controller_server used to get stuck
in an endless loop (see `while (!costmap_ros_->isCurrent())`
in `ControllerServer::computeControl()`).

This patch fixes that by adding a condition for not considering disabled
plugins/filters in the `LayeredCostmap::isCurrent()`.

* Add forgotten Layer::isEnabled() definition

* Export ompl include directories from nav2_smac_planner. (ros-navigation#3358)

* Update default w_smooth to 2M (ros-navigation#3341)

* Fix nav2_velocity_smoother for sim time (ros-navigation#3360)

* Fix nav2_velocity_smoother for sim time

* Update nav2_velocity_smoother/src/velocity_smoother.cpp

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

* catch general exceptions (ros-navigation#3373)

* catch general exceptions

* Update controller_server.cpp

* nav2_tree_nodes: rename "service_name" input port for action nodes (ros-navigation#3370)

Classes inheriting from nav2_behavior_tree::BtActionNode use
"server_name" as input port. The "service_name" input port is reserved
to sub-classes of nav2_behavior_tree::BtServiceNode. There seemed to be
a confusion in the nav2_tree_nodes.xml file.

* Fixing Theta* test failures (ros-navigation#3380)

* adding printouts since can't see locally

* one more to isolate

* request in bounds

* remove prints

* Fix SpeedController (ros-navigation#3378)

* Fix SpeedController
* Using blackboard get() method that does not throw error
* Share odom_smoother on the blackboard

Signed-off-by: Borong Yuan <[email protected]>

* Fix SpeedController linting and test errors

Signed-off-by: Borong Yuan <[email protected]>

Signed-off-by: Borong Yuan <[email protected]>

* node_name change during initialization (ros-navigation#3387)

* Added missing conditions to nav2_tree_nodes (ros-navigation#3401)

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes

* Update nav2_tree_nodes.xml

---------

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

* Fix multi-robot launch issues (ros-navigation#3383)

* Fix multi-robot launch issues:
* Use full name of composable nodes container
* Correct and update BT plugins and error codes list
* Fix and update local and global costmap used plugins parameters

* Do not publish voxel map for multi-robot case

* Update controller_server.cpp

* Update nav2_smoother.cpp

---------

Signed-off-by: Borong Yuan <[email protected]>
Co-authored-by: Andrii Maistruk <[email protected]>
Co-authored-by: milidam <[email protected]>
Co-authored-by: Marc Alban <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: HovorunB <[email protected]>
Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]>
Co-authored-by: Borong Yuan <[email protected]>
Co-authored-by: Austin Greisman <[email protected]>
Co-authored-by: muttistefano <[email protected]>
Co-authored-by: blanker <[email protected]>
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@AlexeyMerzlyakov AlexeyMerzlyakov AlexeyMerzlyakov approved these changes

@SteveMacenski SteveMacenski SteveMacenski approved these changes

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