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

fix build mppi #3927

Merged
merged 1 commit into from
Nov 1, 2023
Merged

fix build mppi #3927

merged 1 commit into from
Nov 1, 2023

Conversation

ladianchad
Copy link
Contributor

@ladianchad ladianchad commented Nov 1, 2023 •
edited
Loading

Basic Info

Info Please fill out this column
Ticket(s) this addresses #3926
Primary OS tested on ubuntu 22.04
Robotic platform tested on None

Description of contribution in a few bullet points

fix build fail when source build with apt pkg overriding.

Description of documentation updates required from your changes

I fix some CMakeLists of mppi controller, and add missing include in mppi test

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

@kevin-floatic
fix build mppi
3e953f6 
Signed-off-by: kevin <[email protected]>
@SteveMacenski SteveMacenski merged commit da7f85d into ros-navigation:main Nov 1, 2023
3 of 5 checks passed
@ladianchad ladianchad deleted the fix/build branch November 2, 2023 00:08
doisyg pushed a commit to botsandus/navigation2 that referenced this pull request Nov 2, 2023
@ladianchad @kevin-floatic
fix build mppi (ros-navigation#3927)
5d2f4a8 
Signed-off-by: kevin <[email protected]>
Co-authored-by: kevin <[email protected]>
jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Jan 3, 2024
@ladianchad @kevin-floatic @jwallace42
fix build mppi (ros-navigation#3927)
7457695 
Signed-off-by: kevin <[email protected]>
Co-authored-by: kevin <[email protected]>
Signed-off-by: gg <[email protected]>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
@ladianchad @kevin-floatic @SteveMacenski
fix build mppi (#3927)
fb7baba 
Signed-off-by: kevin <[email protected]>
Co-authored-by: kevin <[email protected]>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @Plaqueoff @kfabian @ladianchad @kevin-floatic @doisyg @romi2002 @mikeferguson @Hao-Li-Bachelorarbeit @GoesM @BriceRenaudeau @jwallace42 @Sunart24 @renan028
Iron Sync 4: Jan 23, 2024 (#4063)
57093ec 
* collision_monitor: dynamic polygon and source enable/disable (#3825)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* initial

* fix

* fix

* remove unrelated change

* reset

* fix format

* PR fixes

* Add test

* fix comments

* add to params

* publish only if enabled

* Add source dynamic enable/disable

* add enabled param to sources

* fix

* add same to collision detector

* Update README.md: fix typo (#3842)

* Update package.xml

* fix typo (#3850)

* adjust link to point to v3.8 of behavior tree docs (#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

---------

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

* Fix action test failure due to rate after Rolling sync API change (#3852)

* Update CMakeLists.txt (#3843)

* add option for sse4 and avs512 (#3853)

* Remove all exit(-1) crash conditions (#3846)

* Update transform_available_condition.cpp

* wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash

* some linting

* fix typo

* Update controller.cpp

* Update nav2_params.yaml

* Update nav2_params.yaml

* simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Stop error diagnostics when pausing nav (#3830)

* Added nodestate enum and a variable to keep track of current state of managed nodes.

* Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message.

* Fixing bugs.

* Updated/added docstrings.

* Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case.

* Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method.

* Bugfix.

---------

Co-authored-by: Pekka Myller <[email protected]>

* Add a timeout to the wait for transforms step of the costmap activation. (#3866)

* Add a timeout to the wait for transforms step of the costmap activation.

Signed-off-by: Fabian König <[email protected]>

* Rename wait_for_transforms_timeout to initial_transform_timeout

* Activate costmap publishers only after transforms are checked

* Check if controller server activation was succesful in planner_server

* Add unittest for costmap activation

Signed-off-by: Fabian König <[email protected]>

---------

Signed-off-by: Fabian König <[email protected]>

* Fix class doxygen

* fix minor typos (#3892)

Signed-off-by: Anton Kesy <[email protected]>

* Publish collision points for debug purposes (#3879)

* Rename PushRosNamespace to PushROSNamespace

* Fix min_points checking

* .

* fixes

* add to collision detector

* fix

* fix

* .

* fixes

* add namespace to topic

* fixes

* fix use after free (#3910)

* fix build mppi (#3927)

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

* Removing old TODOs

* protect invalid max_velocity min_velocity (#3953)

Co-authored-by: Guillaume Doisy <[email protected]>

* protect properly max_accel and max_decel (#3952)

Co-authored-by: Guillaume Doisy <[email protected]>

* Fixed links for install and build in README (#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* adding support for rotate in place cusps (#3934)

* Fix linting error (#3969)

* Fix linting error

* Update regulated_pure_pursuit_controller.cpp

* fix a few outdated comments in smac planners (#3978)

* adding soft realtime prioritization for collision monitor and velocity smoother (#3979)

* adding soft realtime prioritization for collision monitor and velocity smoother

* refactor simple action server to use new utils API

* Update README.md

* Synchronize map size information during map initialization (#4015)

* Update costmap size configuration

This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated.

* Refactor costmap size assignment in Costmap2D class

The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity.

* check width&height params (#4017)

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

* Fix SimpleActionServer nullprt callback (#4025)

* add check before calling completion_callback_

* Fix lint

* footprint checks (#4030)

* footprint checks

Signed-off-by: gg <[email protected]>

* lint fix

Signed-off-by: gg <[email protected]>

---------

Signed-off-by: gg <[email protected]>

* Is path valid doc (#4032)

* docs

Signed-off-by: gg <[email protected]>

* update

Signed-off-by: gg <[email protected]>

---------

Signed-off-by: gg <[email protected]>

* Update vision_opencv's branch for rolling

Signed-off-by: Steve Macenski <[email protected]>

* handle dynamically changes in parameters. (#4046)

Signed-off-by: Sebastian Solarte <[email protected]>

* Add inflation_layer_name param (#4047)

Signed-off-by: Renan Salles <[email protected]>

* missing urdf dep (#4050)

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

* bump to 1.2.6 for release

---------

Signed-off-by: CihatAltiparmak <[email protected]>
Signed-off-by: Fabian König <[email protected]>
Signed-off-by: Anton Kesy <[email protected]>
Signed-off-by: kevin <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Sebastian Solarte <[email protected]>
Signed-off-by: Renan Salles <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: thandal <[email protected]>
Co-authored-by: Anton Kesy <[email protected]>
Co-authored-by: CihatAltiparmak <[email protected]>
Co-authored-by: Anil Kumar Chavali <[email protected]>
Co-authored-by: Plaqueoff <[email protected]>
Co-authored-by: Pekka Myller <[email protected]>
Co-authored-by: Fabian König <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Abiel Fernandez <[email protected]>
Co-authored-by: Michael Ferguson <[email protected]>
Co-authored-by: Hao-Li-Bachelorarbeit <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: Sebastian Solarte <[email protected]>
Co-authored-by: Renan Salles <[email protected]>
SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024
@ladianchad @kevin-floatic @SteveMacenski
fix build mppi (#3927)
e9037a2 
Signed-off-by: kevin <[email protected]>
Co-authored-by: kevin <[email protected]>
SteveMacenski added a commit that referenced this pull request Jan 24, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson
Humble Sync 9: Jan 23, 2024 (#4064)
abe4149 
* Update README.md: fix typo (#3842)

* Update package.xml

* fix typo (#3850)

* adjust link to point to v3.8 of behavior tree docs (#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

---------

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

* simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (#3892)

Signed-off-by: Anton Kesy <[email protected]>

* fix use after free (#3910)

* fix build mppi (#3927)

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

* Removing old TODOs

* Fixed links for install and build in README (#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <[email protected]>
Signed-off-by: Anton Kesy <[email protected]>
Signed-off-by: kevin <[email protected]>
Co-authored-by: thandal <[email protected]>
Co-authored-by: Anton Kesy <[email protected]>
Co-authored-by: CihatAltiparmak <[email protected]>
Co-authored-by: Anil Kumar Chavali <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Abiel Fernandez <[email protected]>
Co-authored-by: Michael Ferguson <[email protected]>
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 9, 2024
@SteveMacenski @thandal
@antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson @RBT22
Humble Sync 9: Jan 23, 2024 (ros-navigation#4064)
05d4f94 
* Update README.md: fix typo (ros-navigation#3842)

* Update package.xml

* fix typo (ros-navigation#3850)

* adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

---------

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

* simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (ros-navigation#3892)

Signed-off-by: Anton Kesy <[email protected]>

* fix use after free (ros-navigation#3910)

* fix build mppi (ros-navigation#3927)

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

* Removing old TODOs

* Fixed links for install and build in README (ros-navigation#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (ros-navigation#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <[email protected]>
Signed-off-by: Anton Kesy <[email protected]>
Signed-off-by: kevin <[email protected]>
Co-authored-by: thandal <[email protected]>
Co-authored-by: Anton Kesy <[email protected]>
Co-authored-by: CihatAltiparmak <[email protected]>
Co-authored-by: Anil Kumar Chavali <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Abiel Fernandez <[email protected]>
Co-authored-by: Michael Ferguson <[email protected]>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Apr 10, 2024
@RBT22 @SteveMacenski
@thandal @antonkesy @CihatAltiparmak @akchobby @ladianchad @kevin-floatic @romi2002 @mikeferguson @srmainwaring @mergify @hsong-MLE @iceuw @Chortine @MikeWrock @stephanie-eng @GoesM @jwallace42 @pepisg @cybaol @BriceRenaudeau @facontidavide @jncfa @Ryanf55 @pedro-fuoco @Mygao @amock @tonynajjar
Nav2 Sync 3 2024 April 9 (#15)
7046850 
* Fix ros-navigation#4001 (ros-navigation#4028)

* Humble Sync 9: Jan 23, 2024 (ros-navigation#4064)

* Update README.md: fix typo (ros-navigation#3842)

* Update package.xml

* fix typo (ros-navigation#3850)

* adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851)

BT.CPP_v3 is used, thereby the correct docs should be linked

* Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849)

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

* Fix bug in nav2_behavior_tree/bt_action_node

* Fixed the bug in halt function inside
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

* Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp
  for testing the scenario to cancel

* Refactored existing cases in
  nav2_behavior_tree/plugin/action/bt_action_node.hpp

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

---------

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

* simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.

* Fix class doxygen

* fix minor typos (ros-navigation#3892)

Signed-off-by: Anton Kesy <[email protected]>

* fix use after free (ros-navigation#3910)

* fix build mppi (ros-navigation#3927)

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

* Removing old TODOs

* Fixed links for install and build in README (ros-navigation#3963)

Currently the readme is linking to an invalida page in the docs (404 error).

* fix a few outdated comments in smac planners (ros-navigation#3978)

* Update README.md

* bump to 1.1.13 for release

---------

Signed-off-by: CihatAltiparmak <[email protected]>
Signed-off-by: Anton Kesy <[email protected]>
Signed-off-by: kevin <[email protected]>
Co-authored-by: thandal <[email protected]>
Co-authored-by: Anton Kesy <[email protected]>
Co-authored-by: CihatAltiparmak <[email protected]>
Co-authored-by: Anil Kumar Chavali <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Abiel Fernandez <[email protected]>
Co-authored-by: Michael Ferguson <[email protected]>

* Fixes for compiling with clang on macOS (ros-navigation#4051)

amcl: declare void parameter for functions with no args

amcl: remove unused variables

behavior_tree: address clang compilation issues

behaviors: add missing override specifier

bt_navigator: add missing override specifier

collision_monitor: address clang compilation issues

constrained_smoother: address clang compilation issues

controller: address clang compilation issues

costmap_2d: add missing override specifier

costmap_2d: address clang compilation issues

costmap_2d: fix link issue for order_layer

dwb_controller: fix clang compile issue, replace ulong with uint32_t

map_server: replace std::experimental::filesystem

map_server: remove dependency on stdc++fs

waypoint_follower: address clang compilation issues

waypoint_follower: remove dependency on stdc++fs

waypoint_follower: replace std::experimental::filesystem

smoother: address clang compilation issues

smoother: remove unused variables

system_tests: remove dependency on stdc++fs

rotation_shim_controller: update percentage arg in setSpeedLimit to boolean

planner: remove unused variables

costmap_2d: address clang compilation issues

mppi_controller: replace use of auto as function param with templates

mppi_controller: address clang compilation issues

costmap_2d: resolve clang issue with std::pair non-const copy

Signed-off-by: Rhys Mainwaring <[email protected]>

* critical fix for path tracking MPPI (ros-navigation#4099) (ros-navigation#4101)

(cherry picked from commit 8f7b6ce)

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

* backport graceful controller to humble (ros-navigation#4119)

* Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123) (ros-navigation#4125)

* Added cast to float to getClosestAngularBin return for behavior consistency.

Signed-off-by: Hunter Song <[email protected]>

* Revised test name

Signed-off-by: Hunter Song <[email protected]>

---------

Signed-off-by: Hunter Song <[email protected]>
(cherry picked from commit c59e0f3)

Co-authored-by: hsong-MLE <[email protected]>

* Fix goal handle was not freed correctly (ros-navigation#4137) (ros-navigation#4143)

* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Ziohang <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
(cherry picked from commit 2e491b1)

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

* bug fix (ros-navigation#4160) (ros-navigation#4162)

Signed-off-by: Tianchu <[email protected]>
(cherry picked from commit 623434b)

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

* Add uint suffix (ros-navigation#4213) (ros-navigation#4216)

(cherry picked from commit 46ff0ec)

Co-authored-by: Michael Wrock <[email protected]>

* Fix merge conflict in nav2_mppi_controller README (humble) (ros-navigation#4239)

Signed-off-by: Stephanie Eng <[email protected]>

* Humble sync 10: April 4, 2024 (ros-navigation#4241)

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

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

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <[email protected]>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Change costmap_queue to shared library (ros-navigation#4072)

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

* free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079)

* free `map_sub_` before `map_free(map_)`

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

* reformat

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

---------

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* adding progress checker selector BT node (ros-navigation#4109)

* New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090)

* Share code

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

* Update inflation_cost_critic.hpp

- copyright
- ifndef

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

* fix lint cpp

- extra space

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

* Fix Smac Planner confined collision checker  (ros-navigation#4055)

* Update collision_checker.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Fix tests

Signed-off-by: Steve Macenski <[email protected]>

* Update test_a_star.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Signed-off-by: Brice <[email protected]>

* [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067)

* prototype to test SE2 footprint H improvements

* some fixes

* fixed

* invert logic

* Working final prototype to be tested

* complete unit test conversions

* Update inflation_layer.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Adding new Smac paper to readme

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Update README.md

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074)

* don't repeat yourself: templates in tests

Signed-off-by: Davide Faconti <[email protected]>

* misse change

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Brice <[email protected]>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

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

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <[email protected]>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Updated code to use getInflationLayer() method (ros-navigation#4076)

* updated code to use getInflationLayer method

Signed-off-by: Jose Faria <[email protected]>

* Fix linting

Signed-off-by: Jose Faria <[email protected]>

---------

Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Brice <[email protected]>

* 1594 twist stamped publisher (ros-navigation#4077)

* Add TwistStamped to controller_server via TwistPublisher util

* Add a new util class for publishing either Twist or TwistStamped
* Add a new parameter for selecting to stamp the twist data
* Consume TwistPublisher in nav2_controller

Signed-off-by: Ryan Friedman <[email protected]>

* Fix small issues

* Unused variable
* Incorrect doxygen

Signed-off-by: Ryan Friedman <[email protected]>

* Remove stored node and assert

Signed-off-by: Ryan Friedman <[email protected]>

* Add tests for node

* Facing timeout even though it does the same thing as velocity smoother test

Signed-off-by: Ryan Friedman <[email protected]>

* Add missing spin call to solve timeout

Signed-off-by: Ryan Friedman <[email protected]>

* Fix copyright (me instead of intel)

Signed-off-by: Ryan Friedman <[email protected]>

* Add full test coverage with subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused rclcpp fixture

* Can't use it due to needing to join the pub thread after rclcpp shuts down

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in nav2_behaviors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistStamped readme updates to velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistSubscriber implementation

Signed-off-by: Ryan Friedman <[email protected]>

* Fix syntax errors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in test_velocity_smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in assisted_teleop

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused code

Signed-off-by: Ryan Friedman <[email protected]>

* add timestamp and frame_id to TwistStamped message

* Add missing utility include

Signed-off-by: Ryan Friedman <[email protected]>

* Document TwistPublisher and TwistSubscriber usage

Signed-off-by: Ryan Friedman <[email protected]>

* Use pass-by-reference

* Instead of std::move(std::unique_ptr<TwistStamped>)

Signed-off-by: Ryan Friedman <[email protected]>

* Finish twist subscriber tests

Signed-off-by: Ryan Friedman <[email protected]>

* Add other constructor and docs

Signed-off-by: Ryan Friedman <[email protected]>

* Fix linter issues

Signed-off-by: Ryan Friedman <[email protected]>

* Manually fix paren alignment

Signed-off-by: Ryan Friedman <[email protected]>

* Remove GSoC reference

Signed-off-by: Ryan Friedman <[email protected]>

* Document twist bool param in README

Signed-off-by: Ryan Friedman <[email protected]>

* Handle twistPublisher in collision monitor

* Implement behavior in the stamped callback
* Unstamped callback calls the stamped callback
* Switch to unique pointer for publisher

Signed-off-by: Ryan Friedman <[email protected]>

* Convert to using TwistStamped interally

* Use incoming twistStamped timestamp if available
* Convert all internal representations to use TwistStamped

Signed-off-by: Ryan Friedman <[email protected]>

* Remove nav2_util usage instructions

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused Twist only subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* More linter fixes

Signed-off-by: Ryan Friedman <[email protected]>

* Prefer working with unique_ptr for cmd_vel

* This makes it easier to switch to std::move instead of dereference on
  publish

Signed-off-by: Ryan Friedman <[email protected]>

* Completing twist stamped migration

* shared to unique ptr

Signed-off-by: Steve Macenski <[email protected]>

* twist add stamps and properly propogated

* nav2_util: fix for compiling with clang

- Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move]

Signed-off-by: Rhys Mainwaring <[email protected]>

---------

Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Brice <[email protected]>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice <[email protected]>

* fix include of hpp

Signed-off-by: Brice Renaudeau <[email protected]>

* inflation cost optmiizations and cleanu

* rename, add defaults, and docs

* smoke test addition

* lintg

* normalize weight

* update readme

* increment cache

* Update cost_critic.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update cost_critic.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Brice <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: GoesM <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Co-authored-by: Kino <[email protected]>

* Use ament_export_targets for all targets (ros-navigation#4112)

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <[email protected]>

* Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170)

Signed-off-by: Steve Macenski <[email protected]>

* completely shutdown inital_pose_sub_ (ros-navigation#4176)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

* fix typos in description messages (ros-navigation#4188)

Signed-off-by: Antonio Park <[email protected]>

* AMCL: Set an initial guess by service call (ros-navigation#4182)

* Added initial guess service. Signed-off-by: Alexander Mock

Signed-off-by: Alexander Mock <[email protected]>

* - Removed added empty line
- Renamed initialGuessCallback to initialPoseReceivedSrv
- Added new line to SetInitialPose service definition
- Removed mutex from initialPoseReceived
- Cleanup service server

Signed-off-by: Alexander Mock <[email protected]>

* added whitespace

Signed-off-by: Alexander Mock <[email protected]>

* renamed initial pose service in callback bind

Signed-off-by: Alexander Mock <[email protected]>

---------

Signed-off-by: Alexander Mock <[email protected]>

* Move lines for pre-computation to outside a loop (ros-navigation#4191)

Signed-off-by: Kyungsik Park <[email protected]>

* Fix typo (ros-navigation#4196)

* Fix BT.CPP import

Signed-off-by: Tony Najjar <[email protected]>

* Update README.md

---------

Signed-off-by: Tony Najjar <[email protected]>

* Update footprint iif changed (ros-navigation#4193)

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

* bump humble to 1.1.14 for sync

* fix merge conflict

* custom version of cost critic's cost method

---------

Signed-off-by: GoesM <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Signed-off-by: Antonio Park <[email protected]>
Signed-off-by: Alexander Mock <[email protected]>
Signed-off-by: Kyungsik Park <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Kino <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Co-authored-by: Antonio Park <[email protected]>
Co-authored-by: Alexander Mock <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>

* Fix graceful humble release version

Signed-off-by: Steve Macenski <[email protected]>

* Fix graceful_controller exceptions

---------

Signed-off-by: CihatAltiparmak <[email protected]>
Signed-off-by: Anton Kesy <[email protected]>
Signed-off-by: kevin <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Stephanie Eng <[email protected]>
Signed-off-by: GoesM <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Signed-off-by: Antonio Park <[email protected]>
Signed-off-by: Alexander Mock <[email protected]>
Signed-off-by: Kyungsik Park <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: thandal <[email protected]>
Co-authored-by: Anton Kesy <[email protected]>
Co-authored-by: CihatAltiparmak <[email protected]>
Co-authored-by: Anil Kumar Chavali <[email protected]>
Co-authored-by: 정찬희 <[email protected]>
Co-authored-by: kevin <[email protected]>
Co-authored-by: Abiel Fernandez <[email protected]>
Co-authored-by: Michael Ferguson <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: hsong-MLE <[email protected]>
Co-authored-by: iceuw <[email protected]>
Co-authored-by: Chortine <[email protected]>
Co-authored-by: Michael Wrock <[email protected]>
Co-authored-by: Stephanie Eng <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Kino <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Antonio Park <[email protected]>
Co-authored-by: Alexander Mock <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
@ladianchad @kevin-floatic @enricosutera
fix build mppi (ros-navigation#3927)
fad293e 
Signed-off-by: kevin <[email protected]>
Co-authored-by: kevin <[email protected]>
Signed-off-by: enricosutera <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@SteveMacenski SteveMacenski SteveMacenski approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@ladianchad @SteveMacenski @kevin-floatic