(cherry picked from commit 46ff0ec)

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

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* fix a few outdated comments in smac planners (ros-navigation#3978)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

---------

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* Fix graceful humble release version

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* Fix graceful_controller exceptions

---------

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