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cherry-pick into humble: fix multi-bugs casued by costmap_ros_'s early shutdown #4463

Merged
merged 1 commit into from
Jun 24, 2024
Merged

cherry-pick into humble: fix multi-bugs casued by costmap_ros_'s early shutdown #4463

merged 1 commit into from
Jun 24, 2024
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GoesM
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@GoesM GoesM commented Jun 24, 2024 •
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Basic Info

Info Please fill out this column
Ticket(s) this addresses #4436 #4437 #4438 #4464 #4466 #4468
Primary OS tested on Ubuntu
Robotic platform tested on gazebo simulation
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

pull changes from main into humble

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.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

@GoesM @SteveMacenski
fix bug mentioned in #3958 (#3972)
c4b00cd 
* bug fixed

* add space

* Update planner_server.cpp

* add space for code style

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add ChildLifecycleNode mode in costmap_2d_ros

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower

* fit to NodeOption: is_lifecycle_follower

* fit reorder Werror

* fix wrong use of is_lifecycle_follower

* remove blank line

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* Add files via upload

* NodeOption: is_lifecycle_follower_

* NodeOption:is_lifecycle_follower_

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* change default

* add NodeOption for costmap_2d_ros

* add node options for costmap2dros as an independent node

* code style reformat

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

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

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

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

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

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

* changes

* comment changes

* change get_parameter into =false

* comment modification

* missing line

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* delete last line

* change lifecycle_test fit to NodeOption

---------

Co-authored-by: GoesM <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
@mergify Mergify
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mergify bot commented Jun 24, 2024

@GoesM, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

@GoesM GoesM changed the title cherry-pick into humble fix bug mentioned in #3958 (#3972) cherry-pick into humble [#4436 #4437 #4438] Jun 24, 2024
@GoesM GoesM changed the title cherry-pick into humble [#4436 #4437 #4438] cherry-pick into humble [fix bug mentioned in #4436 #4437 #4438] Jun 24, 2024
@GoesM GoesM mentioned this pull request Jun 24, 2024
Closed
@GoesM GoesM changed the title cherry-pick into humble [fix bug mentioned in #4436 #4437 #4438] cherry-pick into humble: fix bug casued by costmap_ros_'s early shutdown Jun 24, 2024
This was referenced Jun 24, 2024
Closed
Closed
@GoesM GoesM changed the title cherry-pick into humble: fix bug casued by costmap_ros_'s early shutdown cherry-pick into humble: fix multi-bugs casued by costmap_ros_'s early shutdown Jun 24, 2024
@SteveMacenski SteveMacenski merged commit 3e2b739 into ros-navigation:humble Jun 24, 2024
1 of 3 checks passed
RBT22 pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Sep 26, 2024
@GoesM @SteveMacenski @RBT22
fix bug mentioned in ros-navigation#3958 (ros-navigation#3972) (ros-n…
3be92cb 
…avigation#4463)

* bug fixed

* add space

* Update planner_server.cpp

* add space for code style

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add ChildLifecycleNode mode in costmap_2d_ros

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower

* fit to NodeOption: is_lifecycle_follower

* fit reorder Werror

* fix wrong use of is_lifecycle_follower

* remove blank line

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* Add files via upload

* NodeOption: is_lifecycle_follower_

* NodeOption:is_lifecycle_follower_

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* change default

* add NodeOption for costmap_2d_ros

* add node options for costmap2dros as an independent node

* code style reformat

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* changes

* comment changes

* change get_parameter into =false

* comment modification

* missing line

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* delete last line

* change lifecycle_test fit to NodeOption

---------

Co-authored-by: GoesM <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
emilnovak pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Sep 27, 2024
@RBT22 @GoesM
@Benjamin-Tan @Huyhust13 @SteveMacenski @pepisg @Wiktor-99 @perchess @tonynajjar @joaobrittoneto @Rayman @AzaelCicero @doisyg @StetroF @BriceRenaudeau @mergify @christophfroehlich @embeddedadam @bi0ha2ard @kaichie @huemerj @Marc-Morcos @ajtudela @EnzoGhisoni @jonipol @gennartan @reinzor @VincidaB @SiddharthaUpase @bektaskemal @iradionov @joeyjyyang
Nav2 Sync 4 2024 Sept 26 (#24)
0254af6 
* replace throw-error with error-log to avoid UAF mentioned in ros-navigation#4175 (ros-navigation#4180) (ros-navigation#4305)

* replace throw-error with error-log to avoid UAF



* fix typo



---------

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

* Cherry-pick from 15c9be0 (ros-navigation#4317)

Convert all wall timers and wall rates to ROS clock respecting rates and timers (ros-navigation#4000)

* Convert all wall timers and wall rates to ROS clock respecting rates and timers

* linty mclint face

* WPF wait plugin respect time

* move duration metrics to use local clocks

* bumping version for cache to break it

* complete timing refactor

* remove old variable

* Add dynamic parameter (ros-navigation#4319)

To fix ros-navigation#4315

Signed-off-by: Huy Nguyen Van <[email protected]>

* Humble release 11: May 23, 2024 (ros-navigation#4365)

* Scale cost critic's weight when dynamically updated (ros-navigation#4246)

* Scale cost critic's weight when dynamically updated

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

* sign off

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

---------

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

* Add expanding the ~/ to the full home dir of user in the path to the map yaml.  (ros-navigation#4258)

* Add user home expander of home sequence

Signed-off-by: Wiktor Bajor <[email protected]>

* Add passing home dir as string instead of const char*

Signed-off-by: Wiktor Bajor <[email protected]>

* Add docs

Signed-off-by: Wiktor Bajor <[email protected]>

* Fix function declaration

Signed-off-by: Wiktor Bajor <[email protected]>

* Fix linter issues

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter

Signed-off-by: Wiktor Bajor <[email protected]>

* Uncrustify linter: remove remove whitespace

Signed-off-by: Wiktor Bajor <[email protected]>

---------

Signed-off-by: Wiktor Bajor <[email protected]>

* Implement Critic for Velocity Deadband Hardware Constraints (ros-navigation#4256)

* Adding new velocity deadband critic.

- add some tests
- cast double to float
- add new features from "main" branch

- fix formating

- add cost test
- fix linting issue
- add README

Signed-off-by: Denis Sokolov <[email protected]>

* Remove velocity deadband critic from defaults

Signed-off-by: Denis Sokolov <[email protected]>

* remove old weight

Signed-off-by: Denis Sokolov <[email protected]>

* fix velocity deadband critic tests

Signed-off-by: Denis Sokolov <[email protected]>

---------

Signed-off-by: Denis Sokolov <[email protected]>

* removing clearable layer param (unused) (ros-navigation#4280)

* provide message validation check API (ros-navigation#4276)

* provide validation_message.hpp

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

* fix typo

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

* add test_validation_messages.cpp

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

* change include-order

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

* reformat

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

* update test

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

---------

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

* Add footprint clearing for static layer (ros-navigation#4282)

* Add footprint clearing for static layer

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

* fix flckering

---------

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

* Fix ros-navigation#4268 (ros-navigation#4296)

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

* Update README.md of nav2_bt_navigator (ros-navigation#4309)

Update link to docs

Signed-off-by: João Britto <[email protected]>

* Fix undefined symbols in `libpf_lib.so` (ros-navigation#4312)

When I build `nav2_amcl` with `-Wl,--no-undefined` I noticed
`libpf_lib.so` has undefined symbols. This PR correctly links
`libpf_lib.so` to `libm` so all symbols can be found.

You can verify this by executing the following command:
```
ldd -r ./build/nav2_amcl/src/pf/libpf_lib.so
	linux-vdso.so.1 (0x00007ffd1f8c0000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000074e909a00000)
	/lib64/ld-linux-x86-64.so.2 (0x000074e909e60000)
undefined symbol: ceil	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: atan2	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: sin	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: hypot	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: cos	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: log	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: sqrt	(./build/nav2_amcl/src/pf/libpf_lib.so)
undefined symbol: floor	(./build/nav2_amcl/src/pf/libpf_lib.so)
```

Signed-off-by: Ramon Wijnands <[email protected]>

* msg validation check for `/initialpose`  in `nav2_amcl` (ros-navigation#4301)

* add validation check for PoseWithCovarianceStamped

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

* remove rebundant check before

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

* reformat

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

* typo fixed

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

* change the type-name

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

* update test

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

* reformat

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

* .

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

* add comment

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

* update comment

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

* change header

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

* update test

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

* typo fixed

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

---------

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

* 4320: Changed precision of calculations of the HybridNode MotionTable::getClosestAngularBin. (ros-navigation#4324)

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

* [LifecycleNode] add bond_heartbeat_period (ros-navigation#4342)

* add bond_heartbeat_period

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

* lint

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

---------

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

* Update path_longer_on_approach.cpp (ros-navigation#4344)

Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose

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

* [LifecycleManagerClient] clean set_initial_pose and navigate_to_pose (ros-navigation#4346)

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

* Move projectState after getPointsInside (ros-navigation#4356)

* Modify test to check fix

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

* Add static polygon check before simulation

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

---------

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

* adding final pose in analytic expansion to check (ros-navigation#4353)

* fix sync merge conflicts

* bump humble to 1.1.15 for release

* Revert "[LifecycleNode] add bond_heartbeat_period (ros-navigation#4342)"

This reverts commit 6e44178.

---------

Signed-off-by: pepisg <[email protected]>
Signed-off-by: Wiktor Bajor <[email protected]>
Signed-off-by: Denis Sokolov <[email protected]>
Signed-off-by: goes <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: João Britto <[email protected]>
Signed-off-by: Ramon Wijnands <[email protected]>
Signed-off-by: Krzysztof Pawełczyk <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: StetroF <[email protected]>
Signed-off-by: Brice <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Wiktor Bajor <[email protected]>
Co-authored-by: Sokolov Denis <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: goes <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: João Britto <[email protected]>
Co-authored-by: Ramon Wijnands <[email protected]>
Co-authored-by: AzaelCicero <[email protected]>
Co-authored-by: Krzysztof Pawełczyk <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: StetroF <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>

* adding mutex lock around map resizing due to dynamic parameter changes and associated processes (ros-navigation#4373) (ros-navigation#4378)

(cherry picked from commit b0abc78)

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

* Make BT nodes have configurable wait times (Backport ros-navigation#3960 ros-navigation#4178 ros-navigation#4203) (ros-navigation#4409)

* WIP: Make BT nodes have configurable wait times. (ros-navigation#3960)

* Make BT nodes have configurable wait times.

Previous solution provided hardcoded 1s value.
Right now the value can be configured for BT
Action, Cancel and Service nodes.

[ros-navigation#3920]

Signed-off-by: Adam Galecki <[email protected]>

* Make BT nodes have configurable wait times.

Previous solution provided hardcoded 1s value.
Right now the value can be configured for BT
Action, Cancel and Service nodes.

[ros-navigation#3920]

Signed-off-by: Adam Galecki <[email protected]>

* Fix typos, linting errors and value type from float to int

* Fix extra underscores

* Fix extra underscore

* Update unit tests with blackboard parameter

Signed-off-by: Adam Galecki <[email protected]>

* Fix formatting errors

Signed-off-by: Adam Galecki <[email protected]>

* Update system tests to match new parameter

Signed-off-by: Adam Galecki <[email protected]>

---------

Signed-off-by: Adam Galecki <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>

* chore(nav2_behavior_tree): log actual wait period in bt_action_node (ros-navigation#4178)

Signed-off-by: Felix <[email protected]>
Co-authored-by: Felix <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>

* fix missing param declare (ros-navigation#4203)

Signed-off-by: nelson <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>

* Fix error messages (ros-navigation#4411)

Signed-off-by: Christoph Froehlich <[email protected]>

---------

Signed-off-by: Adam Galecki <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>
Signed-off-by: Felix <[email protected]>
Signed-off-by: nelson <[email protected]>
Co-authored-by: Adam Gałecki <[email protected]>
Co-authored-by: bi0ha2ard <[email protected]>
Co-authored-by: Felix <[email protected]>
Co-authored-by: nelson <[email protected]>

* Enable reloading BT xml file with same name (ros-navigation#4209) (ros-navigation#4422)

* Let BtActionServer overwrite xml

* Make a ROS parameter for it

* Rename flag to always reload BT xml file

---------

Signed-off-by: Johannes Huemer <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>
Co-authored-by: Johannes Huemer <[email protected]>

* fix bug mentioned in ros-navigation#3958 (ros-navigation#3972) (ros-navigation#4463)

* bug fixed

* add space

* Update planner_server.cpp

* add space for code style

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode to costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add childLifecycleNode mode in costmap_2d_ros

* add ChildLifecycleNode mode in costmap_2d_ros

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* fit to NodeOption: is_lifecycle_follower

* fit to NodeOption: is_lifecycle_follower

* fit reorder Werror

* fix wrong use of is_lifecycle_follower

* remove blank line

* NodeOption: is_lifecycle_follower_

* NodeOption: is_lifecycle_follower_

* Add files via upload

* NodeOption: is_lifecycle_follower_

* NodeOption:is_lifecycle_follower_

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* NodeOption:is_lifecycle_follower

* change default

* add NodeOption for costmap_2d_ros

* add node options for costmap2dros as an independent node

* code style reformat

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* fit to NodeOption of Costmap2DROS

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp



* changes

* comment changes

* change get_parameter into =false

* comment modification

* missing line

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* Update nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

* delete last line

* change lifecycle_test fit to NodeOption

---------

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

* bt_service_node and bt_action_node: Don't block BT loop (backport ros-navigation#4214) (ros-navigation#4408) (ros-navigation#4475)

* bt_service_node and bt_action_node: Don't block BT loop (ros-navigation#4214)

* Set smaller timeout for service node



* Fix timeout calculation for service node



* Add a feasible timeout also for action node



---------



* Increasing test count from timeout handling changes (ros-navigation#4234)



---------

Signed-off-by: Christoph Froehlich <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Behavior tree node for extracting pose from path (ros-navigation#4518) (ros-navigation#4525)

* add get pose from path action

Signed-off-by: MarcM0 <[email protected]>

* cleanup from PR suggestions

Signed-off-by: MarcM0 <[email protected]>

* Updates for main compatibility

Signed-off-by: MarcM0 <[email protected]>

* Lint and build fix

Signed-off-by: MarcM0 <[email protected]>

* More Lint and warnings

Signed-off-by: MarcM0 <[email protected]>

* More Lint and build

Signed-off-by: MarcM0 <[email protected]>

* remove code left over from older file

Signed-off-by: MarcM0 <[email protected]>

* fix test blackboard var name

Signed-off-by: MarcM0 <[email protected]>

* only populate pose frame if empty

Signed-off-by: MarcM0 <[email protected]>

* lint

Signed-off-by: MarcM0 <[email protected]>

---------

Signed-off-by: MarcM0 <[email protected]>
(cherry picked from commit 12a9c1d)

Co-authored-by: Marc Morcos <[email protected]>

* Make ros-navigation#4525 compile on humble (ros-navigation#4526)

* Make it compile on humble

Signed-off-by: Christoph Froehlich <[email protected]>

* Remove formatting

Signed-off-by: Christoph Froehlich <[email protected]>

---------

Signed-off-by: Christoph Froehlich <[email protected]>

* Fix backward motion for graceful controller (ros-navigation#4527) (ros-navigation#4566)

* Fix backward motion for graceful controller

Signed-off-by: Alberto Tudela <[email protected]>

* Update smooth_control_law.cpp

Signed-off-by: Alberto Tudela <[email protected]>

---------

Signed-off-by: Alberto Tudela <[email protected]>
(cherry picked from commit d1ad640)

Co-authored-by: Alberto Tudela <[email protected]>

* nav2_collision_monitor dynamic parameters polygon and source enabled for Humble (ros-navigation#4615)

* Copy modification from c2d84df into humble collision_monitor for dynamic parameter enabled in polygon

* Add the enabled dynamic parameter for source. Signed-off-by: Enzo Ghisoni <[email protected]>

* Start backport action_state_ declaration in collision_monitor_node_test.cpp

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

---------

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

* Humble release 12: August 23 (ros-navigation#4644)

* Add configure and cleanup transitions to lifecycle manager and client (ros-navigation#4371)

Signed-off-by: Joni Pöllänen <[email protected]>

* [RotationShimController] Rotate to goal heading (ros-navigation#4332)

When arriving in the goal xy tolerance, the rotation shim controller
takes back the control to command the robot to rotate in the goal
heading orientation.

The initial goal of the rotationShimController was to rotate the robot
at the beginning of a navigation towards the paths orientation because
some controllers are not good at performing in place rotations. For the
same reason, the rotationShimController should be able to rotate the
robot towards the goal heading.

Signed-off-by: Antoine Gennart <[email protected]>

* [RotationShimController] Fix test for rotate to goal heading (ros-navigation#4289) (ros-navigation#4391)

* Fix rotate to goal heading tests

Signed-off-by: Antoine Gennart <[email protected]>

* reset laser_scan_filter before reinit (ros-navigation#4397)

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

* Warn if inflation_radius_ < inscribed_radius_ (ros-navigation#4423)

* Warn if inflation_radius_ < inscribed_radius_

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

* convert to error

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

---------

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

* chore: cleanup ros1 leftovers (ros-navigation#4446)

Signed-off-by: Rein Appeldoorn <[email protected]>

* precomputeDistanceHeuristic is now computed once (ros-navigation#4451)

Signed-off-by: Vincent Belpois <[email protected]>
Co-authored-by: SiddharthaUpase <[email protected]>

* shutdown services in destructor of `ClearCostmapService` (ros-navigation#4495)

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

* fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (ros-navigation#4507)

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

* min_turning_r_ getting param fix (ros-navigation#4510)

* min_turning_r_ getting param fix

Signed-off-by: Ivan Radionov <[email protected]>

* Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp

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

---------

Signed-off-by: Ivan Radionov <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Ivan Radionov <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* Return out of map update if frames mismatch. Signed-off-by Joey Yang (ros-navigation#4517)

Signed-off-by: Joey Yang <[email protected]>

* check nullptr in smoothPlan() (ros-navigation#4544)

* check nullptr in smoothPlan()

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

* code-style

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

* code-style

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

* simple change

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

---------

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

* bump to 1.1.15

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

* Revert "Add configure and cleanup transitions to lifecycle manager and client (ros-navigation#4371)"

This reverts commit 06ec958.

* fix merge conflict with humble sync

* fix merge conflict with humble sync

---------

Signed-off-by: Joni Pöllänen <[email protected]>
Signed-off-by: Antoine Gennart <[email protected]>
Signed-off-by: Antoine Gennart <[email protected]>
Signed-off-by: goes <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Rein Appeldoorn <[email protected]>
Signed-off-by: Vincent Belpois <[email protected]>
Signed-off-by: GoesM_server <[email protected]>
Signed-off-by: Kemal Bektas <[email protected]>
Signed-off-by: Ivan Radionov <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Joey Yang <[email protected]>
Signed-off-by: GoesM <[email protected]>
Co-authored-by: Joni Pöllänen <[email protected]>
Co-authored-by: Saitama <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: goes <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: Rein Appeldoorn <[email protected]>
Co-authored-by: Vincent <[email protected]>
Co-authored-by: SiddharthaUpase <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Ivan Radionov <[email protected]>
Co-authored-by: Ivan Radionov <[email protected]>
Co-authored-by: Joey Yang <[email protected]>

* Fixing ros-navigation#4661: MPPI ackermann reversing taking incorrect sign sometimes (ros-navigation#4664) (ros-navigation#4668)

* Fixing ros-navigation#4661: MPPI ackermann reversing taking incorrect sign sometimes

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

* fixing unit test for type implicit cast

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

---------

Signed-off-by: Steve Macenski <[email protected]>
(cherry picked from commit 7eb47d8)

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

---------

Signed-off-by: GoesM <[email protected]>
Signed-off-by: Huy Nguyen Van <[email protected]>
Signed-off-by: pepisg <[email protected]>
Signed-off-by: Wiktor Bajor <[email protected]>
Signed-off-by: Denis Sokolov <[email protected]>
Signed-off-by: goes <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: João Britto <[email protected]>
Signed-off-by: Ramon Wijnands <[email protected]>
Signed-off-by: Krzysztof Pawełczyk <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Signed-off-by: StetroF <[email protected]>
Signed-off-by: Brice <[email protected]>
Signed-off-by: Adam Galecki <[email protected]>
Signed-off-by: Christoph Froehlich <[email protected]>
Signed-off-by: Felix <[email protected]>
Signed-off-by: nelson <[email protected]>
Signed-off-by: Johannes Huemer <[email protected]>
Signed-off-by: EnzoGhisoni <[email protected]>
Signed-off-by: Joni Pöllänen <[email protected]>
Signed-off-by: Antoine Gennart <[email protected]>
Signed-off-by: Antoine Gennart <[email protected]>
Signed-off-by: Rein Appeldoorn <[email protected]>
Signed-off-by: Vincent Belpois <[email protected]>
Signed-off-by: GoesM_server <[email protected]>
Signed-off-by: Kemal Bektas <[email protected]>
Signed-off-by: Ivan Radionov <[email protected]>
Signed-off-by: Joey Yang <[email protected]>
Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Benjamin-Tan <[email protected]>
Co-authored-by: Huy Nguyen Van <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Wiktor Bajor <[email protected]>
Co-authored-by: Sokolov Denis <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: João Britto <[email protected]>
Co-authored-by: Ramon Wijnands <[email protected]>
Co-authored-by: AzaelCicero <[email protected]>
Co-authored-by: Krzysztof Pawełczyk <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: StetroF <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Adam Gałecki <[email protected]>
Co-authored-by: bi0ha2ard <[email protected]>
Co-authored-by: Felix <[email protected]>
Co-authored-by: nelson <[email protected]>
Co-authored-by: Johannes Huemer <[email protected]>
Co-authored-by: Marc Morcos <[email protected]>
Co-authored-by: Alberto Tudela <[email protected]>
Co-authored-by: Enzo Ghisoni <[email protected]>
Co-authored-by: EnzoGhisoni <[email protected]>
Co-authored-by: Joni Pöllänen <[email protected]>
Co-authored-by: Saitama <[email protected]>
Co-authored-by: Rein Appeldoorn <[email protected]>
Co-authored-by: Vincent <[email protected]>
Co-authored-by: SiddharthaUpase <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Ivan Radionov <[email protected]>
Co-authored-by: Ivan Radionov <[email protected]>
Co-authored-by: Joey Yang <[email protected]>
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