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(#4)\n\n* Humble sync 6 June 9: 1.1.7 (#3616)\r\n\r\n* Option allowing to use simple lookupTransform API (#3412)\r\n\r\n* Option allowing to use simple lookupTransform API\r\nignoring time shifts between source and base frame during the movement\r\n\r\n* Refine comments\r\n\r\n* Fix wrong warning message format (#3416)\r\n\r\n* Fix wrong warning message format (Closes #3415)\r\n\r\n* fix code formatting\r\n\r\n* nav2_dwb_controller: add forward_prune_distance parameter (#3374)\r\n\r\nUntil now, the prune_distance was used as distance threshold to shorten\r\nthe upcoming path when shorten_transformed_plan was enabled. However,\r\nthe prune and shortening mechanisms are de-correlated mechanisms. One\r\ncould wish to use a different shortening distance for upcoming points,\r\nthan the prune distance used for passed points. 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tag\r\n\r\n* Alias image tag over current branch name\r\n\r\n* Modify build and push steps for dev tag\r\n\r\n* Build and push dev tag first\r\nto not cache from stale stages\r\nas otherwise caching from multple regestry images seems error prone\r\n\r\n* Revert \"Build and push dev tag first\"\r\nas otherwise the build failer durring the dev tag\r\ncould then still block build of the main tag\r\n\r\nThis reverts commit 12dd5b1a4e3f37847e6333b9e9ae9ef480a80623.\r\n\r\n* Cache from multple reference images\r\nwhile giving layers from the main tag priority\r\nthis assumes that cache-from prioritizes firstly listed references\r\n\r\nhttps://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92\r\n\r\n* Cache tests in dev image as well\r\ncolcon cache can then skip tests for uneffected packages\r\n\r\n* Add devcontainer.json\r\n\r\n* Ignore doc for image builds\r\n\r\n* Add more extensions\r\n\r\n* Change workspaceFolder to root src path\r\nto 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safe\r\nhttps://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425\r\nhttps://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/\r\n\r\n* Setup workspace on create\r\n\r\n* Revert use of set -u for bash\r\ndon't raise error due to variables\r\notherwise colcon setup.sh chokes from using an unbounded path variable\r\n\r\n* Add safe.directory for git config\r\notherwise colcon cache errors out because of issues with git\r\ndue to complex user mapping magic that vscode does with devcontainers\r\n\r\nhttps://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor\r\n\r\nalso used by Moveit2:\r\nhttps://github.com/ros-planning/moveit2/pull/1994\r\n\r\nhttps://github.blog/2022-04-12-git-security-vulnerability-announced/\r\n\r\n* Set env using remoteEnv\r\ninstead of inlining them in scripts\r\n\r\n* Revert to using the main tag\r\nnow that the tester stage has been replicated\r\nwith the new devcontainer script commands instead\r\n\r\n* formating\r\n\r\n* Scrap `-dev` image tag\r\nand use codspaces prebuilds instead\r\n\r\n* Build incrementally from update content command\r\nby copying the build workspace steps from circleci config\r\n\r\n* Adapt the build workspace steps for bash\r\n\r\n* Fix for different ceres isinf() API (#3471)\r\n\r\n* Fixing name of security launch file\r\n\r\n* Clean up pending service client request on interrupt/timeout (#3479)\r\n\r\nSigned-off-by: Øystein Sture \r\n\r\n* Added str cast to parse int (#3486)\r\n\r\nCo-authored-by: antoniomarangi \r\n\r\n* Add flag to not send request in BTServiceNode (#3431)\r\n\r\n* Add flag to not send request in BTServiceNode\r\n\r\n* rename goal to request\r\n\r\n* Fail if should not send goal\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski 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create command\r\nand by copying skelton .bashrc file that sources it by default\r\n\r\n* Edit apt for autocomplete\r\nby disabling docker-clean from containerized ubuntu\r\n\r\n* Add ROS2 Ament Task Provider extension\r\nProvides tasks and problem matchers for ROS2 projects using ament\r\n\r\nhttps://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider\r\n\r\n* Source underlay for extentions\r\nto allow them to find the path to ros binaries\r\nsuch as ament_cpplint needed for althack.ament-task-provider\r\n\r\n* Target new dever stage in Dockerfile\r\n\r\n* Reduce need for internet after image build\r\nby installing developer dependencies earlier\r\n\r\n* Edit apt caching before apt updating\r\n\r\n* Source underlay systemwide\r\nthis is a hacky workarround\r\nto ensure VS Code can run ShellExecution tasks\r\nwith the ros envorment included in PATH\r\n\r\notherwise, postponing this to the on-create-command\r\nresults in vscode extentions not finding system installed ros commands\r\n\r\nthis also works for all user shells\r\nregardless of how devontainers could change the user\r\n\r\n* Postpone bashrc setup to postCreateCommand\r\nonce the dev container has been assigned to a user for the first time\r\n\r\n* Cleanup onCreateCommand\r\nas we don't use ros_entrypoint.sh for development\r\nand so it doesn't really need to be updated\r\n\r\n* Quite down the logs when building devcontainer\r\n\r\n* Formatting\r\n\r\n* Add refrence ccp properties config file\r\ngenerated from the vscode ROS extention\r\nbut with the hardcoded paths in includePath deleted\r\n\r\n* Update version of cppStandard for ROS Rolling\r\n\r\n* Update workspaceFolder to use new .vscode folder\r\n\r\n* Mount ccache directory to volume\r\nto speed up rebuilding devcontainer\r\nwhenever onCreateCommand is triggered\r\nbecause of modifications to .devcontainer/ files\r\n\r\n* Avoid use of containerEnv to express ccache direcotry\r\nas doing so is not possable, for more info:\r\n- https://stackoverflow.com/a/75759647/2577586\r\n- https://github.com/microsoft/vscode-remote-release/issues/7147#issuecomment-1237779733\r\n\r\nJust target a path in the temp direcotry instead\r\n\r\n* Stage auto generated includePath\r\n\r\n* Remove workspace install from include path\r\nexcept for autogenerated headers from message packages\r\n\r\n* Avoid hardcoded path to sorce folder\r\n\r\n* Avoid hardcoded path to install folder\r\nbut this is still rather fragile\r\nas the reletive path\r\nbetween workspaceFolder and the colcon workspace isn't fixed\r\n\r\n* Sort list of paths\r\n\r\n* Remove cpp properties configuration\r\nas it seems it's existance prevents autoupdating the includePaths property\r\nunless user manually runs the vscode command `>ROS:Update C++ Properties`\r\n\r\nhttps://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71\r\n\r\nand even when this command is invoked\r\nit blows aways any customizated properties anyhow\r\n\r\nissue about wrong cppStandard tracked here:\r\nhttps://github.com/ms-iot/vscode-ros/issues/818\r\n\r\n* Fix typo\r\nto move docker-clean from loaded config path\r\n\r\n* fix data race: addFilter() and resizeMap() can be executed concurrently (#3518)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* fix data race: prohibit resizeMap() during plugin/filter initialization (#3522)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* Mount overlay workspace into Dev Container via volume (#3524)\r\n\r\n* Add volume for overlay\r\nto avoid rebuilding it from scratch\r\nwhenever the dev container is rebuilt\r\nthis saves startup time locally when fiddling with the configs\r\n\r\n* Append devcontainerId to volume name\r\nto avoid conflicts with other devcontainers\r\nnote that devcontainerId is stable across rebuilds\r\n- https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson\r\n\r\n* Call updateContentCommand from onCreateCommand\r\nto deduplicate scripts and keep setup DRY\r\ngiven the addition of a mounted overlay volume\r\nwhich could include a prebuilt colcon workspace\r\nwell before the dev container is created/rebuilt\r\n\r\n* Comment out colcon clean from setup\r\nto avoid unintentional removal of built packages\r\nfrom the persistent overlay workspace volume.\r\nUsers can uncomment the line locally\r\nor simply remove the overlay workspace volume\r\nif they want to rebuild packages from scratch.\r\n\r\n* Format json\r\n\r\n* Add headless and use_rviz LaunchConfigurations to demo launch files (#3527)\r\n\r\n* Add headless and use_rviz LaunchConfigurations\r\nin nav2_simple_commander demo launch files\r\nfor whether to start rviz or gzclient\r\nto simplify their use in headless environments\r\n\r\n* Fix headless logic to match tb3_simulation_launch.py\r\nfor launch arg consistency\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss (#3531)\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss\r\n\r\n* Move testcase comment\r\n\r\n* Add PoseProgressChecker (#3530)\r\n\r\n* add rotation progress checker\r\n\r\n* clean include\r\n\r\n* add stopped goal checker reset test\r\n\r\n* add rotation progress checker tests\r\n\r\n* uncrustify\r\n\r\n* better name: PoseProgressChecker instead of RotationProgressChecker\r\n\r\n* camelCase\r\n\r\n* uncrustify\r\n\r\n* rename in tests\r\n\r\n* more rename\r\n\r\n* simplify parentheses\r\n\r\n* faster and better tests\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* [velocity_smoother] Fix accel and deccel inverted for negative speeds (#3529)\r\n\r\n* fix inverted accel / deccel\r\n\r\n* handle speed through 0.0\r\n\r\n* add applyConstraints tests\r\n\r\n* fold logic\r\n\r\n* same logic in findEtaConstraint\r\n\r\n* lint\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* findEtaConstraint tests\r\n\r\n* space\r\n\r\n* lint\r\n\r\n* typos\r\n\r\n* comment typos\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* Enable Visualizations for Dev Container (#3523)\r\n\r\n* Add visualizer stage\r\nto install demo dependencies\r\n\r\n* Install foxglove\r\n\r\n* Install gzweb\r\n\r\n* Add hack for resolvable mesh URIs\r\nlocated by the aws SDL model files\r\n- https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/pull/24\r\n\r\n* Revert hack and use fork\r\nthat fixes issues with deploy.sh\r\n- https://github.com/osrf/gzweb/pull/248\r\n\r\n* Update target stage to visualizer\r\n\r\n* Comment out gzclient and rviz for debugging\r\n\r\n* Add hack for resolvable mesh URIs\r\nas migrating the python3 scripts still hasn't resolved the issue\r\n\r\n* Reorder stages for readability\r\nby keeping sequential builder and tester stages adjacent\r\nwhile keeping tester stage the default exported target\r\n\r\n* fix typo\r\n\r\n* Install gdb for launching ros launch files\r\nusing the ROS VS Code extension\r\n- https://github.com/ms-iot/vscode-ros/issues/588\r\n\r\n* Add vscode tasks file\r\n\r\n* Add Start Gzweb task\r\n\r\n* Add Start Foxglove tasks\r\nfor bridge and studio\r\n\r\n* Add Start Foxglove compound task\r\nusing dependsOn\r\n\r\n* Set default problemMatcher to empty\r\nto avoid nagging the user to select one\r\nas currently none really support our use case\r\n\r\n* Source overlay before running foxglove_bridge\r\nto ensure nav2 message types are defined\r\nby inlining all args into command\r\nand sourcing workspace setup\r\n\r\n* Formatting\r\n\r\n* Generalize and simplify hack\r\n\r\n* Generalize gazebo model discovery\r\n\r\n* Patch gzserver to run headless using xvfb\r\nto avoid host/platform specific x11 quirks\r\nexposed by vscode automatic x11 forwarding\r\n\r\nThis is needed to provide gazebo a virtual frame buffer\r\nas it still need one after all these years.\r\nThis also avoids the need modifying launch files to call xvfb-run\r\n\r\n- https://github.com/microsoft/vscode-remote-release/issues/8031\r\n- https://github.com/gazebosim/gazebo-classic/issues/1602\r\n\r\n* Set isBackground for start tasks\r\n\r\n* Add stop tasks\r\n\r\n* Add restart foxglove task\r\n\r\n* Switch to shell for commanding pkill\r\nto gracefully return 0 when process is not running\r\nallowing sequence of dependsOn tasks to run\r\nsuch as for the restart tasks\r\n\r\n* Add icons to tasks\r\nfor readability\r\n\r\n* Add restart gzweb task\r\n\r\n* Add global start, stop, and restart tasks\r\nfor all background visualization tasks\r\n\r\n* Formatting\r\n\r\n* Hide tasks users need not run manually\r\nto avoid cluttering up the run task quick pick\r\n\r\n* Shorten label for background tasks\r\nso they succinctly show from the running task list\r\n\r\n* Show global start and stop visualizations tasks\r\nas they may be too helpful to hide\r\n\r\n* Revert \"Comment out gzclient and rviz for debugging\"\r\n\r\nThis reverts commit 0addae2a1ee70c5771055c5dd8fa050af438b896.\r\n\r\n* Add --ipc=host to runArgs\r\nto enable shared memory transport\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add --pid=host to runArgs\r\nto simplify discovery\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add to runArgs\r\nto simplify debugging\r\n- https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose\r\n\r\n* Add comments\r\n\r\n* Comment out runArgs unintended side effects\r\nor cross talk between containers by default\r\nalso avoids interfering with vscode's X11 forwarding\r\n\r\n* [nav2_planner] Fix costmap thread reset on cleanup (#3548)\r\n\r\n* remove costmap thread reset on cleanup\r\n\r\n* Init costmap thread in on_configure method\r\n\r\n* Move costmap_thread init in on_configure method\r\n\r\n* Add IsBatteryChargingCondition (#3553)\r\n\r\n* Add IsBatteryChargingCondition\r\n\r\n* Minor fixes in battery charging and add testing\r\n\r\n* Fix format\r\n\r\n* Added isBatteryChargingCondition BT node to params\r\n\r\n* Impl noise filtering layer in the costmap_2d (#2567)\r\n\r\nSigned-off-by: ryzhikovas \r\n\r\n* Improve Dev Container Web App Visualization (#3551)\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nin an attempt to avoid authentication tokens in headers\r\nwhen forwarding ports from codespaces via web interface\r\n\r\n- https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports\r\n- https://caddyserver.com/docs/quick-starts/reverse-proxy\r\n- https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13\r\n\r\n* Update caddy related tasks\r\n\r\n* Rename Gzweb task to Gzweb Bridge\r\nto make room for more gzweb tasks\r\n\r\n* Add Gzweb Client Task\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nnow for Gzweb\r\n\r\n* Specify config file to avoid crosstalk\r\nbetween caddy stop commands\r\n\r\n* Fix reverse proxy for websockets\r\nby correcting matcher using headers\r\nas websocket request header value is lowercase for gzweb and foxglove\r\n\r\n* Comment out log output files for debugging\r\n\r\n* Simplify tasks by removing client tasks\r\n\r\n* Stop tasks by using terminate\r\nvia the workbench.action.tasks.terminate command\r\n\r\n* Move Caddyfile\r\n\r\n* Add Web Server tasks\r\n\r\n* Move Caddyfile\r\n\r\n* Update log output file path\r\n\r\n* Update root path\r\n\r\n* Update reverse_proxy for both gzweb and foxglove\r\nby using the path argument for respective matchers\r\n\r\n- https://caddyserver.com/docs/caddyfile/matchers#path-matchers\r\n\r\n* Use snippets\r\nto keep Caddyfile DRY\r\n- https://caddyserver.com/docs/caddyfile/concepts#snippets\r\n\r\n* Use rewrite to catch trailing slash\r\nas file_server defaults do not correct reverse_proxy.\r\nThis make typing the websocket URL more forgiving\r\n\r\n- https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes\r\n\r\n* Improve websocket snippet\r\nto keep Caddyfile DRY\r\n\r\n* Use header_regexp for case-insensitive matching\r\ngiven web port forwarding from Codespaces is odd\r\nand rewrites the value of this header field to lowercases\r\neven when local browser request is sent as `Upgrade`\r\n\r\n* Add helper index page to web server\r\nto link to web apps for reverse proxy\r\n\r\n* Limit templates to fix gzweb\r\nby adding matcher for only root index\r\notherwise gzweb's own index.html gets overwritten\r\n\r\n* Add comments to Cadyfile\r\nto document tricky configuration\r\n\r\n* Stage working redirect\r\n\r\n* Simplify index.html\r\n\r\n* Add helper redirect to simplify foxglove\r\nto set the respective queries values to automate websocket setup,\r\nand ensure the websocket schema matches the https request\r\n\r\n* Avoid hardcoding port number\r\n\r\n* Clean up comments\r\n\r\n* Use header to compute redirect\r\nto take into account requesting forwarding\r\nor more codespace port forwarding shenanigans\r\n\r\n* Use shorthand placeholders\r\n- https://caddyserver.com/docs/caddyfile/concepts#placeholders\r\n\r\n* Formatting\r\n\r\n* Keep trailing slash\r\nto stay consistent with caddy file_server directive\r\nthat serves a 308 Permanent Redirect\r\nfor both foxglove and gzweb paths anyway\r\n\r\n* Refactor matcher logic\r\nto account for requests either from\r\nhost ports from local dev containers\r\nor forwarded requests from codespace web port forwarding\r\n\r\n* Split snippet into globals\r\nfor composability\r\n\r\n* Update comments\r\n\r\n* Add Placeholders\r\nfor debugging\r\n\r\n* Use tables to center\r\n\r\n* Use github markdown\r\n- https://github.com/sindresorhus/github-markdown-css\r\n\r\n* Simplify vars\r\n\r\n* Rename vars\r\n\r\n* Revert \"Rename vars\"\r\nas dotted var names do not work in Caddyfile\r\n\r\nThis reverts commit 3e2d1b3fe30f8a4ffb5134fc2f6f5cffd574bcdc.\r\n\r\n* Add System Monitor\r\nto debug CPU load and memory issues\r\n\r\n* Update headings\r\n\r\n* Update layout\r\n\r\n* Update layout\r\n\r\n* Add Foxglove layout for Nav2\r\n\r\n* Symlink assets folder for web server\r\n\r\n* Fetch Foxglove layout using layoutUrl\r\na new parameter to load layout json data from URL\r\n- https://github.com/orgs/foxglove/discussions/217\r\n\r\n* Cleanup\r\n\r\n* Use fork to fetch Foxglove layout using layoutUrl\r\nuntil this PR is merged:\r\n- https://github.com/foxglove/studio/pull/5987\r\n\r\n* Update Caddyfile to handle relative root\r\nby using local srv folder\r\n\r\n* Inject mobile view html tags\r\nusing the caddy replace module\r\n- https://caddyserver.com/docs/modules/http.handlers.replace_response\r\n- https://github.com/caddyserver/replace-response\r\n\r\n* Simplify Caddyfile\r\n\r\n* Use snippet for apps\r\n\r\n* Simplify Caddyfile\r\n\r\n* Simplify Caddyfile\r\n\r\n* Build caddy using custom modules\r\n\r\n* Remove unused symlinks\r\n\r\n* Add comments\r\n\r\n* Use environment and defined variables for config\r\nto avoid hard coded paths\r\n\r\n* Add FoxgloveUrl to vars\r\nfor reuse in templates\r\n\r\n* Fix trailing slash for DataSourceUrl\r\n\r\n* Use exec to run gzserver with xvfb\r\nto prevent ros launch from orphaning process\r\nand ensure gzserver receives SIGTERM signal\r\ngiven gzserver often hangs after only SIGINT\r\n- https://unix.stackexchange.com/a/196053/213124\r\n\r\n* Update redirect for foxglove\r\nto redirect from path /foxglove/autolayout\r\n\r\n* Add redirect for foxglove\r\nto redirect from path /foxglove/autoconnect\r\nbut does not use LayoutUrl\r\nas to not change from cached layout\r\n\r\n* Use web app manifest\r\nto set display as standalone\r\n- https://web.dev/add-manifest/\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest\r\n\r\n* Template manifest files\r\nto embed host info into app name\r\n\r\n* Add manifests for other web apps\r\n\r\n* Add shortcuts for Foxglove\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts\r\n- https://web.dev/app-shortcuts/\r\n\r\n* Format\r\n\r\n* Update comments\r\n\r\n* Revert use of fork\r\n\r\n* Remove debug directive\r\n\r\n* Improve usability of PWAs in Dev Containers (#3576)\r\n\r\n* Add WIP icons\r\n\r\n* Add WIP icons for gzweb\r\n\r\n* Add WIP icons for glances\r\n\r\n* Set cross origin to use credentials\r\nensuring auth cookie is included in request header\r\nwhen requesting for web app manifest file\r\nthus avoiding CORS policy violations in browser\r\nwhen accessing forwarded codespaces ports from the web\r\n\r\n> The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin=\"use-credentials\"` in the manifest tag.\r\n\r\n- https://web.dev/add-manifest/\r\n- https://stackoverflow.com/a/57184506/2577586\r\n\r\n* Use ReqHost variable in templates\r\nto account for X-Forwarded-Host value in header\r\n\r\n* Delete duplicate manifest\r\n\r\n* Set id property in app manifests\r\nso we can address them independently from their start_url\r\n- https://developer.chrome.com/blog/pwa-manifest-id/\r\n\r\n* Ensure apps are uniquely identifies\r\nby adding trailing slash to id\r\nand thus different URI directories\r\n\r\n* Refactor root landing page into nav2 app\r\nby moving page file into nav2 sub folder\r\nadding root redirect pointing to /nav2/\r\nand updating html, markdown, manifest files respectively\r\n\r\n* Fix https detection for Caddy reverse proxies\r\nby also checking X-Forwarded-Proto in request header\r\n\r\n* Remove unnecessary files\r\n\r\n* Prune smaller images\r\n\r\n* Prune duplicate icon\r\n\r\n* Clean up html tags\r\n\r\n* Update manifest icons\r\n\r\n* Rename icons\r\n\r\n* Revert \"Prune duplicate icon\"\r\n\r\nThis reverts commit 571040173ca83716dfd2f6d5db4b351389a557a8.\r\n\r\n* Add back favicon for shortcut\r\n\r\n* Add self index for completeness and bookmarking\r\n\r\n* Simplify icon linking\r\n\r\n* Delete binary files\r\n\r\n* Fix hyperlink path\r\n\r\n* Include image files using gitattributes\r\nto track these binary files via git LFS\r\n\r\n* Add icons using git lfs\r\n\r\n* Standardized all icon paths\r\n\r\n* Use external links for icons\r\nto avoid the need for using git LFS\r\nalthough this is a bit of a hack\r\n\r\n* Stage any and maskable icons\r\n\r\n* Use any and masked icons\r\n\r\n* Set colors to match maskable icon colors\r\n\r\n* Update icon\r\n\r\n* Use lossless compression\r\nwithout removing background\r\n- https://shortpixel.com/online-image-compression\r\n\r\n* Use WebP instead of PNG\r\nfor smaller file sizes\r\n- https://en.wikipedia.org/wiki/WebP\r\n\r\n* Move icons into icons folder\r\n\r\n* Use _SRV environment variables for service paths\r\n\r\n* Download media files from github\r\nduring docker image build\r\nto avoid adding always online dependencies\r\nwhen creating or starting dev containers\r\n\r\n* Delete media icons from git repo\r\nnow that we download media from anonymized URLs on github\r\n- https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files\r\n\r\n* Add comments\r\n\r\n* Enable file browsing for non app paths\r\nfor remote debugging of media and asset files\r\n\r\n* Consolidate assets into single folder\r\n\r\n* Add links for file browser paths\r\nto Server Diagnostics\r\n\r\n* Delete unused symlink\r\n\r\n* Update landing page to match manifest\r\nby including same shortcuts and start url\r\n\r\n* Patch gzweb to disable modelList\r\navoiding 404s for thumbnails\r\nas they are hardcoded into js\r\n\r\n* Update comments\r\n\r\n* Simplify Caddyfile by reverting to symlinking\r\nbut add ROOT_SRV env for custom overriding\r\n\r\n* Loop over nav2 srv folders when symlinking\r\nto generalize over folder names\r\n\r\n* Add matcher for file browsing root directory\r\nwhile still redirecting to nav2 app by default\r\n\r\n* Use placeholders for root variable\r\nto consolidate env default fallback settings\r\ne.g `:/srv`\r\n\r\n* Promote file browser in Nav2 app shortcuts\r\n\r\n* Fix and update SRV envs\r\n\r\n* Postpone symlinking for Nav2 web app\r\nto when post-create-command script then runs\r\ngiven full repo is not copied into builder stage in Dockerfile.\r\nWhile this could be postponed to update-content-command\r\nleaving it here avoids blowing user changes\r\nafter the container has been created or modified.\r\n\r\n* Add guard to check if srv folder exists\r\n\r\n* Add refresh rate shortcuts to glances\r\n\r\n* Add file browser shortcut to nav2\r\n\r\n* Set scope for nav2 PWA to root\r\nto allow for opening child apps inside nav2 app\r\n\r\n* Display child apps in fullscreen mode by default\r\nas users can still open them in standalone via nav2 app\r\ngiven the nav2 app's scope is the parent root path\r\n\r\n* Update shortcuts and landing page\r\n\r\n* Document PWA scope and installation order\r\nwhen using Nav2 PWA scoped as root\r\n\r\n* Revert setting scope for nav2 PWA to root path\r\nas adding file browser shortcut to nav2 PWA is not worth the trouble\r\nof having to explain installation order caveats and URL launch behavior.\r\nFile browser shortcut is still accessible from inside nav2 pwa launcher\r\nbut merely displays in browser preview\r\ngiven root / is out of scope for /nav2/\r\n\r\n* Update server diagnostics for troubleshooting\r\n\r\n* Verify checksum of archive before extraction\r\nincase anonymized URL changes expected archive\r\n\r\n* Fix the condition in ackerman motion model constraints (#3581)\r\n\r\n* Fix the condition in ackerman motion model constraints\r\n\r\n* Fix ackerman motion model tests\r\n\r\n* Fix another ackerman motion model test\r\n\r\n* Fix broken symlink for gzweb (#3585)\r\n\r\nto load world models\r\n\r\n* Fix broken link to contributing guidelines (#3587)\r\n\r\nThe original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant.\r\n\r\n* Adding Our Sponsors - May 2023 (#3593)\r\n\r\n* adding our sponsors - may 2023\r\n\r\n* adding blurb\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding Open Nav\r\n\r\n* Add CostmapFilterInfoServer as a component (#3596)\r\n\r\n* Resolve #3532: reset i (#3597)\r\n\r\n* [MPPI] empty path_follow_critic proper fix (#3599)\r\n\r\n* [MPPI] empty path_follow_critic proper fix\r\n\r\n* fix linting issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* bumping humble to 1.1.7 for release\r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\n\r\n* Fix merge conflict error (#3619)\r\n\r\n* fixing a second merge conflict resolution error (#3621)\r\n\r\n* fixing merge conflicts for release on humble sync 6 (#3623)\r\n\r\n* Fixing 3629 (#3630)\r\n\r\n* Fixing 3629\r\n\r\n* Update planner_server.cpp\r\n\r\n* bumping humble to 1.1.8 for release sync 6 + bug patch\r\n\r\n* Fixing build warning (#3667) (#3673)\r\n\r\n(cherry picked from commit 7d4b1992811ccc9d36566d29251fdc8eaee66efc)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix the velocity smoother being stuck when the deadband is too high (#3690) (#3715)\r\n\r\n* Move last_cmd update before deadband\r\n\r\n* fix lint\r\n\r\n(cherry picked from commit cb34d0ce1d24c1c437f548834a31a2ee8c4d9889)\r\n\r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\n\r\n* Humble sync 7 August 4 1.1.9 (#3739)\r\n\r\n* Fix map not showing on rviz when navigation is launched with namespace (#3620)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality (#3624)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality\r\n\r\n* Update README.md\r\n\r\n* fixing path angle critic's non-directional bias (#3632)\r\n\r\n* fixing path angle critic's non-directional bias\r\n\r\n* adding reformat\r\n\r\n* adapting goal critic for speed to goal (#3641)\r\n\r\n* adapting goal critic for speed to goal\r\n\r\n* retuning goal critic\r\n\r\n* add readme entries\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Fix uninitialized value (#3651)\r\n\r\n* In NAV2, this warning is treated as an error\r\n\r\nSigned-off-by: Ryan Friedman \r\n\r\n* Fix rviz panel node arguments (#3655)\r\n\r\nSigned-off-by: Nick Lamprianidis \r\n\r\n* Reduce out-of-range log to DEBUG (#3656)\r\n\r\n* Adding nan twist rejection for velocity smoother and collision monitor (#3658)\r\n\r\n* adding nan twist rejection for velocity smoother and collision monitor\r\n\r\n* deref\r\n\r\n* MPPI: Support Exact Path Following For Feasible Plans (#3659)\r\n\r\n* alternative to path align critic for inversion control\r\n\r\n* fix default behavior (enforce_path_inversion: false) (#3643)\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* adding dyaw option for path alignment to incentivize following the path's intent where necessary\r\n\r\n* add docs for use path orientations\r\n\r\n* fix typo\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Fix smoother server tests (#3663)\r\n\r\n* Fix smoother server tests\r\n\r\n* Update test_smoother_server.cpp\r\n\r\n* nav2_bt_navigator: log current location on navigate_to_pose action initialization (#3720)\r\n\r\nIt is very useful to know the current location considered by the\r\nbt_navigator for debug purposes.\r\n\r\n* nav2_behaviors: export all available plugins (#3716)\r\n\r\nIt allows external packages to include those headers and create child\r\nclasses through inheritance.\r\n\r\n* changing costmap layers private to protected (#3722)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (#3728)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially\r\n\r\n* fix test failures\r\n\r\n* Update RewrittenYaml to support list rewrites (#3727)\r\n\r\n* allowing leaf key rewrites that aren't dcits (#3730)\r\n\r\n* adding checks on config and dynamic parameters for proper velocity and acceleration limits (#3731)\r\n\r\n* Fix Goal updater QoS (#3719)\r\n\r\n* Fix GoalUpdater QoS\r\n\r\n* Fixes\r\n\r\n* bumping Humble to 1.1.9 for release\r\n\r\n* fix merge conflict resolution in collision monitor node\r\n\r\n---------\r\n\r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\n\r\n* Fixing 3768: planner server lifecycle transition down (#3786)\r\n\r\n* Use ParameterFile (allow_substs) (#3706) (#3806)\r\n\r\nSigned-off-by: ymd-stella \r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\n\r\n* Added missing destructor to MPPI critic manager (#3812)\r\n\r\n* Added missing virtual destructor\r\n\r\n* Updated CriticManger Destructor to be same as other branches\r\n\r\n* mppi: return NO_INFORMATION when the checked point is outside the costmap (#3816) (#3818)\r\n\r\notherwise the controller crashes at ObstaclesCritic::costAtPose\r\nbecause x_i and y_i isn't initialized.\r\n\r\n(cherry picked from commit 6b250a7c57536ee43a402c9820ac2a2acdb8bc13)\r\n\r\nCo-authored-by: Chuanhong Guo \r\n\r\n* [Humble] Sync 8 - Sept 25 (#3836)\r\n\r\n* Same orientation of coordinate frames in rviz ang gazebo (#3751)\r\n\r\n* rviz view straight in default xy orientation\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* gazebo orientation to match rviz\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* rotating in direction of view\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* Fix flaky costmap filters tests: (#3754)\r\n\r\n1. Set forward_prune_distance to 1.0 to robot not getting lost\r\n2. Correct map name for costmap filter tests\r\n\r\n* Fix missing mutex in PlannerServer::isPathValid (#3756)\r\n\r\nSigned-off-by: ymd-stella \r\n\r\n* Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (#3572)\r\n\r\n* Make it possible to launch namspaced robot which rewrites `` to namespace.\r\n- It allows to apply namespace automatically on specific target topic path in costmap plugins.\r\n\r\nAdd new nav2 params file for multi-robot(rewriting ``) as an example.\r\n- nav2_multirobot_params_all.yaml\r\n\r\nModify nav2_common.ReplaceString\r\n- add condition argument\r\n\r\n* Update nav2_bringup/launch/bringup_launch.py\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Add new luanch script for multi-robot bringup\r\n\r\nRename luanch script for multi-robot simulation bringup\r\n\r\nAdd new nav2_common script\r\n- Parse argument\r\n- Parse multirobot pose\r\n\r\nUpdate README.md\r\n\r\n* Update README.md\r\n\r\nApply suggestions from code review\r\n\r\nFix pep257 erors\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* use ros clock for wait (#3782)\r\n\r\n* use ROS clock for wait\r\n\r\n* fix backport issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* fixing external users of the BT action node template (#3792)\r\n\r\n* fixing external users of the BT action node template\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Using Simple Commander API for multi robot systems (#3803)\r\n\r\n* support multirobot namespaces\r\n\r\n* add docs\r\n\r\n* adding copy all params primitive for BT navigator (to ingest into rclcpp) (#3804)\r\n\r\n* adding copy all params primitive\r\n\r\n* fix linting\r\n\r\n* lint\r\n\r\n* I swear to god, this better be the last linting issue\r\n\r\n* allowing params to be declared from yaml\r\n\r\n* Update bt_navigator.cpp\r\n\r\n* some minor optimizations (#3821)\r\n\r\n* fix broken behaviortree doc link (#3822)\r\n\r\nSigned-off-by: Anton Kesy \r\n\r\n* [MPPI] complete minor optimaization with floating point calculations (#3827)\r\n\r\n* floating point calculations\r\n\r\n* Update optimizer_unit_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* 25% speed up of goal critic; 1% speed up from vy striding when not in use\r\n\r\n* bumping 1.1.9 to 1.1.10 for Humble release\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Anton Kesy \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Anton Kesy \r\n\r\n* Update CMakeLists.txt (#3843) (#3845)\r\n\r\n(cherry picked from commit 2d6e9a96354c0ea763e70eedd81225635f7b9db5)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* bump to 1.1.11 for release for AVX512 fixes\r\n\r\n* add option for sse4 and avs512 (#3853) (#3855)\r\n\r\n(cherry picked from commit 7274811c5cb512a05b87523183e29e75ace77f4a)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Bumping to 1.1.12 for binary release of AVX512 patches\r\n\r\n* [MPPI Optimization] adding regenerate noise param + adding docs (#3868) (#3870)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n(cherry picked from commit 924f167382080f3ccdd000ffc34b921cb64bcf95)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/README.md\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Updating default map path\r\n\r\n* [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (#3872) (#3882)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n* adding refactored path alignment critic\r\n\r\n* fix visualization bug\r\n\r\n* speed up another 30%\r\n\r\n* remove a little jitter\r\n\r\n* a few more small optimizaitons\r\n\r\n* fixing unit tests\r\n\r\n* retain legacy critic\r\n\r\n* adding tests for legacy\r\n\r\n(cherry picked from commit 7009ffba5f85c50ac97fd0057924b0f1447c5e85)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix incorrect auto merge conflict issue\r\n\r\n* Use mutex to protect costmap reads. (backport #3877) (#3897)\r\n\r\n* Use mutex to protect costmap reads. (#3877)\r\n\r\n* Use mutex to protect costmap reads.\r\nOtherwise costmap can be read during a map update and return 0.\r\n\r\n* Revert \"Use mutex to protect costmap reads.\"\r\n\r\nThis reverts commit e16a44c65ee7064e2271118894b92bb6e24ce28d.\r\n\r\n* Lock costmap before running MPPI controller.\r\n\r\n* Fix typo.\r\n\r\n* Protect against costmap updates in MPP and RotationShim controllers.\r\n\r\n---------\r\n\r\nCo-authored-by: Leif Terry \r\n(cherry picked from commit a1c9fd5ad29bb00e40ce6e696d899a2bcd50cde5)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/src/controller.cpp\r\n\r\n* fix merge conflict\r\n\r\n---------\r\n\r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: Steve Macenski \r\n\r\n* Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] #3891 (#3900) (#3902)\r\n\r\n* image.hpp #3891\r\n\r\n* Update image.hpp\r\n\r\n(cherry picked from commit 7a7c6da59a923f06f51ca98ad0b0cc412801ad12)\r\n\r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\n\r\n* Log if BT rate is exceeded (#3909) (#3913)\r\n\r\n(cherry picked from commit a11cdd80665238628be9eef4b439067d4b675b7b)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update theta_star_planner.cpp (#3918) (#3922)\r\n\r\n(cherry picked from commit 0629ff36e36ecc135b9b13fc78f213cfe0a361ef)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (backport #3911) (#3916)\r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (#3911)\r\n\r\n* fixing subtree issues\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n(cherry picked from commit 4b4465dfc9427b95e98aef70620bedd933cfbe56)\r\n\r\n# Conflicts:\r\n#\tnav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* fix build\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* disdt\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* remove unused\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* fix spin\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* remove looprate log\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* removed loop rate waring\r\n\r\nSigned-off-by: ladianchad \r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: Anton Kesy \r\nSigned-off-by: kevin \r\nSigned-off-by: ladianchad \r\nCo-authored-by: Steve Macenski \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>\r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Vineet <52542471+VineetTambe@users.noreply.github.com>\r\nCo-authored-by: Chuanhong Guo \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Anton Kesy \r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\nCo-authored-by: kevin ","shortMessageHtmlLink":"[2024 01 23] pantos branch. (#4)"}},{"before":"e021e504e4dc5f8e99a8556a09a0eb81cc4c1c38","after":null,"ref":"refs/heads/floatic_pantos","pushedAt":"2024-01-24T04:29:08.000Z","pushType":"branch_deletion","commitsCount":0,"pusher":{"login":"kakarrot-anderson","name":"kakarrot","path":"/kakarrot-anderson","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/79265000?s=80&v=4"}},{"before":null,"after":"688e3042f16d422c394854c3e2410fcc49d8beac","ref":"refs/heads/develop/pantos/v1.0.0","pushedAt":"2024-01-24T04:29:01.000Z","pushType":"branch_creation","commitsCount":0,"pusher":{"login":"kakarrot-anderson","name":"kakarrot","path":"/kakarrot-anderson","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/79265000?s=80&v=4"},"commit":{"message":"[2024 01 23] pantos branch. (#4)\n\n* Humble sync 6 June 9: 1.1.7 (#3616)\r\n\r\n* Option allowing to use simple lookupTransform API (#3412)\r\n\r\n* Option allowing to use simple lookupTransform API\r\nignoring time shifts between source and base frame during the movement\r\n\r\n* Refine comments\r\n\r\n* Fix wrong warning message format (#3416)\r\n\r\n* Fix wrong warning message format (Closes #3415)\r\n\r\n* fix code formatting\r\n\r\n* nav2_dwb_controller: add forward_prune_distance parameter (#3374)\r\n\r\nUntil now, the prune_distance was used as distance threshold to shorten\r\nthe upcoming path when shorten_transformed_plan was enabled. However,\r\nthe prune and shortening mechanisms are de-correlated mechanisms. One\r\ncould wish to use a different shortening distance for upcoming points,\r\nthan the prune distance used for passed points. For this reason, a new\r\nparameter \"forward_prune_distance\" was added.\r\n\r\n* Fix service_name for server_name in cancel assisted teleop node\r\n\r\n* Fix mask coordinates calculation in worldToMask (#3418)\r\n\r\n* Remove goal checker default from follow path node\r\n\r\n* Correct CostmapFilters copyrights (#3423)\r\n\r\n* Correct the parameter description for AMCL (#3451)\r\n\r\nSigned-off-by: Trung Kien \r\n\r\n* Add default service name to BTServiceNode (#3448)\r\n\r\n* Add default service name to BtServiceNode\r\n\r\n* docstring\r\n\r\n* fix initialization-list order\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix Typos (#3452)\r\n\r\n* removing galactic from table as EOL (#3460)\r\n\r\n* Support for Dev Containers and Codespaces (#3457)\r\n\r\n* Alias image tag over current branch name\r\n\r\n* Duplicate build and push steps for dev tag\r\n\r\n* Alias image tag over current branch name\r\n\r\n* Modify build and push steps for dev tag\r\n\r\n* Build and push dev tag first\r\nto not cache from stale stages\r\nas otherwise caching from multple regestry images seems error prone\r\n\r\n* Revert \"Build and push dev tag first\"\r\nas otherwise the build failer durring the dev tag\r\ncould then still block build of the main tag\r\n\r\nThis reverts commit 12dd5b1a4e3f37847e6333b9e9ae9ef480a80623.\r\n\r\n* Cache from multple reference images\r\nwhile giving layers from the main tag priority\r\nthis assumes that cache-from prioritizes firstly listed references\r\n\r\nhttps://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92\r\n\r\n* Cache tests in dev image as well\r\ncolcon cache can then skip tests for uneffected packages\r\n\r\n* Add devcontainer.json\r\n\r\n* Ignore doc for image builds\r\n\r\n* Add more extensions\r\n\r\n* Change workspaceFolder to root src path\r\nto avoid auto generating .vscode folder in repo\r\ncreated by ms-iot.vscode-ros extension\r\nupon configuring ros packages with c_cpp_properties.json\r\n\r\n* Enable features\r\nfor github-cli\r\n\r\n* Add docs about codespaces\r\nand have it opened when starting codespaces\r\n\r\n* Update update_ci_image.yaml\r\n\r\nto fix duplicate step ids\r\nand add workflow file to push paths\r\n\r\n* Patch CI actions and Dockerfiles (#3468)\r\n\r\n* Unset default value for FAIL_ON_TEST_FAILURE\r\nas unsetting it via --build-arg seems unreliable\r\nhttps://github.com/docker/compose/issues/3608\r\n\r\n* Use build arg default for failing on test failers\r\n\r\n* Update from deprecated set-output commands\r\nhttps://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/\r\n\r\n* Use Codespaces prebuilds (#3470)\r\n\r\n* Add commands to devcontainer\r\n\r\n* Set builtin bash to be safe\r\nhttps://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425\r\nhttps://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/\r\n\r\n* Setup workspace on create\r\n\r\n* Revert use of set -u for bash\r\ndon't raise error due to variables\r\notherwise colcon setup.sh chokes from using an unbounded path variable\r\n\r\n* Add safe.directory for git config\r\notherwise colcon cache errors out because of issues with git\r\ndue to complex user mapping magic that vscode does with devcontainers\r\n\r\nhttps://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor\r\n\r\nalso used by Moveit2:\r\nhttps://github.com/ros-planning/moveit2/pull/1994\r\n\r\nhttps://github.blog/2022-04-12-git-security-vulnerability-announced/\r\n\r\n* Set env using remoteEnv\r\ninstead of inlining them in scripts\r\n\r\n* Revert to using the main tag\r\nnow that the tester stage has been replicated\r\nwith the new devcontainer script commands instead\r\n\r\n* formating\r\n\r\n* Scrap `-dev` image tag\r\nand use codspaces prebuilds instead\r\n\r\n* Build incrementally from update content command\r\nby copying the build workspace steps from circleci config\r\n\r\n* Adapt the build workspace steps for bash\r\n\r\n* Fix for different ceres isinf() API (#3471)\r\n\r\n* Fixing name of security launch file\r\n\r\n* Clean up pending service client request on interrupt/timeout (#3479)\r\n\r\nSigned-off-by: Øystein Sture \r\n\r\n* Added str cast to parse int (#3486)\r\n\r\nCo-authored-by: antoniomarangi \r\n\r\n* Add flag to not send request in BTServiceNode (#3431)\r\n\r\n* Add flag to not send request in BTServiceNode\r\n\r\n* rename goal to request\r\n\r\n* Fail if should not send goal\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* .\r\n\r\n* fix linter\r\n\r\n* fix CI\r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Prepare test results to only use junit/xunit schema (#3441)\r\n\r\n* Set ctest arg to output junit\r\n\r\nTo try and help CircleCI to parse the output files\r\nhttps://stackoverflow.com/a/70774733/2577586\r\n\r\n* Replace the original Test.xml\r\n\r\nby outputting the junit to the same filename\r\nContext:\r\nhttps://github.com/colcon/colcon-cmake/blob/8f1b92a190b2ad4289ecf837c3200d540c13fdd9/colcon_cmake/task/cmake/test.py#L133\r\n\r\n* Fix default formatting to a list\r\n\r\nWARNING:colcon.colcon_defaults.argument_parser.defaults:Default value 'ctest-args' for parser 'test' should be a list, not: --output-junit Test.xml\r\n\r\n* Revert junit file name\r\nhttps://circleci.com/docs/collect-test-data/#ctest-for-c-cxx-tests\r\n\r\n* Fine and rename ctest summary Test.xml\r\n\r\n* Fix find path\r\n\r\n* Simplify extention renaming\r\n\r\n* Copy ctest junit file into test_results\r\nso that they can be stored by CI\r\n\r\n* Revert ctest config modifications\r\n\r\n* Prepare Test Results by removing Test.xml\r\ngenerated by ctest\r\nto simplify fix for circleci\r\n\r\n* Reorder storage of test result artifacts\r\nbefore Test.xml files are removed\r\nso that they can still be archived and viewed for later\r\n\r\n* Use find command\r\n\r\n* Container retention via version tagging (#3491)\r\n\r\n* Use github action expression syntax\r\nto alias over github repository name\r\n\r\n* Tag by version instead of by timestamp\r\n\r\n* Avoid pushing untagged image to GHCR\r\nby setting provenance to false\r\nnow that provenance is enabled by default\r\nas of v4 of docker/build-push-action\r\n\r\n- https://github.com/docker/build-push-action/pull/781\r\n- https://github.com/docker/build-push-action/issues/778\r\n\r\n* Use checkout action to set version output (#3492)\r\n\r\nOtherwise there is no source code to use to set the version output.\r\nFixes: #3491\r\n\r\n* Change directory to inside checked out repo (#3493)\r\n\r\nor relative path under $GITHUB_WORKSPACE\r\nthat actions/checkout places the repository\r\n\r\n* Write and read from correct output mapping (#3494)\r\n\r\n* Revert \"Change directory to inside checked out repo (#3493)\"\r\n\r\nThis reverts commit 332c1fb07bd787bab8a8eeea5fc896a944bb54d8.\r\n\r\n* Add `version` to outputs for check step\r\nand use output from `check` id\r\n\r\n* Use output from check_ci_files job\r\n\r\n* updating world in simple commander for TB3 package change (#3495)\r\n\r\n* Ensure version output is always set (#3503)\r\n\r\neven when github.event_name != 'push'\r\nby moving run step to same job as build-push action.\r\n\r\nAlso set context path provided by checkout action\r\nto avoid future nonintuitive behavoir using default Git context,\r\neven when the checkout action appears to be being used.\r\n\r\n- https://github.com/docker/build-push-action#git-context\r\n- https://github.com/docker/build-push-action#path-context\r\n\r\n* Add labels to pushed image versions (#3505)\r\n\r\nusing Pre-Defined Annotation Keys\r\nas defined by The OpenContainers Annotations Spec\r\n\r\n- https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys\r\n- https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows\r\n- https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository\r\n\r\n* Typo README.md (#3506)\r\n\r\n* [Velocity smoother] Set zeros command if timeout (#3512)\r\n\r\n* Set zeros command if timeout\r\n\r\n* Fix lint\r\n\r\n* Fix gtest \r\n\r\nincrease time to allow deceleration\r\n\r\n* Always update last_cmd_\r\n\r\n* Revert test modif\r\n\r\n* remove test logs\r\n\r\n* Fix paste error\r\n\r\n* Update velocity_smoother.cpp\r\n\r\n* Update velocity_smoother.cpp\r\n\r\n* Improve Dev Container ergonomics (#3482)\r\n\r\n* Install and enable bash autocompletion\r\nby using apt durring on create command\r\nand by copying skelton .bashrc file that sources it by default\r\n\r\n* Edit apt for autocomplete\r\nby disabling docker-clean from containerized ubuntu\r\n\r\n* Add ROS2 Ament Task Provider extension\r\nProvides tasks and problem matchers for ROS2 projects using ament\r\n\r\nhttps://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider\r\n\r\n* Source underlay for extentions\r\nto allow them to find the path to ros binaries\r\nsuch as ament_cpplint needed for althack.ament-task-provider\r\n\r\n* Target new dever stage in Dockerfile\r\n\r\n* Reduce need for internet after image build\r\nby installing developer dependencies earlier\r\n\r\n* Edit apt caching before apt updating\r\n\r\n* Source underlay systemwide\r\nthis is a hacky workarround\r\nto ensure VS Code can run ShellExecution tasks\r\nwith the ros envorment included in PATH\r\n\r\notherwise, postponing this to the on-create-command\r\nresults in vscode extentions not finding system installed ros commands\r\n\r\nthis also works for all user shells\r\nregardless of how devontainers could change the user\r\n\r\n* Postpone bashrc setup to postCreateCommand\r\nonce the dev container has been assigned to a user for the first time\r\n\r\n* Cleanup onCreateCommand\r\nas we don't use ros_entrypoint.sh for development\r\nand so it doesn't really need to be updated\r\n\r\n* Quite down the logs when building devcontainer\r\n\r\n* Formatting\r\n\r\n* Add refrence ccp properties config file\r\ngenerated from the vscode ROS extention\r\nbut with the hardcoded paths in includePath deleted\r\n\r\n* Update version of cppStandard for ROS Rolling\r\n\r\n* Update workspaceFolder to use new .vscode folder\r\n\r\n* Mount ccache directory to volume\r\nto speed up rebuilding devcontainer\r\nwhenever onCreateCommand is triggered\r\nbecause of modifications to .devcontainer/ files\r\n\r\n* Avoid use of containerEnv to express ccache direcotry\r\nas doing so is not possable, for more info:\r\n- https://stackoverflow.com/a/75759647/2577586\r\n- https://github.com/microsoft/vscode-remote-release/issues/7147#issuecomment-1237779733\r\n\r\nJust target a path in the temp direcotry instead\r\n\r\n* Stage auto generated includePath\r\n\r\n* Remove workspace install from include path\r\nexcept for autogenerated headers from message packages\r\n\r\n* Avoid hardcoded path to sorce folder\r\n\r\n* Avoid hardcoded path to install folder\r\nbut this is still rather fragile\r\nas the reletive path\r\nbetween workspaceFolder and the colcon workspace isn't fixed\r\n\r\n* Sort list of paths\r\n\r\n* Remove cpp properties configuration\r\nas it seems it's existance prevents autoupdating the includePaths property\r\nunless user manually runs the vscode command `>ROS:Update C++ Properties`\r\n\r\nhttps://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71\r\n\r\nand even when this command is invoked\r\nit blows aways any customizated properties anyhow\r\n\r\nissue about wrong cppStandard tracked here:\r\nhttps://github.com/ms-iot/vscode-ros/issues/818\r\n\r\n* Fix typo\r\nto move docker-clean from loaded config path\r\n\r\n* fix data race: addFilter() and resizeMap() can be executed concurrently (#3518)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* fix data race: prohibit resizeMap() during plugin/filter initialization (#3522)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* Mount overlay workspace into Dev Container via volume (#3524)\r\n\r\n* Add volume for overlay\r\nto avoid rebuilding it from scratch\r\nwhenever the dev container is rebuilt\r\nthis saves startup time locally when fiddling with the configs\r\n\r\n* Append devcontainerId to volume name\r\nto avoid conflicts with other devcontainers\r\nnote that devcontainerId is stable across rebuilds\r\n- https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson\r\n\r\n* Call updateContentCommand from onCreateCommand\r\nto deduplicate scripts and keep setup DRY\r\ngiven the addition of a mounted overlay volume\r\nwhich could include a prebuilt colcon workspace\r\nwell before the dev container is created/rebuilt\r\n\r\n* Comment out colcon clean from setup\r\nto avoid unintentional removal of built packages\r\nfrom the persistent overlay workspace volume.\r\nUsers can uncomment the line locally\r\nor simply remove the overlay workspace volume\r\nif they want to rebuild packages from scratch.\r\n\r\n* Format json\r\n\r\n* Add headless and use_rviz LaunchConfigurations to demo launch files (#3527)\r\n\r\n* Add headless and use_rviz LaunchConfigurations\r\nin nav2_simple_commander demo launch files\r\nfor whether to start rviz or gzclient\r\nto simplify their use in headless environments\r\n\r\n* Fix headless logic to match tb3_simulation_launch.py\r\nfor launch arg consistency\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss (#3531)\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss\r\n\r\n* Move testcase comment\r\n\r\n* Add PoseProgressChecker (#3530)\r\n\r\n* add rotation progress checker\r\n\r\n* clean include\r\n\r\n* add stopped goal checker reset test\r\n\r\n* add rotation progress checker tests\r\n\r\n* uncrustify\r\n\r\n* better name: PoseProgressChecker instead of RotationProgressChecker\r\n\r\n* camelCase\r\n\r\n* uncrustify\r\n\r\n* rename in tests\r\n\r\n* more rename\r\n\r\n* simplify parentheses\r\n\r\n* faster and better tests\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* [velocity_smoother] Fix accel and deccel inverted for negative speeds (#3529)\r\n\r\n* fix inverted accel / deccel\r\n\r\n* handle speed through 0.0\r\n\r\n* add applyConstraints tests\r\n\r\n* fold logic\r\n\r\n* same logic in findEtaConstraint\r\n\r\n* lint\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* findEtaConstraint tests\r\n\r\n* space\r\n\r\n* lint\r\n\r\n* typos\r\n\r\n* comment typos\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* Enable Visualizations for Dev Container (#3523)\r\n\r\n* Add visualizer stage\r\nto install demo dependencies\r\n\r\n* Install foxglove\r\n\r\n* Install gzweb\r\n\r\n* Add hack for resolvable mesh URIs\r\nlocated by the aws SDL model files\r\n- https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/pull/24\r\n\r\n* Revert hack and use fork\r\nthat fixes issues with deploy.sh\r\n- https://github.com/osrf/gzweb/pull/248\r\n\r\n* Update target stage to visualizer\r\n\r\n* Comment out gzclient and rviz for debugging\r\n\r\n* Add hack for resolvable mesh URIs\r\nas migrating the python3 scripts still hasn't resolved the issue\r\n\r\n* Reorder stages for readability\r\nby keeping sequential builder and tester stages adjacent\r\nwhile keeping tester stage the default exported target\r\n\r\n* fix typo\r\n\r\n* Install gdb for launching ros launch files\r\nusing the ROS VS Code extension\r\n- https://github.com/ms-iot/vscode-ros/issues/588\r\n\r\n* Add vscode tasks file\r\n\r\n* Add Start Gzweb task\r\n\r\n* Add Start Foxglove tasks\r\nfor bridge and studio\r\n\r\n* Add Start Foxglove compound task\r\nusing dependsOn\r\n\r\n* Set default problemMatcher to empty\r\nto avoid nagging the user to select one\r\nas currently none really support our use case\r\n\r\n* Source overlay before running foxglove_bridge\r\nto ensure nav2 message types are defined\r\nby inlining all args into command\r\nand sourcing workspace setup\r\n\r\n* Formatting\r\n\r\n* Generalize and simplify hack\r\n\r\n* Generalize gazebo model discovery\r\n\r\n* Patch gzserver to run headless using xvfb\r\nto avoid host/platform specific x11 quirks\r\nexposed by vscode automatic x11 forwarding\r\n\r\nThis is needed to provide gazebo a virtual frame buffer\r\nas it still need one after all these years.\r\nThis also avoids the need modifying launch files to call xvfb-run\r\n\r\n- https://github.com/microsoft/vscode-remote-release/issues/8031\r\n- https://github.com/gazebosim/gazebo-classic/issues/1602\r\n\r\n* Set isBackground for start tasks\r\n\r\n* Add stop tasks\r\n\r\n* Add restart foxglove task\r\n\r\n* Switch to shell for commanding pkill\r\nto gracefully return 0 when process is not running\r\nallowing sequence of dependsOn tasks to run\r\nsuch as for the restart tasks\r\n\r\n* Add icons to tasks\r\nfor readability\r\n\r\n* Add restart gzweb task\r\n\r\n* Add global start, stop, and restart tasks\r\nfor all background visualization tasks\r\n\r\n* Formatting\r\n\r\n* Hide tasks users need not run manually\r\nto avoid cluttering up the run task quick pick\r\n\r\n* Shorten label for background tasks\r\nso they succinctly show from the running task list\r\n\r\n* Show global start and stop visualizations tasks\r\nas they may be too helpful to hide\r\n\r\n* Revert \"Comment out gzclient and rviz for debugging\"\r\n\r\nThis reverts commit 0addae2a1ee70c5771055c5dd8fa050af438b896.\r\n\r\n* Add --ipc=host to runArgs\r\nto enable shared memory transport\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add --pid=host to runArgs\r\nto simplify discovery\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add to runArgs\r\nto simplify debugging\r\n- https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose\r\n\r\n* Add comments\r\n\r\n* Comment out runArgs unintended side effects\r\nor cross talk between containers by default\r\nalso avoids interfering with vscode's X11 forwarding\r\n\r\n* [nav2_planner] Fix costmap thread reset on cleanup (#3548)\r\n\r\n* remove costmap thread reset on cleanup\r\n\r\n* Init costmap thread in on_configure method\r\n\r\n* Move costmap_thread init in on_configure method\r\n\r\n* Add IsBatteryChargingCondition (#3553)\r\n\r\n* Add IsBatteryChargingCondition\r\n\r\n* Minor fixes in battery charging and add testing\r\n\r\n* Fix format\r\n\r\n* Added isBatteryChargingCondition BT node to params\r\n\r\n* Impl noise filtering layer in the costmap_2d (#2567)\r\n\r\nSigned-off-by: ryzhikovas \r\n\r\n* Improve Dev Container Web App Visualization (#3551)\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nin an attempt to avoid authentication tokens in headers\r\nwhen forwarding ports from codespaces via web interface\r\n\r\n- https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports\r\n- https://caddyserver.com/docs/quick-starts/reverse-proxy\r\n- https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13\r\n\r\n* Update caddy related tasks\r\n\r\n* Rename Gzweb task to Gzweb Bridge\r\nto make room for more gzweb tasks\r\n\r\n* Add Gzweb Client Task\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nnow for Gzweb\r\n\r\n* Specify config file to avoid crosstalk\r\nbetween caddy stop commands\r\n\r\n* Fix reverse proxy for websockets\r\nby correcting matcher using headers\r\nas websocket request header value is lowercase for gzweb and foxglove\r\n\r\n* Comment out log output files for debugging\r\n\r\n* Simplify tasks by removing client tasks\r\n\r\n* Stop tasks by using terminate\r\nvia the workbench.action.tasks.terminate command\r\n\r\n* Move Caddyfile\r\n\r\n* Add Web Server tasks\r\n\r\n* Move Caddyfile\r\n\r\n* Update log output file path\r\n\r\n* Update root path\r\n\r\n* Update reverse_proxy for both gzweb and foxglove\r\nby using the path argument for respective matchers\r\n\r\n- https://caddyserver.com/docs/caddyfile/matchers#path-matchers\r\n\r\n* Use snippets\r\nto keep Caddyfile DRY\r\n- https://caddyserver.com/docs/caddyfile/concepts#snippets\r\n\r\n* Use rewrite to catch trailing slash\r\nas file_server defaults do not correct reverse_proxy.\r\nThis make typing the websocket URL more forgiving\r\n\r\n- https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes\r\n\r\n* Improve websocket snippet\r\nto keep Caddyfile DRY\r\n\r\n* Use header_regexp for case-insensitive matching\r\ngiven web port forwarding from Codespaces is odd\r\nand rewrites the value of this header field to lowercases\r\neven when local browser request is sent as `Upgrade`\r\n\r\n* Add helper index page to web server\r\nto link to web apps for reverse proxy\r\n\r\n* Limit templates to fix gzweb\r\nby adding matcher for only root index\r\notherwise gzweb's own index.html gets overwritten\r\n\r\n* Add comments to Cadyfile\r\nto document tricky configuration\r\n\r\n* Stage working redirect\r\n\r\n* Simplify index.html\r\n\r\n* Add helper redirect to simplify foxglove\r\nto set the respective queries values to automate websocket setup,\r\nand ensure the websocket schema matches the https request\r\n\r\n* Avoid hardcoding port number\r\n\r\n* Clean up comments\r\n\r\n* Use header to compute redirect\r\nto take into account requesting forwarding\r\nor more codespace port forwarding shenanigans\r\n\r\n* Use shorthand placeholders\r\n- https://caddyserver.com/docs/caddyfile/concepts#placeholders\r\n\r\n* Formatting\r\n\r\n* Keep trailing slash\r\nto stay consistent with caddy file_server directive\r\nthat serves a 308 Permanent Redirect\r\nfor both foxglove and gzweb paths anyway\r\n\r\n* Refactor matcher logic\r\nto account for requests either from\r\nhost ports from local dev containers\r\nor forwarded requests from codespace web port forwarding\r\n\r\n* Split snippet into globals\r\nfor composability\r\n\r\n* Update comments\r\n\r\n* Add Placeholders\r\nfor debugging\r\n\r\n* Use tables to center\r\n\r\n* Use github markdown\r\n- https://github.com/sindresorhus/github-markdown-css\r\n\r\n* Simplify vars\r\n\r\n* Rename vars\r\n\r\n* Revert \"Rename vars\"\r\nas dotted var names do not work in Caddyfile\r\n\r\nThis reverts commit 3e2d1b3fe30f8a4ffb5134fc2f6f5cffd574bcdc.\r\n\r\n* Add System Monitor\r\nto debug CPU load and memory issues\r\n\r\n* Update headings\r\n\r\n* Update layout\r\n\r\n* Update layout\r\n\r\n* Add Foxglove layout for Nav2\r\n\r\n* Symlink assets folder for web server\r\n\r\n* Fetch Foxglove layout using layoutUrl\r\na new parameter to load layout json data from URL\r\n- https://github.com/orgs/foxglove/discussions/217\r\n\r\n* Cleanup\r\n\r\n* Use fork to fetch Foxglove layout using layoutUrl\r\nuntil this PR is merged:\r\n- https://github.com/foxglove/studio/pull/5987\r\n\r\n* Update Caddyfile to handle relative root\r\nby using local srv folder\r\n\r\n* Inject mobile view html tags\r\nusing the caddy replace module\r\n- https://caddyserver.com/docs/modules/http.handlers.replace_response\r\n- https://github.com/caddyserver/replace-response\r\n\r\n* Simplify Caddyfile\r\n\r\n* Use snippet for apps\r\n\r\n* Simplify Caddyfile\r\n\r\n* Simplify Caddyfile\r\n\r\n* Build caddy using custom modules\r\n\r\n* Remove unused symlinks\r\n\r\n* Add comments\r\n\r\n* Use environment and defined variables for config\r\nto avoid hard coded paths\r\n\r\n* Add FoxgloveUrl to vars\r\nfor reuse in templates\r\n\r\n* Fix trailing slash for DataSourceUrl\r\n\r\n* Use exec to run gzserver with xvfb\r\nto prevent ros launch from orphaning process\r\nand ensure gzserver receives SIGTERM signal\r\ngiven gzserver often hangs after only SIGINT\r\n- https://unix.stackexchange.com/a/196053/213124\r\n\r\n* Update redirect for foxglove\r\nto redirect from path /foxglove/autolayout\r\n\r\n* Add redirect for foxglove\r\nto redirect from path /foxglove/autoconnect\r\nbut does not use LayoutUrl\r\nas to not change from cached layout\r\n\r\n* Use web app manifest\r\nto set display as standalone\r\n- https://web.dev/add-manifest/\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest\r\n\r\n* Template manifest files\r\nto embed host info into app name\r\n\r\n* Add manifests for other web apps\r\n\r\n* Add shortcuts for Foxglove\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts\r\n- https://web.dev/app-shortcuts/\r\n\r\n* Format\r\n\r\n* Update comments\r\n\r\n* Revert use of fork\r\n\r\n* Remove debug directive\r\n\r\n* Improve usability of PWAs in Dev Containers (#3576)\r\n\r\n* Add WIP icons\r\n\r\n* Add WIP icons for gzweb\r\n\r\n* Add WIP icons for glances\r\n\r\n* Set cross origin to use credentials\r\nensuring auth cookie is included in request header\r\nwhen requesting for web app manifest file\r\nthus avoiding CORS policy violations in browser\r\nwhen accessing forwarded codespaces ports from the web\r\n\r\n> The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin=\"use-credentials\"` in the manifest tag.\r\n\r\n- https://web.dev/add-manifest/\r\n- https://stackoverflow.com/a/57184506/2577586\r\n\r\n* Use ReqHost variable in templates\r\nto account for X-Forwarded-Host value in header\r\n\r\n* Delete duplicate manifest\r\n\r\n* Set id property in app manifests\r\nso we can address them independently from their start_url\r\n- https://developer.chrome.com/blog/pwa-manifest-id/\r\n\r\n* Ensure apps are uniquely identifies\r\nby adding trailing slash to id\r\nand thus different URI directories\r\n\r\n* Refactor root landing page into nav2 app\r\nby moving page file into nav2 sub folder\r\nadding root redirect pointing to /nav2/\r\nand updating html, markdown, manifest files respectively\r\n\r\n* Fix https detection for Caddy reverse proxies\r\nby also checking X-Forwarded-Proto in request header\r\n\r\n* Remove unnecessary files\r\n\r\n* Prune smaller images\r\n\r\n* Prune duplicate icon\r\n\r\n* Clean up html tags\r\n\r\n* Update manifest icons\r\n\r\n* Rename icons\r\n\r\n* Revert \"Prune duplicate icon\"\r\n\r\nThis reverts commit 571040173ca83716dfd2f6d5db4b351389a557a8.\r\n\r\n* Add back favicon for shortcut\r\n\r\n* Add self index for completeness and bookmarking\r\n\r\n* Simplify icon linking\r\n\r\n* Delete binary files\r\n\r\n* Fix hyperlink path\r\n\r\n* Include image files using gitattributes\r\nto track these binary files via git LFS\r\n\r\n* Add icons using git lfs\r\n\r\n* Standardized all icon paths\r\n\r\n* Use external links for icons\r\nto avoid the need for using git LFS\r\nalthough this is a bit of a hack\r\n\r\n* Stage any and maskable icons\r\n\r\n* Use any and masked icons\r\n\r\n* Set colors to match maskable icon colors\r\n\r\n* Update icon\r\n\r\n* Use lossless compression\r\nwithout removing background\r\n- https://shortpixel.com/online-image-compression\r\n\r\n* Use WebP instead of PNG\r\nfor smaller file sizes\r\n- https://en.wikipedia.org/wiki/WebP\r\n\r\n* Move icons into icons folder\r\n\r\n* Use _SRV environment variables for service paths\r\n\r\n* Download media files from github\r\nduring docker image build\r\nto avoid adding always online dependencies\r\nwhen creating or starting dev containers\r\n\r\n* Delete media icons from git repo\r\nnow that we download media from anonymized URLs on github\r\n- https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files\r\n\r\n* Add comments\r\n\r\n* Enable file browsing for non app paths\r\nfor remote debugging of media and asset files\r\n\r\n* Consolidate assets into single folder\r\n\r\n* Add links for file browser paths\r\nto Server Diagnostics\r\n\r\n* Delete unused symlink\r\n\r\n* Update landing page to match manifest\r\nby including same shortcuts and start url\r\n\r\n* Patch gzweb to disable modelList\r\navoiding 404s for thumbnails\r\nas they are hardcoded into js\r\n\r\n* Update comments\r\n\r\n* Simplify Caddyfile by reverting to symlinking\r\nbut add ROOT_SRV env for custom overriding\r\n\r\n* Loop over nav2 srv folders when symlinking\r\nto generalize over folder names\r\n\r\n* Add matcher for file browsing root directory\r\nwhile still redirecting to nav2 app by default\r\n\r\n* Use placeholders for root variable\r\nto consolidate env default fallback settings\r\ne.g `:/srv`\r\n\r\n* Promote file browser in Nav2 app shortcuts\r\n\r\n* Fix and update SRV envs\r\n\r\n* Postpone symlinking for Nav2 web app\r\nto when post-create-command script then runs\r\ngiven full repo is not copied into builder stage in Dockerfile.\r\nWhile this could be postponed to update-content-command\r\nleaving it here avoids blowing user changes\r\nafter the container has been created or modified.\r\n\r\n* Add guard to check if srv folder exists\r\n\r\n* Add refresh rate shortcuts to glances\r\n\r\n* Add file browser shortcut to nav2\r\n\r\n* Set scope for nav2 PWA to root\r\nto allow for opening child apps inside nav2 app\r\n\r\n* Display child apps in fullscreen mode by default\r\nas users can still open them in standalone via nav2 app\r\ngiven the nav2 app's scope is the parent root path\r\n\r\n* Update shortcuts and landing page\r\n\r\n* Document PWA scope and installation order\r\nwhen using Nav2 PWA scoped as root\r\n\r\n* Revert setting scope for nav2 PWA to root path\r\nas adding file browser shortcut to nav2 PWA is not worth the trouble\r\nof having to explain installation order caveats and URL launch behavior.\r\nFile browser shortcut is still accessible from inside nav2 pwa launcher\r\nbut merely displays in browser preview\r\ngiven root / is out of scope for /nav2/\r\n\r\n* Update server diagnostics for troubleshooting\r\n\r\n* Verify checksum of archive before extraction\r\nincase anonymized URL changes expected archive\r\n\r\n* Fix the condition in ackerman motion model constraints (#3581)\r\n\r\n* Fix the condition in ackerman motion model constraints\r\n\r\n* Fix ackerman motion model tests\r\n\r\n* Fix another ackerman motion model test\r\n\r\n* Fix broken symlink for gzweb (#3585)\r\n\r\nto load world models\r\n\r\n* Fix broken link to contributing guidelines (#3587)\r\n\r\nThe original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant.\r\n\r\n* Adding Our Sponsors - May 2023 (#3593)\r\n\r\n* adding our sponsors - may 2023\r\n\r\n* adding blurb\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding Open Nav\r\n\r\n* Add CostmapFilterInfoServer as a component (#3596)\r\n\r\n* Resolve #3532: reset i (#3597)\r\n\r\n* [MPPI] empty path_follow_critic proper fix (#3599)\r\n\r\n* [MPPI] empty path_follow_critic proper fix\r\n\r\n* fix linting issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* bumping humble to 1.1.7 for release\r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\n\r\n* Fix merge conflict error (#3619)\r\n\r\n* fixing a second merge conflict resolution error (#3621)\r\n\r\n* fixing merge conflicts for release on humble sync 6 (#3623)\r\n\r\n* Fixing 3629 (#3630)\r\n\r\n* Fixing 3629\r\n\r\n* Update planner_server.cpp\r\n\r\n* bumping humble to 1.1.8 for release sync 6 + bug patch\r\n\r\n* Fixing build warning (#3667) (#3673)\r\n\r\n(cherry picked from commit 7d4b1992811ccc9d36566d29251fdc8eaee66efc)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix the velocity smoother being stuck when the deadband is too high (#3690) (#3715)\r\n\r\n* Move last_cmd update before deadband\r\n\r\n* fix lint\r\n\r\n(cherry picked from commit cb34d0ce1d24c1c437f548834a31a2ee8c4d9889)\r\n\r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\n\r\n* Humble sync 7 August 4 1.1.9 (#3739)\r\n\r\n* Fix map not showing on rviz when navigation is launched with namespace (#3620)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality (#3624)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality\r\n\r\n* Update README.md\r\n\r\n* fixing path angle critic's non-directional bias (#3632)\r\n\r\n* fixing path angle critic's non-directional bias\r\n\r\n* adding reformat\r\n\r\n* adapting goal critic for speed to goal (#3641)\r\n\r\n* adapting goal critic for speed to goal\r\n\r\n* retuning goal critic\r\n\r\n* add readme entries\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Fix uninitialized value (#3651)\r\n\r\n* In NAV2, this warning is treated as an error\r\n\r\nSigned-off-by: Ryan Friedman \r\n\r\n* Fix rviz panel node arguments (#3655)\r\n\r\nSigned-off-by: Nick Lamprianidis \r\n\r\n* Reduce out-of-range log to DEBUG (#3656)\r\n\r\n* Adding nan twist rejection for velocity smoother and collision monitor (#3658)\r\n\r\n* adding nan twist rejection for velocity smoother and collision monitor\r\n\r\n* deref\r\n\r\n* MPPI: Support Exact Path Following For Feasible Plans (#3659)\r\n\r\n* alternative to path align critic for inversion control\r\n\r\n* fix default behavior (enforce_path_inversion: false) (#3643)\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* adding dyaw option for path alignment to incentivize following the path's intent where necessary\r\n\r\n* add docs for use path orientations\r\n\r\n* fix typo\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Fix smoother server tests (#3663)\r\n\r\n* Fix smoother server tests\r\n\r\n* Update test_smoother_server.cpp\r\n\r\n* nav2_bt_navigator: log current location on navigate_to_pose action initialization (#3720)\r\n\r\nIt is very useful to know the current location considered by the\r\nbt_navigator for debug purposes.\r\n\r\n* nav2_behaviors: export all available plugins (#3716)\r\n\r\nIt allows external packages to include those headers and create child\r\nclasses through inheritance.\r\n\r\n* changing costmap layers private to protected (#3722)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (#3728)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially\r\n\r\n* fix test failures\r\n\r\n* Update RewrittenYaml to support list rewrites (#3727)\r\n\r\n* allowing leaf key rewrites that aren't dcits (#3730)\r\n\r\n* adding checks on config and dynamic parameters for proper velocity and acceleration limits (#3731)\r\n\r\n* Fix Goal updater QoS (#3719)\r\n\r\n* Fix GoalUpdater QoS\r\n\r\n* Fixes\r\n\r\n* bumping Humble to 1.1.9 for release\r\n\r\n* fix merge conflict resolution in collision monitor node\r\n\r\n---------\r\n\r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\n\r\n* Fixing 3768: planner server lifecycle transition down (#3786)\r\n\r\n* Use ParameterFile (allow_substs) (#3706) (#3806)\r\n\r\nSigned-off-by: ymd-stella \r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\n\r\n* Added missing destructor to MPPI critic manager (#3812)\r\n\r\n* Added missing virtual destructor\r\n\r\n* Updated CriticManger Destructor to be same as other branches\r\n\r\n* mppi: return NO_INFORMATION when the checked point is outside the costmap (#3816) (#3818)\r\n\r\notherwise the controller crashes at ObstaclesCritic::costAtPose\r\nbecause x_i and y_i isn't initialized.\r\n\r\n(cherry picked from commit 6b250a7c57536ee43a402c9820ac2a2acdb8bc13)\r\n\r\nCo-authored-by: Chuanhong Guo \r\n\r\n* [Humble] Sync 8 - Sept 25 (#3836)\r\n\r\n* Same orientation of coordinate frames in rviz ang gazebo (#3751)\r\n\r\n* rviz view straight in default xy orientation\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* gazebo orientation to match rviz\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* rotating in direction of view\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* Fix flaky costmap filters tests: (#3754)\r\n\r\n1. Set forward_prune_distance to 1.0 to robot not getting lost\r\n2. Correct map name for costmap filter tests\r\n\r\n* Fix missing mutex in PlannerServer::isPathValid (#3756)\r\n\r\nSigned-off-by: ymd-stella \r\n\r\n* Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (#3572)\r\n\r\n* Make it possible to launch namspaced robot which rewrites `` to namespace.\r\n- It allows to apply namespace automatically on specific target topic path in costmap plugins.\r\n\r\nAdd new nav2 params file for multi-robot(rewriting ``) as an example.\r\n- nav2_multirobot_params_all.yaml\r\n\r\nModify nav2_common.ReplaceString\r\n- add condition argument\r\n\r\n* Update nav2_bringup/launch/bringup_launch.py\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Add new luanch script for multi-robot bringup\r\n\r\nRename luanch script for multi-robot simulation bringup\r\n\r\nAdd new nav2_common script\r\n- Parse argument\r\n- Parse multirobot pose\r\n\r\nUpdate README.md\r\n\r\n* Update README.md\r\n\r\nApply suggestions from code review\r\n\r\nFix pep257 erors\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* use ros clock for wait (#3782)\r\n\r\n* use ROS clock for wait\r\n\r\n* fix backport issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* fixing external users of the BT action node template (#3792)\r\n\r\n* fixing external users of the BT action node template\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Using Simple Commander API for multi robot systems (#3803)\r\n\r\n* support multirobot namespaces\r\n\r\n* add docs\r\n\r\n* adding copy all params primitive for BT navigator (to ingest into rclcpp) (#3804)\r\n\r\n* adding copy all params primitive\r\n\r\n* fix linting\r\n\r\n* lint\r\n\r\n* I swear to god, this better be the last linting issue\r\n\r\n* allowing params to be declared from yaml\r\n\r\n* Update bt_navigator.cpp\r\n\r\n* some minor optimizations (#3821)\r\n\r\n* fix broken behaviortree doc link (#3822)\r\n\r\nSigned-off-by: Anton Kesy \r\n\r\n* [MPPI] complete minor optimaization with floating point calculations (#3827)\r\n\r\n* floating point calculations\r\n\r\n* Update optimizer_unit_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* 25% speed up of goal critic; 1% speed up from vy striding when not in use\r\n\r\n* bumping 1.1.9 to 1.1.10 for Humble release\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Anton Kesy \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Anton Kesy \r\n\r\n* Update CMakeLists.txt (#3843) (#3845)\r\n\r\n(cherry picked from commit 2d6e9a96354c0ea763e70eedd81225635f7b9db5)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* bump to 1.1.11 for release for AVX512 fixes\r\n\r\n* add option for sse4 and avs512 (#3853) (#3855)\r\n\r\n(cherry picked from commit 7274811c5cb512a05b87523183e29e75ace77f4a)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Bumping to 1.1.12 for binary release of AVX512 patches\r\n\r\n* [MPPI Optimization] adding regenerate noise param + adding docs (#3868) (#3870)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n(cherry picked from commit 924f167382080f3ccdd000ffc34b921cb64bcf95)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/README.md\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Updating default map path\r\n\r\n* [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (#3872) (#3882)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n* adding refactored path alignment critic\r\n\r\n* fix visualization bug\r\n\r\n* speed up another 30%\r\n\r\n* remove a little jitter\r\n\r\n* a few more small optimizaitons\r\n\r\n* fixing unit tests\r\n\r\n* retain legacy critic\r\n\r\n* adding tests for legacy\r\n\r\n(cherry picked from commit 7009ffba5f85c50ac97fd0057924b0f1447c5e85)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix incorrect auto merge conflict issue\r\n\r\n* Use mutex to protect costmap reads. (backport #3877) (#3897)\r\n\r\n* Use mutex to protect costmap reads. (#3877)\r\n\r\n* Use mutex to protect costmap reads.\r\nOtherwise costmap can be read during a map update and return 0.\r\n\r\n* Revert \"Use mutex to protect costmap reads.\"\r\n\r\nThis reverts commit e16a44c65ee7064e2271118894b92bb6e24ce28d.\r\n\r\n* Lock costmap before running MPPI controller.\r\n\r\n* Fix typo.\r\n\r\n* Protect against costmap updates in MPP and RotationShim controllers.\r\n\r\n---------\r\n\r\nCo-authored-by: Leif Terry \r\n(cherry picked from commit a1c9fd5ad29bb00e40ce6e696d899a2bcd50cde5)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/src/controller.cpp\r\n\r\n* fix merge conflict\r\n\r\n---------\r\n\r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: Steve Macenski \r\n\r\n* Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] #3891 (#3900) (#3902)\r\n\r\n* image.hpp #3891\r\n\r\n* Update image.hpp\r\n\r\n(cherry picked from commit 7a7c6da59a923f06f51ca98ad0b0cc412801ad12)\r\n\r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\n\r\n* Log if BT rate is exceeded (#3909) (#3913)\r\n\r\n(cherry picked from commit a11cdd80665238628be9eef4b439067d4b675b7b)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update theta_star_planner.cpp (#3918) (#3922)\r\n\r\n(cherry picked from commit 0629ff36e36ecc135b9b13fc78f213cfe0a361ef)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (backport #3911) (#3916)\r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (#3911)\r\n\r\n* fixing subtree issues\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n(cherry picked from commit 4b4465dfc9427b95e98aef70620bedd933cfbe56)\r\n\r\n# Conflicts:\r\n#\tnav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* fix build\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* disdt\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* remove unused\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* fix spin\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* remove looprate log\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* removed loop rate waring\r\n\r\nSigned-off-by: ladianchad \r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: Anton Kesy \r\nSigned-off-by: kevin \r\nSigned-off-by: ladianchad \r\nCo-authored-by: Steve Macenski \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>\r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Vineet <52542471+VineetTambe@users.noreply.github.com>\r\nCo-authored-by: Chuanhong Guo \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Anton Kesy \r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\nCo-authored-by: kevin ","shortMessageHtmlLink":"[2024 01 23] pantos branch. (#4)"}},{"before":null,"after":"e021e504e4dc5f8e99a8556a09a0eb81cc4c1c38","ref":"refs/heads/floatic_pantos","pushedAt":"2024-01-24T04:28:36.000Z","pushType":"branch_creation","commitsCount":0,"pusher":{"login":"kakarrot-anderson","name":"kakarrot","path":"/kakarrot-anderson","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/79265000?s=80&v=4"},"commit":{"message":"fix log level\n\nSigned-off-by: kevin ","shortMessageHtmlLink":"fix log level"}},{"before":"e021e504e4dc5f8e99a8556a09a0eb81cc4c1c38","after":"688e3042f16d422c394854c3e2410fcc49d8beac","ref":"refs/heads/floatic","pushedAt":"2024-01-24T04:27:59.000Z","pushType":"pr_merge","commitsCount":1,"pusher":{"login":"kakarrot-anderson","name":"kakarrot","path":"/kakarrot-anderson","primaryAvatarUrl":"https://avatars.githubusercontent.com/u/79265000?s=80&v=4"},"commit":{"message":"[2024 01 23] pantos branch. (#4)\n\n* Humble sync 6 June 9: 1.1.7 (#3616)\r\n\r\n* Option allowing to use simple lookupTransform API (#3412)\r\n\r\n* Option allowing to use simple lookupTransform API\r\nignoring time shifts between source and base frame during the movement\r\n\r\n* Refine comments\r\n\r\n* Fix wrong warning message format (#3416)\r\n\r\n* Fix wrong warning message format (Closes #3415)\r\n\r\n* fix code formatting\r\n\r\n* nav2_dwb_controller: add forward_prune_distance parameter (#3374)\r\n\r\nUntil now, the prune_distance was used as distance threshold to shorten\r\nthe upcoming path when shorten_transformed_plan was enabled. However,\r\nthe prune and shortening mechanisms are de-correlated mechanisms. One\r\ncould wish to use a different shortening distance for upcoming points,\r\nthan the prune distance used for passed points. For this reason, a new\r\nparameter \"forward_prune_distance\" was added.\r\n\r\n* Fix service_name for server_name in cancel assisted teleop node\r\n\r\n* Fix mask coordinates calculation in worldToMask (#3418)\r\n\r\n* Remove goal checker default from follow path node\r\n\r\n* Correct CostmapFilters copyrights (#3423)\r\n\r\n* Correct the parameter description for AMCL (#3451)\r\n\r\nSigned-off-by: Trung Kien \r\n\r\n* Add default service name to BTServiceNode (#3448)\r\n\r\n* Add default service name to BtServiceNode\r\n\r\n* docstring\r\n\r\n* fix initialization-list order\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix Typos (#3452)\r\n\r\n* removing galactic from table as EOL (#3460)\r\n\r\n* Support for Dev Containers and Codespaces (#3457)\r\n\r\n* Alias image tag over current branch name\r\n\r\n* Duplicate build and push steps for dev tag\r\n\r\n* Alias image tag over current branch name\r\n\r\n* Modify build and push steps for dev tag\r\n\r\n* Build and push dev tag first\r\nto not cache from stale stages\r\nas otherwise caching from multple regestry images seems error prone\r\n\r\n* Revert \"Build and push dev tag first\"\r\nas otherwise the build failer durring the dev tag\r\ncould then still block build of the main tag\r\n\r\nThis reverts commit 12dd5b1a4e3f37847e6333b9e9ae9ef480a80623.\r\n\r\n* Cache from multple reference images\r\nwhile giving layers from the main tag priority\r\nthis assumes that cache-from prioritizes firstly listed references\r\n\r\nhttps://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92\r\n\r\n* Cache tests in dev image as well\r\ncolcon cache can then skip tests for uneffected packages\r\n\r\n* Add devcontainer.json\r\n\r\n* Ignore doc for image builds\r\n\r\n* Add more extensions\r\n\r\n* Change workspaceFolder to root src path\r\nto avoid auto generating .vscode folder in repo\r\ncreated by ms-iot.vscode-ros extension\r\nupon configuring ros packages with c_cpp_properties.json\r\n\r\n* Enable features\r\nfor github-cli\r\n\r\n* Add docs about codespaces\r\nand have it opened when starting codespaces\r\n\r\n* Update update_ci_image.yaml\r\n\r\nto fix duplicate step ids\r\nand add workflow file to push paths\r\n\r\n* Patch CI actions and Dockerfiles (#3468)\r\n\r\n* Unset default value for FAIL_ON_TEST_FAILURE\r\nas unsetting it via --build-arg seems unreliable\r\nhttps://github.com/docker/compose/issues/3608\r\n\r\n* Use build arg default for failing on test failers\r\n\r\n* Update from deprecated set-output commands\r\nhttps://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/\r\n\r\n* Use Codespaces prebuilds (#3470)\r\n\r\n* Add commands to devcontainer\r\n\r\n* Set builtin bash to be safe\r\nhttps://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425\r\nhttps://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/\r\n\r\n* Setup workspace on create\r\n\r\n* Revert use of set -u for bash\r\ndon't raise error due to variables\r\notherwise colcon setup.sh chokes from using an unbounded path variable\r\n\r\n* Add safe.directory for git config\r\notherwise colcon cache errors out because of issues with git\r\ndue to complex user mapping magic that vscode does with devcontainers\r\n\r\nhttps://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor\r\n\r\nalso used by Moveit2:\r\nhttps://github.com/ros-planning/moveit2/pull/1994\r\n\r\nhttps://github.blog/2022-04-12-git-security-vulnerability-announced/\r\n\r\n* Set env using remoteEnv\r\ninstead of inlining them in scripts\r\n\r\n* Revert to using the main tag\r\nnow that the tester stage has been replicated\r\nwith the new devcontainer script commands instead\r\n\r\n* formating\r\n\r\n* Scrap `-dev` image tag\r\nand use codspaces prebuilds instead\r\n\r\n* Build incrementally from update content command\r\nby copying the build workspace steps from circleci config\r\n\r\n* Adapt the build workspace steps for bash\r\n\r\n* Fix for different ceres isinf() API (#3471)\r\n\r\n* Fixing name of security launch file\r\n\r\n* Clean up pending service client request on interrupt/timeout (#3479)\r\n\r\nSigned-off-by: Øystein Sture \r\n\r\n* Added str cast to parse int (#3486)\r\n\r\nCo-authored-by: antoniomarangi \r\n\r\n* Add flag to not send request in BTServiceNode (#3431)\r\n\r\n* Add flag to not send request in BTServiceNode\r\n\r\n* rename goal to request\r\n\r\n* Fail if should not send goal\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* .\r\n\r\n* fix linter\r\n\r\n* fix CI\r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Prepare test results to only use junit/xunit schema (#3441)\r\n\r\n* Set ctest arg to output junit\r\n\r\nTo try and help CircleCI to parse the output files\r\nhttps://stackoverflow.com/a/70774733/2577586\r\n\r\n* Replace the original Test.xml\r\n\r\nby outputting the junit to the same filename\r\nContext:\r\nhttps://github.com/colcon/colcon-cmake/blob/8f1b92a190b2ad4289ecf837c3200d540c13fdd9/colcon_cmake/task/cmake/test.py#L133\r\n\r\n* Fix default formatting to a list\r\n\r\nWARNING:colcon.colcon_defaults.argument_parser.defaults:Default value 'ctest-args' for parser 'test' should be a list, not: --output-junit Test.xml\r\n\r\n* Revert junit file name\r\nhttps://circleci.com/docs/collect-test-data/#ctest-for-c-cxx-tests\r\n\r\n* Fine and rename ctest summary Test.xml\r\n\r\n* Fix find path\r\n\r\n* Simplify extention renaming\r\n\r\n* Copy ctest junit file into test_results\r\nso that they can be stored by CI\r\n\r\n* Revert ctest config modifications\r\n\r\n* Prepare Test Results by removing Test.xml\r\ngenerated by ctest\r\nto simplify fix for circleci\r\n\r\n* Reorder storage of test result artifacts\r\nbefore Test.xml files are removed\r\nso that they can still be archived and viewed for later\r\n\r\n* Use find command\r\n\r\n* Container retention via version tagging (#3491)\r\n\r\n* Use github action expression syntax\r\nto alias over github repository name\r\n\r\n* Tag by version instead of by timestamp\r\n\r\n* Avoid pushing untagged image to GHCR\r\nby setting provenance to false\r\nnow that provenance is enabled by default\r\nas of v4 of docker/build-push-action\r\n\r\n- https://github.com/docker/build-push-action/pull/781\r\n- https://github.com/docker/build-push-action/issues/778\r\n\r\n* Use checkout action to set version output (#3492)\r\n\r\nOtherwise there is no source code to use to set the version output.\r\nFixes: #3491\r\n\r\n* Change directory to inside checked out repo (#3493)\r\n\r\nor relative path under $GITHUB_WORKSPACE\r\nthat actions/checkout places the repository\r\n\r\n* Write and read from correct output mapping (#3494)\r\n\r\n* Revert \"Change directory to inside checked out repo (#3493)\"\r\n\r\nThis reverts commit 332c1fb07bd787bab8a8eeea5fc896a944bb54d8.\r\n\r\n* Add `version` to outputs for check step\r\nand use output from `check` id\r\n\r\n* Use output from check_ci_files job\r\n\r\n* updating world in simple commander for TB3 package change (#3495)\r\n\r\n* Ensure version output is always set (#3503)\r\n\r\neven when github.event_name != 'push'\r\nby moving run step to same job as build-push action.\r\n\r\nAlso set context path provided by checkout action\r\nto avoid future nonintuitive behavoir using default Git context,\r\neven when the checkout action appears to be being used.\r\n\r\n- https://github.com/docker/build-push-action#git-context\r\n- https://github.com/docker/build-push-action#path-context\r\n\r\n* Add labels to pushed image versions (#3505)\r\n\r\nusing Pre-Defined Annotation Keys\r\nas defined by The OpenContainers Annotations Spec\r\n\r\n- https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys\r\n- https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows\r\n- https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository\r\n\r\n* Typo README.md (#3506)\r\n\r\n* [Velocity smoother] Set zeros command if timeout (#3512)\r\n\r\n* Set zeros command if timeout\r\n\r\n* Fix lint\r\n\r\n* Fix gtest \r\n\r\nincrease time to allow deceleration\r\n\r\n* Always update last_cmd_\r\n\r\n* Revert test modif\r\n\r\n* remove test logs\r\n\r\n* Fix paste error\r\n\r\n* Update velocity_smoother.cpp\r\n\r\n* Update velocity_smoother.cpp\r\n\r\n* Improve Dev Container ergonomics (#3482)\r\n\r\n* Install and enable bash autocompletion\r\nby using apt durring on create command\r\nand by copying skelton .bashrc file that sources it by default\r\n\r\n* Edit apt for autocomplete\r\nby disabling docker-clean from containerized ubuntu\r\n\r\n* Add ROS2 Ament Task Provider extension\r\nProvides tasks and problem matchers for ROS2 projects using ament\r\n\r\nhttps://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider\r\n\r\n* Source underlay for extentions\r\nto allow them to find the path to ros binaries\r\nsuch as ament_cpplint needed for althack.ament-task-provider\r\n\r\n* Target new dever stage in Dockerfile\r\n\r\n* Reduce need for internet after image build\r\nby installing developer dependencies earlier\r\n\r\n* Edit apt caching before apt updating\r\n\r\n* Source underlay systemwide\r\nthis is a hacky workarround\r\nto ensure VS Code can run ShellExecution tasks\r\nwith the ros envorment included in PATH\r\n\r\notherwise, postponing this to the on-create-command\r\nresults in vscode extentions not finding system installed ros commands\r\n\r\nthis also works for all user shells\r\nregardless of how devontainers could change the user\r\n\r\n* Postpone bashrc setup to postCreateCommand\r\nonce the dev container has been assigned to a user for the first time\r\n\r\n* Cleanup onCreateCommand\r\nas we don't use ros_entrypoint.sh for development\r\nand so it doesn't really need to be updated\r\n\r\n* Quite down the logs when building devcontainer\r\n\r\n* Formatting\r\n\r\n* Add refrence ccp properties config file\r\ngenerated from the vscode ROS extention\r\nbut with the hardcoded paths in includePath deleted\r\n\r\n* Update version of cppStandard for ROS Rolling\r\n\r\n* Update workspaceFolder to use new .vscode folder\r\n\r\n* Mount ccache directory to volume\r\nto speed up rebuilding devcontainer\r\nwhenever onCreateCommand is triggered\r\nbecause of modifications to .devcontainer/ files\r\n\r\n* Avoid use of containerEnv to express ccache direcotry\r\nas doing so is not possable, for more info:\r\n- https://stackoverflow.com/a/75759647/2577586\r\n- https://github.com/microsoft/vscode-remote-release/issues/7147#issuecomment-1237779733\r\n\r\nJust target a path in the temp direcotry instead\r\n\r\n* Stage auto generated includePath\r\n\r\n* Remove workspace install from include path\r\nexcept for autogenerated headers from message packages\r\n\r\n* Avoid hardcoded path to sorce folder\r\n\r\n* Avoid hardcoded path to install folder\r\nbut this is still rather fragile\r\nas the reletive path\r\nbetween workspaceFolder and the colcon workspace isn't fixed\r\n\r\n* Sort list of paths\r\n\r\n* Remove cpp properties configuration\r\nas it seems it's existance prevents autoupdating the includePaths property\r\nunless user manually runs the vscode command `>ROS:Update C++ Properties`\r\n\r\nhttps://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71\r\n\r\nand even when this command is invoked\r\nit blows aways any customizated properties anyhow\r\n\r\nissue about wrong cppStandard tracked here:\r\nhttps://github.com/ms-iot/vscode-ros/issues/818\r\n\r\n* Fix typo\r\nto move docker-clean from loaded config path\r\n\r\n* fix data race: addFilter() and resizeMap() can be executed concurrently (#3518)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* fix data race: prohibit resizeMap() during plugin/filter initialization (#3522)\r\n\r\nCo-authored-by: Dirk Braunschweiger \r\n\r\n* Mount overlay workspace into Dev Container via volume (#3524)\r\n\r\n* Add volume for overlay\r\nto avoid rebuilding it from scratch\r\nwhenever the dev container is rebuilt\r\nthis saves startup time locally when fiddling with the configs\r\n\r\n* Append devcontainerId to volume name\r\nto avoid conflicts with other devcontainers\r\nnote that devcontainerId is stable across rebuilds\r\n- https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson\r\n\r\n* Call updateContentCommand from onCreateCommand\r\nto deduplicate scripts and keep setup DRY\r\ngiven the addition of a mounted overlay volume\r\nwhich could include a prebuilt colcon workspace\r\nwell before the dev container is created/rebuilt\r\n\r\n* Comment out colcon clean from setup\r\nto avoid unintentional removal of built packages\r\nfrom the persistent overlay workspace volume.\r\nUsers can uncomment the line locally\r\nor simply remove the overlay workspace volume\r\nif they want to rebuild packages from scratch.\r\n\r\n* Format json\r\n\r\n* Add headless and use_rviz LaunchConfigurations to demo launch files (#3527)\r\n\r\n* Add headless and use_rviz LaunchConfigurations\r\nin nav2_simple_commander demo launch files\r\nfor whether to start rviz or gzclient\r\nto simplify their use in headless environments\r\n\r\n* Fix headless logic to match tb3_simulation_launch.py\r\nfor launch arg consistency\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss (#3531)\r\n\r\n* Fix State-Lattice planner crashes due to FP precision loss\r\n\r\n* Move testcase comment\r\n\r\n* Add PoseProgressChecker (#3530)\r\n\r\n* add rotation progress checker\r\n\r\n* clean include\r\n\r\n* add stopped goal checker reset test\r\n\r\n* add rotation progress checker tests\r\n\r\n* uncrustify\r\n\r\n* better name: PoseProgressChecker instead of RotationProgressChecker\r\n\r\n* camelCase\r\n\r\n* uncrustify\r\n\r\n* rename in tests\r\n\r\n* more rename\r\n\r\n* simplify parentheses\r\n\r\n* faster and better tests\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* [velocity_smoother] Fix accel and deccel inverted for negative speeds (#3529)\r\n\r\n* fix inverted accel / deccel\r\n\r\n* handle speed through 0.0\r\n\r\n* add applyConstraints tests\r\n\r\n* fold logic\r\n\r\n* same logic in findEtaConstraint\r\n\r\n* lint\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* Update nav2_velocity_smoother/src/velocity_smoother.cpp\r\n\r\n* findEtaConstraint tests\r\n\r\n* space\r\n\r\n* lint\r\n\r\n* typos\r\n\r\n* comment typos\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* Enable Visualizations for Dev Container (#3523)\r\n\r\n* Add visualizer stage\r\nto install demo dependencies\r\n\r\n* Install foxglove\r\n\r\n* Install gzweb\r\n\r\n* Add hack for resolvable mesh URIs\r\nlocated by the aws SDL model files\r\n- https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/pull/24\r\n\r\n* Revert hack and use fork\r\nthat fixes issues with deploy.sh\r\n- https://github.com/osrf/gzweb/pull/248\r\n\r\n* Update target stage to visualizer\r\n\r\n* Comment out gzclient and rviz for debugging\r\n\r\n* Add hack for resolvable mesh URIs\r\nas migrating the python3 scripts still hasn't resolved the issue\r\n\r\n* Reorder stages for readability\r\nby keeping sequential builder and tester stages adjacent\r\nwhile keeping tester stage the default exported target\r\n\r\n* fix typo\r\n\r\n* Install gdb for launching ros launch files\r\nusing the ROS VS Code extension\r\n- https://github.com/ms-iot/vscode-ros/issues/588\r\n\r\n* Add vscode tasks file\r\n\r\n* Add Start Gzweb task\r\n\r\n* Add Start Foxglove tasks\r\nfor bridge and studio\r\n\r\n* Add Start Foxglove compound task\r\nusing dependsOn\r\n\r\n* Set default problemMatcher to empty\r\nto avoid nagging the user to select one\r\nas currently none really support our use case\r\n\r\n* Source overlay before running foxglove_bridge\r\nto ensure nav2 message types are defined\r\nby inlining all args into command\r\nand sourcing workspace setup\r\n\r\n* Formatting\r\n\r\n* Generalize and simplify hack\r\n\r\n* Generalize gazebo model discovery\r\n\r\n* Patch gzserver to run headless using xvfb\r\nto avoid host/platform specific x11 quirks\r\nexposed by vscode automatic x11 forwarding\r\n\r\nThis is needed to provide gazebo a virtual frame buffer\r\nas it still need one after all these years.\r\nThis also avoids the need modifying launch files to call xvfb-run\r\n\r\n- https://github.com/microsoft/vscode-remote-release/issues/8031\r\n- https://github.com/gazebosim/gazebo-classic/issues/1602\r\n\r\n* Set isBackground for start tasks\r\n\r\n* Add stop tasks\r\n\r\n* Add restart foxglove task\r\n\r\n* Switch to shell for commanding pkill\r\nto gracefully return 0 when process is not running\r\nallowing sequence of dependsOn tasks to run\r\nsuch as for the restart tasks\r\n\r\n* Add icons to tasks\r\nfor readability\r\n\r\n* Add restart gzweb task\r\n\r\n* Add global start, stop, and restart tasks\r\nfor all background visualization tasks\r\n\r\n* Formatting\r\n\r\n* Hide tasks users need not run manually\r\nto avoid cluttering up the run task quick pick\r\n\r\n* Shorten label for background tasks\r\nso they succinctly show from the running task list\r\n\r\n* Show global start and stop visualizations tasks\r\nas they may be too helpful to hide\r\n\r\n* Revert \"Comment out gzclient and rviz for debugging\"\r\n\r\nThis reverts commit 0addae2a1ee70c5771055c5dd8fa050af438b896.\r\n\r\n* Add --ipc=host to runArgs\r\nto enable shared memory transport\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add --pid=host to runArgs\r\nto simplify discovery\r\n- https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory\r\n\r\n* Add to runArgs\r\nto simplify debugging\r\n- https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose\r\n\r\n* Add comments\r\n\r\n* Comment out runArgs unintended side effects\r\nor cross talk between containers by default\r\nalso avoids interfering with vscode's X11 forwarding\r\n\r\n* [nav2_planner] Fix costmap thread reset on cleanup (#3548)\r\n\r\n* remove costmap thread reset on cleanup\r\n\r\n* Init costmap thread in on_configure method\r\n\r\n* Move costmap_thread init in on_configure method\r\n\r\n* Add IsBatteryChargingCondition (#3553)\r\n\r\n* Add IsBatteryChargingCondition\r\n\r\n* Minor fixes in battery charging and add testing\r\n\r\n* Fix format\r\n\r\n* Added isBatteryChargingCondition BT node to params\r\n\r\n* Impl noise filtering layer in the costmap_2d (#2567)\r\n\r\nSigned-off-by: ryzhikovas \r\n\r\n* Improve Dev Container Web App Visualization (#3551)\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nin an attempt to avoid authentication tokens in headers\r\nwhen forwarding ports from codespaces via web interface\r\n\r\n- https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports\r\n- https://caddyserver.com/docs/quick-starts/reverse-proxy\r\n- https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13\r\n\r\n* Update caddy related tasks\r\n\r\n* Rename Gzweb task to Gzweb Bridge\r\nto make room for more gzweb tasks\r\n\r\n* Add Gzweb Client Task\r\n\r\n* Add Caddyfile to reverse proxy websockets\r\nnow for Gzweb\r\n\r\n* Specify config file to avoid crosstalk\r\nbetween caddy stop commands\r\n\r\n* Fix reverse proxy for websockets\r\nby correcting matcher using headers\r\nas websocket request header value is lowercase for gzweb and foxglove\r\n\r\n* Comment out log output files for debugging\r\n\r\n* Simplify tasks by removing client tasks\r\n\r\n* Stop tasks by using terminate\r\nvia the workbench.action.tasks.terminate command\r\n\r\n* Move Caddyfile\r\n\r\n* Add Web Server tasks\r\n\r\n* Move Caddyfile\r\n\r\n* Update log output file path\r\n\r\n* Update root path\r\n\r\n* Update reverse_proxy for both gzweb and foxglove\r\nby using the path argument for respective matchers\r\n\r\n- https://caddyserver.com/docs/caddyfile/matchers#path-matchers\r\n\r\n* Use snippets\r\nto keep Caddyfile DRY\r\n- https://caddyserver.com/docs/caddyfile/concepts#snippets\r\n\r\n* Use rewrite to catch trailing slash\r\nas file_server defaults do not correct reverse_proxy.\r\nThis make typing the websocket URL more forgiving\r\n\r\n- https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes\r\n\r\n* Improve websocket snippet\r\nto keep Caddyfile DRY\r\n\r\n* Use header_regexp for case-insensitive matching\r\ngiven web port forwarding from Codespaces is odd\r\nand rewrites the value of this header field to lowercases\r\neven when local browser request is sent as `Upgrade`\r\n\r\n* Add helper index page to web server\r\nto link to web apps for reverse proxy\r\n\r\n* Limit templates to fix gzweb\r\nby adding matcher for only root index\r\notherwise gzweb's own index.html gets overwritten\r\n\r\n* Add comments to Cadyfile\r\nto document tricky configuration\r\n\r\n* Stage working redirect\r\n\r\n* Simplify index.html\r\n\r\n* Add helper redirect to simplify foxglove\r\nto set the respective queries values to automate websocket setup,\r\nand ensure the websocket schema matches the https request\r\n\r\n* Avoid hardcoding port number\r\n\r\n* Clean up comments\r\n\r\n* Use header to compute redirect\r\nto take into account requesting forwarding\r\nor more codespace port forwarding shenanigans\r\n\r\n* Use shorthand placeholders\r\n- https://caddyserver.com/docs/caddyfile/concepts#placeholders\r\n\r\n* Formatting\r\n\r\n* Keep trailing slash\r\nto stay consistent with caddy file_server directive\r\nthat serves a 308 Permanent Redirect\r\nfor both foxglove and gzweb paths anyway\r\n\r\n* Refactor matcher logic\r\nto account for requests either from\r\nhost ports from local dev containers\r\nor forwarded requests from codespace web port forwarding\r\n\r\n* Split snippet into globals\r\nfor composability\r\n\r\n* Update comments\r\n\r\n* Add Placeholders\r\nfor debugging\r\n\r\n* Use tables to center\r\n\r\n* Use github markdown\r\n- https://github.com/sindresorhus/github-markdown-css\r\n\r\n* Simplify vars\r\n\r\n* Rename vars\r\n\r\n* Revert \"Rename vars\"\r\nas dotted var names do not work in Caddyfile\r\n\r\nThis reverts commit 3e2d1b3fe30f8a4ffb5134fc2f6f5cffd574bcdc.\r\n\r\n* Add System Monitor\r\nto debug CPU load and memory issues\r\n\r\n* Update headings\r\n\r\n* Update layout\r\n\r\n* Update layout\r\n\r\n* Add Foxglove layout for Nav2\r\n\r\n* Symlink assets folder for web server\r\n\r\n* Fetch Foxglove layout using layoutUrl\r\na new parameter to load layout json data from URL\r\n- https://github.com/orgs/foxglove/discussions/217\r\n\r\n* Cleanup\r\n\r\n* Use fork to fetch Foxglove layout using layoutUrl\r\nuntil this PR is merged:\r\n- https://github.com/foxglove/studio/pull/5987\r\n\r\n* Update Caddyfile to handle relative root\r\nby using local srv folder\r\n\r\n* Inject mobile view html tags\r\nusing the caddy replace module\r\n- https://caddyserver.com/docs/modules/http.handlers.replace_response\r\n- https://github.com/caddyserver/replace-response\r\n\r\n* Simplify Caddyfile\r\n\r\n* Use snippet for apps\r\n\r\n* Simplify Caddyfile\r\n\r\n* Simplify Caddyfile\r\n\r\n* Build caddy using custom modules\r\n\r\n* Remove unused symlinks\r\n\r\n* Add comments\r\n\r\n* Use environment and defined variables for config\r\nto avoid hard coded paths\r\n\r\n* Add FoxgloveUrl to vars\r\nfor reuse in templates\r\n\r\n* Fix trailing slash for DataSourceUrl\r\n\r\n* Use exec to run gzserver with xvfb\r\nto prevent ros launch from orphaning process\r\nand ensure gzserver receives SIGTERM signal\r\ngiven gzserver often hangs after only SIGINT\r\n- https://unix.stackexchange.com/a/196053/213124\r\n\r\n* Update redirect for foxglove\r\nto redirect from path /foxglove/autolayout\r\n\r\n* Add redirect for foxglove\r\nto redirect from path /foxglove/autoconnect\r\nbut does not use LayoutUrl\r\nas to not change from cached layout\r\n\r\n* Use web app manifest\r\nto set display as standalone\r\n- https://web.dev/add-manifest/\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest\r\n\r\n* Template manifest files\r\nto embed host info into app name\r\n\r\n* Add manifests for other web apps\r\n\r\n* Add shortcuts for Foxglove\r\n- https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts\r\n- https://web.dev/app-shortcuts/\r\n\r\n* Format\r\n\r\n* Update comments\r\n\r\n* Revert use of fork\r\n\r\n* Remove debug directive\r\n\r\n* Improve usability of PWAs in Dev Containers (#3576)\r\n\r\n* Add WIP icons\r\n\r\n* Add WIP icons for gzweb\r\n\r\n* Add WIP icons for glances\r\n\r\n* Set cross origin to use credentials\r\nensuring auth cookie is included in request header\r\nwhen requesting for web app manifest file\r\nthus avoiding CORS policy violations in browser\r\nwhen accessing forwarded codespaces ports from the web\r\n\r\n> The request for the manifest is made without credentials (even if it's on the same domain), thus if the manifest requires credentials, you must include `crossorigin=\"use-credentials\"` in the manifest tag.\r\n\r\n- https://web.dev/add-manifest/\r\n- https://stackoverflow.com/a/57184506/2577586\r\n\r\n* Use ReqHost variable in templates\r\nto account for X-Forwarded-Host value in header\r\n\r\n* Delete duplicate manifest\r\n\r\n* Set id property in app manifests\r\nso we can address them independently from their start_url\r\n- https://developer.chrome.com/blog/pwa-manifest-id/\r\n\r\n* Ensure apps are uniquely identifies\r\nby adding trailing slash to id\r\nand thus different URI directories\r\n\r\n* Refactor root landing page into nav2 app\r\nby moving page file into nav2 sub folder\r\nadding root redirect pointing to /nav2/\r\nand updating html, markdown, manifest files respectively\r\n\r\n* Fix https detection for Caddy reverse proxies\r\nby also checking X-Forwarded-Proto in request header\r\n\r\n* Remove unnecessary files\r\n\r\n* Prune smaller images\r\n\r\n* Prune duplicate icon\r\n\r\n* Clean up html tags\r\n\r\n* Update manifest icons\r\n\r\n* Rename icons\r\n\r\n* Revert \"Prune duplicate icon\"\r\n\r\nThis reverts commit 571040173ca83716dfd2f6d5db4b351389a557a8.\r\n\r\n* Add back favicon for shortcut\r\n\r\n* Add self index for completeness and bookmarking\r\n\r\n* Simplify icon linking\r\n\r\n* Delete binary files\r\n\r\n* Fix hyperlink path\r\n\r\n* Include image files using gitattributes\r\nto track these binary files via git LFS\r\n\r\n* Add icons using git lfs\r\n\r\n* Standardized all icon paths\r\n\r\n* Use external links for icons\r\nto avoid the need for using git LFS\r\nalthough this is a bit of a hack\r\n\r\n* Stage any and maskable icons\r\n\r\n* Use any and masked icons\r\n\r\n* Set colors to match maskable icon colors\r\n\r\n* Update icon\r\n\r\n* Use lossless compression\r\nwithout removing background\r\n- https://shortpixel.com/online-image-compression\r\n\r\n* Use WebP instead of PNG\r\nfor smaller file sizes\r\n- https://en.wikipedia.org/wiki/WebP\r\n\r\n* Move icons into icons folder\r\n\r\n* Use _SRV environment variables for service paths\r\n\r\n* Download media files from github\r\nduring docker image build\r\nto avoid adding always online dependencies\r\nwhen creating or starting dev containers\r\n\r\n* Delete media icons from git repo\r\nnow that we download media from anonymized URLs on github\r\n- https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files\r\n\r\n* Add comments\r\n\r\n* Enable file browsing for non app paths\r\nfor remote debugging of media and asset files\r\n\r\n* Consolidate assets into single folder\r\n\r\n* Add links for file browser paths\r\nto Server Diagnostics\r\n\r\n* Delete unused symlink\r\n\r\n* Update landing page to match manifest\r\nby including same shortcuts and start url\r\n\r\n* Patch gzweb to disable modelList\r\navoiding 404s for thumbnails\r\nas they are hardcoded into js\r\n\r\n* Update comments\r\n\r\n* Simplify Caddyfile by reverting to symlinking\r\nbut add ROOT_SRV env for custom overriding\r\n\r\n* Loop over nav2 srv folders when symlinking\r\nto generalize over folder names\r\n\r\n* Add matcher for file browsing root directory\r\nwhile still redirecting to nav2 app by default\r\n\r\n* Use placeholders for root variable\r\nto consolidate env default fallback settings\r\ne.g `:/srv`\r\n\r\n* Promote file browser in Nav2 app shortcuts\r\n\r\n* Fix and update SRV envs\r\n\r\n* Postpone symlinking for Nav2 web app\r\nto when post-create-command script then runs\r\ngiven full repo is not copied into builder stage in Dockerfile.\r\nWhile this could be postponed to update-content-command\r\nleaving it here avoids blowing user changes\r\nafter the container has been created or modified.\r\n\r\n* Add guard to check if srv folder exists\r\n\r\n* Add refresh rate shortcuts to glances\r\n\r\n* Add file browser shortcut to nav2\r\n\r\n* Set scope for nav2 PWA to root\r\nto allow for opening child apps inside nav2 app\r\n\r\n* Display child apps in fullscreen mode by default\r\nas users can still open them in standalone via nav2 app\r\ngiven the nav2 app's scope is the parent root path\r\n\r\n* Update shortcuts and landing page\r\n\r\n* Document PWA scope and installation order\r\nwhen using Nav2 PWA scoped as root\r\n\r\n* Revert setting scope for nav2 PWA to root path\r\nas adding file browser shortcut to nav2 PWA is not worth the trouble\r\nof having to explain installation order caveats and URL launch behavior.\r\nFile browser shortcut is still accessible from inside nav2 pwa launcher\r\nbut merely displays in browser preview\r\ngiven root / is out of scope for /nav2/\r\n\r\n* Update server diagnostics for troubleshooting\r\n\r\n* Verify checksum of archive before extraction\r\nincase anonymized URL changes expected archive\r\n\r\n* Fix the condition in ackerman motion model constraints (#3581)\r\n\r\n* Fix the condition in ackerman motion model constraints\r\n\r\n* Fix ackerman motion model tests\r\n\r\n* Fix another ackerman motion model test\r\n\r\n* Fix broken symlink for gzweb (#3585)\r\n\r\nto load world models\r\n\r\n* Fix broken link to contributing guidelines (#3587)\r\n\r\nThe original URL (https://navigation.ros.org/contribute/index.html) seems not to exist, returning an HTTP 404. Hence, I've replaced the link with a page that seems most relevant.\r\n\r\n* Adding Our Sponsors - May 2023 (#3593)\r\n\r\n* adding our sponsors - may 2023\r\n\r\n* adding blurb\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding links\r\n\r\n* adding Open Nav\r\n\r\n* Add CostmapFilterInfoServer as a component (#3596)\r\n\r\n* Resolve #3532: reset i (#3597)\r\n\r\n* [MPPI] empty path_follow_critic proper fix (#3599)\r\n\r\n* [MPPI] empty path_follow_critic proper fix\r\n\r\n* fix linting issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Steve Macenski \r\n\r\n* bumping humble to 1.1.7 for release\r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\n\r\n* Fix merge conflict error (#3619)\r\n\r\n* fixing a second merge conflict resolution error (#3621)\r\n\r\n* fixing merge conflicts for release on humble sync 6 (#3623)\r\n\r\n* Fixing 3629 (#3630)\r\n\r\n* Fixing 3629\r\n\r\n* Update planner_server.cpp\r\n\r\n* bumping humble to 1.1.8 for release sync 6 + bug patch\r\n\r\n* Fixing build warning (#3667) (#3673)\r\n\r\n(cherry picked from commit 7d4b1992811ccc9d36566d29251fdc8eaee66efc)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix the velocity smoother being stuck when the deadband is too high (#3690) (#3715)\r\n\r\n* Move last_cmd update before deadband\r\n\r\n* fix lint\r\n\r\n(cherry picked from commit cb34d0ce1d24c1c437f548834a31a2ee8c4d9889)\r\n\r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\n\r\n* Humble sync 7 August 4 1.1.9 (#3739)\r\n\r\n* Fix map not showing on rviz when navigation is launched with namespace (#3620)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality (#3624)\r\n\r\n* updating mppi's path angle critic for optional bidirectionality\r\n\r\n* Update README.md\r\n\r\n* fixing path angle critic's non-directional bias (#3632)\r\n\r\n* fixing path angle critic's non-directional bias\r\n\r\n* adding reformat\r\n\r\n* adapting goal critic for speed to goal (#3641)\r\n\r\n* adapting goal critic for speed to goal\r\n\r\n* retuning goal critic\r\n\r\n* add readme entries\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Fix uninitialized value (#3651)\r\n\r\n* In NAV2, this warning is treated as an error\r\n\r\nSigned-off-by: Ryan Friedman \r\n\r\n* Fix rviz panel node arguments (#3655)\r\n\r\nSigned-off-by: Nick Lamprianidis \r\n\r\n* Reduce out-of-range log to DEBUG (#3656)\r\n\r\n* Adding nan twist rejection for velocity smoother and collision monitor (#3658)\r\n\r\n* adding nan twist rejection for velocity smoother and collision monitor\r\n\r\n* deref\r\n\r\n* MPPI: Support Exact Path Following For Feasible Plans (#3659)\r\n\r\n* alternative to path align critic for inversion control\r\n\r\n* fix default behavior (enforce_path_inversion: false) (#3643)\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* adding dyaw option for path alignment to incentivize following the path's intent where necessary\r\n\r\n* add docs for use path orientations\r\n\r\n* fix typo\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Fix smoother server tests (#3663)\r\n\r\n* Fix smoother server tests\r\n\r\n* Update test_smoother_server.cpp\r\n\r\n* nav2_bt_navigator: log current location on navigate_to_pose action initialization (#3720)\r\n\r\nIt is very useful to know the current location considered by the\r\nbt_navigator for debug purposes.\r\n\r\n* nav2_behaviors: export all available plugins (#3716)\r\n\r\nIt allows external packages to include those headers and create child\r\nclasses through inheritance.\r\n\r\n* changing costmap layers private to protected (#3722)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (#3728)\r\n\r\n* adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially\r\n\r\n* fix test failures\r\n\r\n* Update RewrittenYaml to support list rewrites (#3727)\r\n\r\n* allowing leaf key rewrites that aren't dcits (#3730)\r\n\r\n* adding checks on config and dynamic parameters for proper velocity and acceleration limits (#3731)\r\n\r\n* Fix Goal updater QoS (#3719)\r\n\r\n* Fix GoalUpdater QoS\r\n\r\n* Fixes\r\n\r\n* bumping Humble to 1.1.9 for release\r\n\r\n* fix merge conflict resolution in collision monitor node\r\n\r\n---------\r\n\r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\n\r\n* Fixing 3768: planner server lifecycle transition down (#3786)\r\n\r\n* Use ParameterFile (allow_substs) (#3706) (#3806)\r\n\r\nSigned-off-by: ymd-stella \r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\n\r\n* Added missing destructor to MPPI critic manager (#3812)\r\n\r\n* Added missing virtual destructor\r\n\r\n* Updated CriticManger Destructor to be same as other branches\r\n\r\n* mppi: return NO_INFORMATION when the checked point is outside the costmap (#3816) (#3818)\r\n\r\notherwise the controller crashes at ObstaclesCritic::costAtPose\r\nbecause x_i and y_i isn't initialized.\r\n\r\n(cherry picked from commit 6b250a7c57536ee43a402c9820ac2a2acdb8bc13)\r\n\r\nCo-authored-by: Chuanhong Guo \r\n\r\n* [Humble] Sync 8 - Sept 25 (#3836)\r\n\r\n* Same orientation of coordinate frames in rviz ang gazebo (#3751)\r\n\r\n* rviz view straight in default xy orientation\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* gazebo orientation to match rviz\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* rotating in direction of view\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\n\r\n* Fix flaky costmap filters tests: (#3754)\r\n\r\n1. Set forward_prune_distance to 1.0 to robot not getting lost\r\n2. Correct map name for costmap filter tests\r\n\r\n* Fix missing mutex in PlannerServer::isPathValid (#3756)\r\n\r\nSigned-off-by: ymd-stella \r\n\r\n* Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (#3572)\r\n\r\n* Make it possible to launch namspaced robot which rewrites `` to namespace.\r\n- It allows to apply namespace automatically on specific target topic path in costmap plugins.\r\n\r\nAdd new nav2 params file for multi-robot(rewriting ``) as an example.\r\n- nav2_multirobot_params_all.yaml\r\n\r\nModify nav2_common.ReplaceString\r\n- add condition argument\r\n\r\n* Update nav2_bringup/launch/bringup_launch.py\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Add new luanch script for multi-robot bringup\r\n\r\nRename luanch script for multi-robot simulation bringup\r\n\r\nAdd new nav2_common script\r\n- Parse argument\r\n- Parse multirobot pose\r\n\r\nUpdate README.md\r\n\r\n* Update README.md\r\n\r\nApply suggestions from code review\r\n\r\nFix pep257 erors\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* use ros clock for wait (#3782)\r\n\r\n* use ROS clock for wait\r\n\r\n* fix backport issue\r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* fixing external users of the BT action node template (#3792)\r\n\r\n* fixing external users of the BT action node template\r\n\r\n* Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n---------\r\n\r\nCo-authored-by: Guillaume Doisy \r\n\r\n* Using Simple Commander API for multi robot systems (#3803)\r\n\r\n* support multirobot namespaces\r\n\r\n* add docs\r\n\r\n* adding copy all params primitive for BT navigator (to ingest into rclcpp) (#3804)\r\n\r\n* adding copy all params primitive\r\n\r\n* fix linting\r\n\r\n* lint\r\n\r\n* I swear to god, this better be the last linting issue\r\n\r\n* allowing params to be declared from yaml\r\n\r\n* Update bt_navigator.cpp\r\n\r\n* some minor optimizations (#3821)\r\n\r\n* fix broken behaviortree doc link (#3822)\r\n\r\nSigned-off-by: Anton Kesy \r\n\r\n* [MPPI] complete minor optimaization with floating point calculations (#3827)\r\n\r\n* floating point calculations\r\n\r\n* Update optimizer_unit_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* Update critics_tests.cpp\r\n\r\n* 25% speed up of goal critic; 1% speed up from vy striding when not in use\r\n\r\n* bumping 1.1.9 to 1.1.10 for Humble release\r\n\r\n---------\r\n\r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Anton Kesy \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Anton Kesy \r\n\r\n* Update CMakeLists.txt (#3843) (#3845)\r\n\r\n(cherry picked from commit 2d6e9a96354c0ea763e70eedd81225635f7b9db5)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* bump to 1.1.11 for release for AVX512 fixes\r\n\r\n* add option for sse4 and avs512 (#3853) (#3855)\r\n\r\n(cherry picked from commit 7274811c5cb512a05b87523183e29e75ace77f4a)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Bumping to 1.1.12 for binary release of AVX512 patches\r\n\r\n* [MPPI Optimization] adding regenerate noise param + adding docs (#3868) (#3870)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n(cherry picked from commit 924f167382080f3ccdd000ffc34b921cb64bcf95)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/README.md\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Updating default map path\r\n\r\n* [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (#3872) (#3882)\r\n\r\n* adding regenerate noise param + adding docs\r\n\r\n* fix tests\r\n\r\n* remove unnecessary normalization\r\n\r\n* Update optimizer.cpp\r\n\r\n* adding refactored path alignment critic\r\n\r\n* fix visualization bug\r\n\r\n* speed up another 30%\r\n\r\n* remove a little jitter\r\n\r\n* a few more small optimizaitons\r\n\r\n* fixing unit tests\r\n\r\n* retain legacy critic\r\n\r\n* adding tests for legacy\r\n\r\n(cherry picked from commit 7009ffba5f85c50ac97fd0057924b0f1447c5e85)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fix incorrect auto merge conflict issue\r\n\r\n* Use mutex to protect costmap reads. (backport #3877) (#3897)\r\n\r\n* Use mutex to protect costmap reads. (#3877)\r\n\r\n* Use mutex to protect costmap reads.\r\nOtherwise costmap can be read during a map update and return 0.\r\n\r\n* Revert \"Use mutex to protect costmap reads.\"\r\n\r\nThis reverts commit e16a44c65ee7064e2271118894b92bb6e24ce28d.\r\n\r\n* Lock costmap before running MPPI controller.\r\n\r\n* Fix typo.\r\n\r\n* Protect against costmap updates in MPP and RotationShim controllers.\r\n\r\n---------\r\n\r\nCo-authored-by: Leif Terry \r\n(cherry picked from commit a1c9fd5ad29bb00e40ce6e696d899a2bcd50cde5)\r\n\r\n# Conflicts:\r\n#\tnav2_mppi_controller/src/controller.cpp\r\n\r\n* fix merge conflict\r\n\r\n---------\r\n\r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: Steve Macenski \r\n\r\n* Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] #3891 (#3900) (#3902)\r\n\r\n* image.hpp #3891\r\n\r\n* Update image.hpp\r\n\r\n(cherry picked from commit 7a7c6da59a923f06f51ca98ad0b0cc412801ad12)\r\n\r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\n\r\n* Log if BT rate is exceeded (#3909) (#3913)\r\n\r\n(cherry picked from commit a11cdd80665238628be9eef4b439067d4b675b7b)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Update theta_star_planner.cpp (#3918) (#3922)\r\n\r\n(cherry picked from commit 0629ff36e36ecc135b9b13fc78f213cfe0a361ef)\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (backport #3911) (#3916)\r\n\r\n* Fixing subtree issues with blackboard shared resources (3640) (#3911)\r\n\r\n* fixing subtree issues\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n(cherry picked from commit 4b4465dfc9427b95e98aef70620bedd933cfbe56)\r\n\r\n# Conflicts:\r\n#\tnav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp\r\n\r\n* Update bt_action_server_impl.hpp\r\n\r\n---------\r\n\r\nCo-authored-by: Steve Macenski \r\n\r\n* fix build\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* disdt\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* remove unused\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* test\r\n\r\nSigned-off-by: kevin \r\n\r\n* fix spin\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* remove looprate log\r\n\r\nSigned-off-by: ladianchad \r\n\r\n* removed loop rate waring\r\n\r\nSigned-off-by: ladianchad \r\n\r\n---------\r\n\r\nSigned-off-by: Trung Kien \r\nSigned-off-by: Øystein Sture \r\nSigned-off-by: ryzhikovas \r\nSigned-off-by: Ryan Friedman \r\nSigned-off-by: Nick Lamprianidis \r\nSigned-off-by: ymd-stella \r\nSigned-off-by: Christian Henkel \r\nSigned-off-by: Anton Kesy \r\nSigned-off-by: kevin \r\nSigned-off-by: ladianchad \r\nCo-authored-by: Steve Macenski \r\nCo-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>\r\nCo-authored-by: Jose Luis Blanco-Claraco \r\nCo-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com>\r\nCo-authored-by: Trung Kien \r\nCo-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com>\r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Ruffin \r\nCo-authored-by: Øystein Sture \r\nCo-authored-by: mrmara <48493979+mrmara@users.noreply.github.com>\r\nCo-authored-by: antoniomarangi \r\nCo-authored-by: Tony Najjar \r\nCo-authored-by: Griswald Brooks \r\nCo-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com>\r\nCo-authored-by: Dirk Braunschweiger \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Guillaume Doisy \r\nCo-authored-by: Alberto Tudela \r\nCo-authored-by: ryzhikovas \r\nCo-authored-by: Alexandr Buyval \r\nCo-authored-by: Hyung-Taik Choi \r\nCo-authored-by: Filipe Cerveira \r\nCo-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>\r\nCo-authored-by: Ryan \r\nCo-authored-by: Nick Lamprianidis \r\nCo-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com>\r\nCo-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com>\r\nCo-authored-by: Vineet <52542471+VineetTambe@users.noreply.github.com>\r\nCo-authored-by: Chuanhong Guo \r\nCo-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com>\r\nCo-authored-by: Hyunseok \r\nCo-authored-by: Anton Kesy \r\nCo-authored-by: LeifHookedWireless \r\nCo-authored-by: GoesM <130988564+GoesM@users.noreply.github.com>\r\nCo-authored-by: kevin ","shortMessageHtmlLink":"[2024 01 23] pantos branch. 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