AMCL: Set an initial guess by service call #4182

aock · 2024-03-15T00:52:08Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

One can send initial pose guesses via services now. I closely oriented at the already existing "/reinitialize_global_localization" service but I additionally had to create a new SetInitialPose service interface in nav2_msgs. In my tests, setting the pose and the covariances had the same behavior as using the topic "/initialpose".

Description of documentation updates required from your changes

I added a new service "/set_initial_pose". So I guess that could be added to the list of services in the documentation.

Future work that may be required in bullet points

none

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

mergify · 2024-03-15T00:53:50Z

@aock, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski · 2024-03-15T01:08:31Z

@aock please explain the need for this feature over the topic interface that already exists

aock · 2024-03-15T01:34:38Z

Hi @SteveMacenski

It's more about the concepts. I am well aware of reliable communication in ROS2 with topics. However, according to the docs, topics should be used for "continuous data streams". And services for "remote procedure calls that end quickly". And that is the case with this one. Just like for the "/global_localization" service. Nevertheless, I would still keep the topic interface for RViz.

-- Alex

nav2_amcl/include/nav2_amcl/amcl_node.hpp

nav2_msgs/srv/SetInitialPose.srv

nav2_amcl/src/amcl_node.cpp

SteveMacenski · 2024-03-15T18:49:02Z

also, heed the DCO requirement in the CI badges

Signed-off-by: Alexander Mock <amock@uos.de>

mergify · 2024-03-16T00:25:01Z

@aock, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

- Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de>

mergify · 2024-03-16T00:35:47Z

@aock, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

aock · 2024-03-16T00:49:20Z

also, heed the DCO requirement in the CI badges

Now the "Signed-off-by" is on a seperate line

Signed-off-by: Alexander Mock <amock@uos.de>

mergify · 2024-03-16T00:59:15Z

@aock, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

nav2_amcl/src/amcl_node.cpp

Signed-off-by: Alexander Mock <amock@uos.de>

mergify · 2024-03-18T09:55:38Z

@aock, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

* Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de>

* nav2_controller: add loop rate log (#4171) * update smac_planner README Signed-off-by: ARK3r <kermani.areza@gmail.com> * added current controller loop rate logging Signed-off-by: ARK3r <kermani.areza@gmail.com> * linting Signed-off-by: ARK3r <kermani.areza@gmail.com> * uncrustify lint Signed-off-by: ARK3r <kermani.areza@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * completely shutdown inital_pose_sub_ (#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * chore(nav2_behavior_tree): log actual wait period in bt_action_node (#4178) Signed-off-by: Felix <felix@fzeltner.de> Co-authored-by: Felix <felix@fzeltner.de> * replace throw-error with error-log to avoid UAF mentioned in #4175 (#4180) * replace throw-error with error-log to avoid UAF Signed-off-by: GoesM <GoesM@buaa.edu.cn> * fix typo Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix missing param declare (#4203) Signed-off-by: nelson <kaichie.lee@gmail.com> * Revert "nav2_controller: add loop rate log (#4171)" (#4210) This reverts commit 4737462. * add polygon_subscribe_transient_local parameter in collision monitor (#4207) Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> * nav2_controller: add loop rate log (#4228) * added current loop rate printout Signed-off-by: ARK3r <kermani.areza@gmail.com> * remove empty line Signed-off-by: ARK3r <kermani.areza@gmail.com> --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> * bump to 1.2.7 for iron sync * change pointer free order in amcl to avoid use-after-free bug mentioned in #4068 (#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change costmap_queue to shared library (#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in #4078 (#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix typo (#4087) Fix AttributeError: 'BasicNavigator' object has no attribute '_BasicNavigator__getPathThroughPosesImpl' Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> * Add velocity based polygon (#3708) * add velocity based polygon * fix header, copyright and variable name change * optimise polygon update * optimise duplicated code with setPolygonShape * add warning log for uncovered speed * update feedback * rename polygon velocity to velocity polygon * cleanup * fix typo * add dynamic support for velocity polygon * wrap try catch for getting parameters * update naming and linting * use switch case * Revert "use switch case" This reverts commit 1230ede. * fix proper return for invalid parameters * remove topic parameter for velocity polygon * fix formatting manually * continue if points are not defined * rewrite velocity polygon with polygon base class Signed-off-by: nelson <kaichie.lee@gmail.com> * update review comments and description Signed-off-by: nelson <kaichie.lee@gmail.com> * add VelocityPolygon to detector node Signed-off-by: nelson <kaichie.lee@gmail.com> * review update Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * Update nav2_collision_monitor/src/velocity_polygon.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> * add velocity polygon tests Signed-off-by: nelson <kaichie.lee@gmail.com> * fix cpplint Signed-off-by: nelson <kaichie.lee@gmail.com> * add in-line comment Signed-off-by: nelson <kaichie.lee@gmail.com> * fix push back Signed-off-by: nelson <kaichie.lee@gmail.com> * minor change and update README Signed-off-by: nelson <kaichie.lee@gmail.com> * update README Signed-off-by: nelson <kaichie.lee@gmail.com> --------- Signed-off-by: nelson <kaichie.lee@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * avoid implicit type case (#4098) * adding progress checker selector BT node (#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in #4068 (#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> * Use ament_export_targets for all targets (#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update default recommendation from Obstacles to Cost critic in MPPI (#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * fix merge conflict * Revert "Add velocity based polygon (#3708)" This reverts commit a3ed745. * custom backported version of cost critic inscribed cost --------- Signed-off-by: ARK3r <kermani.areza@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Felix <felix@fzeltner.de> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: nelson <kaichie.lee@gmail.com> Signed-off-by: asarazin <anaelle.sarazin@robocc.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: bi0ha2ard <bi0ha2ard@users.noreply.github.com> Co-authored-by: Felix <felix@fzeltner.de> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: nelson <kaichie.lee@gmail.com> Co-authored-by: anaelle-sw <63144493+anaelle-sw@users.noreply.github.com> Co-authored-by: asarazin <anaelle.sarazin@robocc.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: nfriedrich00 <69539098+nfriedrich00@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com>

* change pointer free order in amcl to avoid use-after-free bug mentioned in #4068 (#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change costmap_queue to shared library (#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in #4078 (#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * adding progress checker selector BT node (#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in #4068 (#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> * Use ament_export_targets for all targets (#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update default recommendation from Obstacles to Cost critic in MPPI (#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completely shutdown inital_pose_sub_ (#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * bump humble to 1.1.14 for sync * fix merge conflict * custom version of cost critic's cost method --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * adding progress checker selector BT node (ros-navigation#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> * Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * bump humble to 1.1.14 for sync * fix merge conflict * custom version of cost critic's cost method --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Fix ros-navigation#4001 (ros-navigation#4028) * Humble Sync 9: Jan 23, 2024 (ros-navigation#4064) * Update README.md: fix typo (ros-navigation#3842) * Update package.xml * fix typo (ros-navigation#3850) * adjust link to point to v3.8 of behavior tree docs (ros-navigation#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (ros-navigation#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * simplication of lattice_generator.py, fixes ros-navigation#3858 (ros-navigation#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Fix class doxygen * fix minor typos (ros-navigation#3892) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * fix use after free (ros-navigation#3910) * fix build mppi (ros-navigation#3927) Signed-off-by: kevin <kevin@floatic.io> Co-authored-by: kevin <kevin@floatic.io> * Removing old TODOs * Fixed links for install and build in README (ros-navigation#3963) Currently the readme is linking to an invalida page in the docs (404 error). * fix a few outdated comments in smac planners (ros-navigation#3978) * Update README.md * bump to 1.1.13 for release --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Signed-off-by: kevin <kevin@floatic.io> Co-authored-by: thandal <than@timbrel.org> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com> Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com> Co-authored-by: kevin <kevin@floatic.io> Co-authored-by: Abiel Fernandez <empoleom@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> * Fixes for compiling with clang on macOS (ros-navigation#4051) amcl: declare void parameter for functions with no args amcl: remove unused variables behavior_tree: address clang compilation issues behaviors: add missing override specifier bt_navigator: add missing override specifier collision_monitor: address clang compilation issues constrained_smoother: address clang compilation issues controller: address clang compilation issues costmap_2d: add missing override specifier costmap_2d: address clang compilation issues costmap_2d: fix link issue for order_layer dwb_controller: fix clang compile issue, replace ulong with uint32_t map_server: replace std::experimental::filesystem map_server: remove dependency on stdc++fs waypoint_follower: address clang compilation issues waypoint_follower: remove dependency on stdc++fs waypoint_follower: replace std::experimental::filesystem smoother: address clang compilation issues smoother: remove unused variables system_tests: remove dependency on stdc++fs rotation_shim_controller: update percentage arg in setSpeedLimit to boolean planner: remove unused variables costmap_2d: address clang compilation issues mppi_controller: replace use of auto as function param with templates mppi_controller: address clang compilation issues costmap_2d: resolve clang issue with std::pair non-const copy Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> * critical fix for path tracking MPPI (ros-navigation#4099) (ros-navigation#4101) (cherry picked from commit 8f7b6ce) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * backport graceful controller to humble (ros-navigation#4119) * Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123) (ros-navigation#4125) * Added cast to float to getClosestAngularBin return for behavior consistency. Signed-off-by: Hunter Song <hsong@macleanengineering.com> * Revised test name Signed-off-by: Hunter Song <hsong@macleanengineering.com> --------- Signed-off-by: Hunter Song <hsong@macleanengineering.com> (cherry picked from commit c59e0f3) Co-authored-by: hsong-MLE <158601314+hsong-MLE@users.noreply.github.com> * Fix goal handle was not freed correctly (ros-navigation#4137) (ros-navigation#4143) * Fix goal handle was not freed correctly * Update nav2_util/include/nav2_util/simple_action_server.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ziohang <hang.zhou@agvsz.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> (cherry picked from commit 2e491b1) Co-authored-by: iceuw <m201770623@hust.edu.cn> * bug fix (ros-navigation#4160) (ros-navigation#4162) Signed-off-by: Tianchu <tianchu.zhang0706@gmail.com> (cherry picked from commit 623434b) Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com> * Add uint suffix (ros-navigation#4213) (ros-navigation#4216) (cherry picked from commit 46ff0ec) Co-authored-by: Michael Wrock <michael.wrock@picknik.ai> * Fix merge conflict in nav2_mppi_controller README (humble) (ros-navigation#4239) Signed-off-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> * Humble sync 10: April 4, 2024 (ros-navigation#4241) * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> * free `map_sub_` before `map_free(map_)` to avoid UAF&&NullPtr bug mentioned in ros-navigation#4078 (ros-navigation#4079) * free `map_sub_` before `map_free(map_)` Signed-off-by: GoesM <GoesM@buaa.edu.cn> * reformat Signed-off-by: GoesM <GoesM@buaa.edu.cn> --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * adding progress checker selector BT node (ros-navigation#4109) * New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix lint cpp - extra space Signed-off-by: Brice <brice.renaudeau@gmail.com> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Update README.md Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> * fix include of hpp Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update cost_critic.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Kino <cybao292261@163.com> * Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * completely shutdown inital_pose_sub_ (ros-navigation#4176) Signed-off-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: GoesM <GoesM@buaa.edu.cn> * fix typos in description messages (ros-navigation#4188) Signed-off-by: Antonio Park <kaypaklabs@gmail.com> * AMCL: Set an initial guess by service call (ros-navigation#4182) * Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> * Move lines for pre-computation to outside a loop (ros-navigation#4191) Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> * Fix typo (ros-navigation#4196) * Fix BT.CPP import Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update README.md --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update footprint iif changed (ros-navigation#4193) Signed-off-by: Brice <brice.renaudeau@gmail.com> * bump humble to 1.1.14 for sync * fix merge conflict * custom version of cost critic's cost method --------- Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix graceful humble release version Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix graceful_controller exceptions --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Signed-off-by: kevin <kevin@floatic.io> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Signed-off-by: GoesM <GoesM@buaa.edu.cn> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com> Signed-off-by: Antonio Park <kaypaklabs@gmail.com> Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: Kyungsik Park <dkalxkwl@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: thandal <than@timbrel.org> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com> Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com> Co-authored-by: kevin <kevin@floatic.io> Co-authored-by: Abiel Fernandez <empoleom@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: hsong-MLE <158601314+hsong-MLE@users.noreply.github.com> Co-authored-by: iceuw <m201770623@hust.edu.cn> Co-authored-by: Chortine <107395103+Chortine@users.noreply.github.com> Co-authored-by: Michael Wrock <michael.wrock@picknik.ai> Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Kino <cybao292261@163.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Davide Faconti <davide.faconti@gmail.com> Co-authored-by: jncfa <20467009+jncfa@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Antonio Park <kaypaklabs@gmail.com> Co-authored-by: Alexander Mock <amock@uos.de> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com>

* Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de>

* Added initial guess service. Signed-off-by: Alexander Mock Signed-off-by: Alexander Mock <amock@uos.de> * - Removed added empty line - Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de> * added whitespace Signed-off-by: Alexander Mock <amock@uos.de> * renamed initial pose service in callback bind Signed-off-by: Alexander Mock <amock@uos.de> --------- Signed-off-by: Alexander Mock <amock@uos.de> Signed-off-by: enricosutera <enricosutera@outlook.com>

SteveMacenski requested changes Mar 15, 2024

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

bfa9184

Signed-off-by: Alexander Mock <amock@uos.de>

aock force-pushed the feature/amcl-initial-pose-service branch from 3a36f2e to bfa9184 Compare March 16, 2024 00:23

- Removed added empty line

1bfb42e

- Renamed initialGuessCallback to initialPoseReceivedSrv - Added new line to SetInitialPose service definition - Removed mutex from initialPoseReceived - Cleanup service server Signed-off-by: Alexander Mock <amock@uos.de>

added whitespace

739453e

Signed-off-by: Alexander Mock <amock@uos.de>

SteveMacenski requested changes Mar 16, 2024

View reviewed changes

nav2_amcl/src/amcl_node.cpp Outdated Show resolved Hide resolved

renamed initial pose service in callback bind

7c435dc

Signed-off-by: Alexander Mock <amock@uos.de>

SteveMacenski approved these changes Mar 18, 2024

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SteveMacenski merged commit f484b09 into ros-navigation:main Mar 18, 2024
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AMCL: Set an initial guess by service call #4182

AMCL: Set an initial guess by service call #4182

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AMCL: Set an initial guess by service call #4182

AMCL: Set an initial guess by service call #4182

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aock commented Mar 15, 2024

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