Impl noise filtering layer in the costmap_2d #2567

ryzhikovas · 2021-09-17T08:26:59Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#2082
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of turtlebot3

Description of contribution in a few bullet points

Filtering of noise-induced standalone obstacles or small obstacles groups is implemented as a layer in costmap_2d.

A simple algorithm for removing single obstacles. This algorithm performs dilation for costmap to determine if each obstacle cell has neighbors. Then replaces single obstacles without neighbors with empty cells.
A segmentation-based algorithm for removing obstacles groups. To select groups of adjacent obstacles, the algorithm performs costmap segmentation. Next, the size of each segment is calculated. Small obstacles segments are replaced with empty cells.

Description of documentation updates required from your changes

Documentation changes suggested in this PR.

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new 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

AlexeyMerzlyakov

@ryzhikovas, thank you for the work made these 3 weeks and the commit! It is overall well-done for the production quality. There are mostly stylistically and some small marks, please check them below.
The main question @SteveMacenski, how should we manage new OpenCV dependency for costmap2d in Nav2?

nav2_costmap_2d/include/nav2_costmap_2d/denoise_layer.hpp

nav2_costmap_2d/CMakeLists.txt

nav2_costmap_2d/plugins/denoise_layer.cpp

nav2_costmap_2d/test/unit/denoise_layer_test.cpp

SteveMacenski · 2021-09-30T16:30:30Z

As Alexey mentioned, I think this is definitely well done. However the use of OpenCV is concerning to me. This creates a dependency on the project's main packages (costmap) onto a very large (and poorly version controlled in ROS vs Jetson vs OS vs other platforms) dependency (openCV). Folks in ROS 1 Navigation worked pretty hard to remove OpenCV and PCL from their dependency chains by professional user demands. Further, by using OpenCV, we have to copy the costmap into a Mat for use, which can be a very large copy for the global costmap and longer-range lidar sensors.

The quality here is really good, I appreciate your testing, doxygen, and inline comments to help others understand your thought process. In no way are my thoughts here a reflection of your work, I think it is definitely one of the better contributions I've had the pleasure of looking over in awhile.

I think perhaps a good outcome here would be to upload this to another repository, and release it for folks to use. I think the main concern I have is that I don't want it inside of the costmap_2d package, but it would be a useful utility for users to have access to in another venue. Alexey and I could help you release it to ROS 2 distributions so that people can install it in the binary form for use and include in our plugins documentation list https://navigation.ros.org/plugins/index.html. You could upload it to your own github, or I could create a repository in one of the ros-* official organizations for it.

What do you think?

ryzhikovas · 2021-09-30T17:27:38Z

@SteveMacenski, thanks for the detailed answer!

Small note: using OpenCV does not require copying the costmap. The cv::Mat constructor allows you to wrap an existing memory buffer.

I agree with your arguments, OpenCV is a monster :)

In this regard, I have a question. Is filtering of correlated noise (removal of obstacle groups) required in practice? If not, then perhaps the best solution would be to rewrite the code without using OpenCV? It is not difficult to implement code for filtering single obstacles without OpenCV primitives.The only non-trivial OpenCV function I currently use is cv::connectedComponents. This is the core of the segmentation-based algorithm. It is difficult to implement it yourself (even with an eye on OpenCV), bugs and performance problems are likely.

AlexeyMerzlyakov · 2021-10-01T06:01:49Z

Hi! I've also thought about it for this week and for this case would like to vote for the another nav2-extentions repository (or ros-* or anything you want) for this commit. This is reasonable from the point of view when we have very helpful feature that is currently out-of-order of Nav2 scope for some reasons (in our case - it is an OpenCV monster), but other people are willing to use it many times and in many cases. Also, that is related to another near-Nav2 features, that are soon could be going into this repository. It might be something like a boost:: for C++ standard library: when you have an experimental items, they could go there; and much better in my opinion than forgotten by all private github-repository.

@ryzhikovas, if you are OK with the re-writing, this would be a great deal for Nav2 as well I think. Moreover, the OpenCV license is Apache 2.0 (formerly BSD 3) which is compatible with current status of affairs in Nav2. So, there would be no problem to even pointly export some code from CV to cover cv::dilate for one pixel and cv::connectedComponents.
However, as it was previously mentioned, this work is quite voluminous. So, I just suggest to go step-by-step. First, in my opinion is good option - is to create a nav2-extentions new organization for it and make a commit there +plus committing a tutorial on navigation.ros.org web-pages. Then we could back to it in more details: to the next turn with re-writing/isolating of CV filtering functions for Nav2 itself. But anyway, if this will be as-is for today in extended repository, I think this will be a great and very useful work in its current state. So incremental work is preferred in my mind.

SteveMacenski · 2021-10-01T17:43:54Z

I would not like to create a nav2-extensions project, that would put the maintainer burden on me for things that might not be as well tested or have assistance when API changes are made. This project is relatively simple and wouldn't be too hard to maintain, but if we open that door, who knows what people will try to submit to it. As much time as I love to put into open source, every hour of maintaining is an hour I'm not developing. There's no reason this can't still be hosted on @ryzhikovas 's account but still referenced in documentation and available as binaries. But centralizing a bunch of things won't make much sense unless there's some organization to it (e.g. we create and maintain a large number of external costmap layers). If we do start seeing a large number of costmap layers scattered about that would benefit from central organization, I'd be actually more than happy to have a nav2-costmap-layers repo, but I would not want something so general as a nav2-extensions repo unless I had access to much more resources to assist in maintenance. The benefit of plugins is that people can create their own custom plugins without needing to modify this codebase.

My preference would be to help @ryzhikovas to release and maintain it but that we should not do so here, assuming we cannot remove the openCV dependency. But if we can, I'm happy to include it here directly.

Small note: using OpenCV does not require copying the costmap. The cv::Mat constructor allows you to wrap an existing memory buffer.

👍

Is filtering of correlated noise (removal of obstacle groups) required in practice? If not, then perhaps the best solution would be to rewrite the code without using OpenCV? It is not difficult to implement code for filtering single obstacles without OpenCV primitives.The only non-trivial OpenCV function I currently use is cv::connectedComponents. This is the core of the segmentation-based algorithm. It is difficult to implement it yourself (even with an eye on OpenCV), bugs and performance problems are likely.

I think just the erosion / dilation is fine enough. The idea is to remove speckled noise more than large groups. Large groups are almost certainly "real" things where speckle noise comes in from bad filtering algorithms (or no filtering algorithms) or probabilistic distributions poorly tuned (which is a reality of every system).

https://www.mathworks.com/help/images/morphological-dilation-and-erosion.html looking at the imopen for opening, that's what I had in mind. This is what we typically use in image processing to remove noise (and what i suggested in the ticket #2082) so that would be good enough I believe. It consists of just an erosion and a dilation.

ryzhikovas · 2021-10-04T09:10:34Z

If that's okay, I'll remove OpenCV.

The pair (erosion -> dilation) appears to be a destructive transformation. As shown in the picture below, it makes the boundaries of obstacles coarser.
It seems the proposed implementation based on binary image segmentation is preferred. The segmentation-based algorithm preserves the contours of non-noise objects. In addition, it retains a thin, but elongated shape.
Am I wrong about something related to the opening operation?

imopen example

SteveMacenski · 2021-10-04T18:13:10Z

Morphological opening is useful for removing small objects from an image while preserving the shape and size of larger objects in the image.

That is consistent with my use of it in a past life doing image processing. A result like what was shown in the Matlab documentation is pretty much what I would expect. The dilation makes things "bigger" and erosion removes "small" things. Together they return the size of non-removed objects back to the same (whereas only dilation or only erosion would remove meaningful surface density). Alone each, and the costmap would have removed meaningful values along walls and such. If you reverse the order and "close", you're instead filling in gaps rather than removing small pixelated noise.

The openCV docs also explain this in their more code-friendly way https://www.pyimagesearch.com/2021/04/28/opencv-morphological-operations/

I think if we just had an "opening" implementation here that didn't rely on openCV, that would be something great to have merged in here!

AlexeyMerzlyakov · 2021-10-05T13:32:48Z

I would not like to create a nav2-extensions project, that would put the maintainer burden on me for things that might not be as well tested or have assistance when API changes are made.

Yes this is the main problem to produce many repositories that should be all up-to-date. So,I do not mind for this argument. Moreover, if @ryzhikovas could implement its own way of this, or migrate some parts from OpenCV, that should be best option in my opinion.

ryzhikovas · 2021-11-11T15:44:38Z

@SteveMacenski, in the last commit I removed openCV. The code is not ready yet, it will be improved and made cleaner. But before that, the question: it is really necessary to implement a morphological opening operation? (in addition to or instead of one of the approaches already taken)
Before starting work on PR, I experimented with erode + dilate. I decided that they introduce too much distortion. The image shows some examples with the turtlebot3_world map. The first column is the original costmap, the second is after the opening operation with a 3x3 cross shape, the third corresponds to opening with a 3x3 rect shape. Map images are scaled 2x (nearest neighbor interpolation).

In my opinion, too many details are discarded at this resolution.
Just in case, I attach archive.zip with source maps and results.

SteveMacenski · 2021-11-11T19:33:17Z

What would be your suggested alternative?

I see the issue mostly in being use of a planar scanner that isn't really aligning well with the map (e.g. thin line). If a map was there to have more structure or a 3D voxel layer, I think there would be larger detected objects to not be as easily degrading it. But this does bring up a real question because many maps are built using 2D laser scanners that might be thin-walled and with a laser scan as the only sensor otherwise, that might be problematic. All of those results seem reasonable to me with respect to the algorithm being applied (except the local costmap, that's odd) but maybe this isn't the best way to go if working with more "thin" structures like 2D laser scan data.

When I envisioned this work, I envisioned it more with respect to the voxel layer that has more salt and pepper noise possible from discrete raycasting error. It also sees things more fully than just a 2D scan so objects have more "bulk" to them where it would be possible (combined with the map) to remove some salt and pepper noise. I also wonder if its possible to use a smaller kernel to remove only small points rather than thin structures (but I don't think that is possible, to be honest).

With that in mind, I'd be open to hearing what you think is best!

ryzhikovas · 2021-11-12T15:47:26Z

I suggest an alternative in this pull request :)

This solution removes groups of obstacles smaller than the specified size. By size, I mean the size of a group of adjacent obstacle cells. Two values are configured in the plugin parameters: the adjacency type (4 or 8 neighbors) and the minimum size of a real obstacle (measured as the number of map cells) that can exist in the given world.

This algorithm based on segmentation of a binary image (Two Strategies to Speed up Connected
Component Labeling Algorithms).

The solution cannot remove some false obstacles such as long thin lines, but it retains real obstacles well. Unfortunately, noisy cells adjacent to a real obstacle together form a single group. Such noise cannot be removed by this algorithm.

Another drawback is performance, about 7x slower than the open operation in my tests (although with the minimum size of the group of obstacles = 2, i.e. when only single obstacles will be removed, a separate lightweight algorithm is used. In this case, the speed is similar to open). I think the performance will need to be tested with real examples. I have no knowledge yet how long the plugin can process a map of a given size.

The three right-hand columns are the results of the PR solution (in which I temporarily solved my mistake with interpreting 254/255 values by simply adding 1). In all cases, 4-connectivity is used, the minimum size of the group of real obstacles is written in brackets (2, 3, 6). Removal of obstacles on the border of the map (see the cell local costmap, denoise cross(3)) can be avoided if necessary, assuming that the size of the segment adjacent to the border is infinite.

SteveMacenski · 2021-11-15T19:51:47Z

I suggest an alternative in this pull request :)

I know, you had a couple and was wondering which you'd suggest with the new evidence, didn't want to assume 😉

I'd be curious on your results for how long this takes to process on a small realistic map like the AWS Warehouse World. This is a pretty small map, but representative of the minimum size that someone might be deploying a robot into as an example. Some metrics on the update times would be great (even if 7x slower, is that 1ms? 10ms? 100ms?) and how, or if, the algorithm's update time is impacted by the number of small groups in the scene at any given time.

Unfortunately, noisy cells adjacent to a real obstacle together form a single group. Such noise cannot be removed by this algorithm.

That is OK, that would not be my intent, its more for removing free-space noise from random variation in sensors, not real obstacles that are marked a little off due to localization error (or sensor noise on "real" returns).

ryzhikovas · 2021-11-19T15:19:14Z

Made a small benchmark in which I run denoise on AWS Warehouse. I checked how long it takes to process the original and noisy (uniform additive noise) global map. Hardware: i7-7700 CPU 3.60GHz. Image size 286x423 pixels.
imopen <=> cv :: erode + cv :: dilate from OpenCV.
denoise (2) <=> only single obstacles will be removed, a lightweight algorithm is used.
denoise (20) <=> obstacle groups less than 20 will be removed, a segmentation-based algorithm.
In all cases, 4-connectivity is used.
Timing:

Results:

SteveMacenski · 2021-11-19T19:58:57Z

Can you give us some thoughts on those results? You've been thinking about this the most of everyone, so I'd really like to hear what you take away from these results.

The denoise 2 seems good, with a larger map I think this would be problematic, but we're also running this as a costmap layer in a finite window size (e.g. where there are sensor updates in the global costmap, or the window size of the local costmap) so I think it would be perfectly fine as its not being run over the entire map in a functional application. But this is a great test, thanks for sharing!

Denoise 20 is obviously past the point of reasonable trade off, but good to know that's working too. For a default something between 2-5 seems like a good balance.

Assuming your thoughts align with that, I think that's the direction to go -- but it would be good to hear your thoughts from toying around.

ryzhikovas · 2021-11-22T15:21:34Z

I would like to point out that I took up this task without ever using ROS before.
At the beginning of work on the PR, I did not discuss it properly due to participation in the Samsung COMMoN competition. It was not clear to me how to combine the discussion of my ideas with the format of the competition ...

So my thoughts on performance and use cases is a hypothetical one. I originally thought that processing a local costmap in 1 millisecond was fast enough. (as shown in the plot above, greater performance having been achieved)

In this regard, I believed that a segmentation-based algorithm (denoise(n), n > 2) should be used to filter noise on a local costmap. In my opinion, it has two great advantages. 1. Preservation of the shape of real obstacles that are not noise. 2. Intuitive result of work, thanks to which the user, not familiar with image processing, can easily configure it, setting only the minimum size of real obstacles.

In contrast, I see great speed as the only significant advantage of the opening operation.

"For a default something between 2-5 seems like a good balance" - unfortunately, the speed of work of denoise(3), denoise(4) ... denoise(n) does not depend on n (up to absurdly large n), but only on the number of image segments. Therefore, the plot shows a linear increase of the execution time denoise(20) with increasing noise. That is, denoise(3) and denoise(20) are executed in exactly the same time.

Summary.
I assumed that the user would be able to choose between "fast" denoise(2) and denoise(n), n > 2 to filter noise on the global and local map. The default values for both are 2. The main advantage was the predictability and ease of configuration + preservation of the contours of real obstacles without distortion.

About further work.
I don't see any possibilities for speeding up the segmentation-based algorithm (denoise(n), n > 2) without parallelization. The segmentation function code is already non-trivial, its parallelization will significantly complicate the implementation. This is probably impractical because noise removal is not such an important feature.

I understand correctly that in your opinion (which I want to adopt, since you have knowledge of constraints and use cases) due to performance reasons:

I should implement imopen as a base option,
keep the ability to use denoise(2),
remove denoise(n), n > 2?

SteveMacenski · 2021-11-22T19:01:05Z

I think this is sufficiently fast, lets use the denoise option you created, I'm just looking for you to provide some written explanation of your thoughts after running the experiments.

N should be a parameter, so that it can be increased based on people's situations, but I think keeping 2 as the default is a reasonable move.

Lets move forward with this denoise implementation with parameterized N. Just make sure that you're using the image size set as the min / max x, y from the update costs function, not the full costmap itself.

What is the status of this PR today? Is it ready to review with that in mind or do you need to push something for this?

ryzhikovas · 2021-11-24T16:28:28Z

I think the code is now ready for review. Probably, some lines are not well commented yet, but which ones - it will be best clear after the review.

@AlexeyMerzlyakov, the next iteration of the code is ready. Major changes:

removed OpenCV;
LETHAL_OBSTACLE and NO_INFORMATION are now both interpreted as an obstacle;
the amount of memory that a plugin can allocate is defined in the config. The number of relocations has been minimized. In the segmentation algorithm, the type of labels (uint16_t/uint32_t) is determined at runtime by the available memory.

mergify · 2021-11-24T16:59:15Z

@ryzhikovas, 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_costmap_2d/include/nav2_costmap_2d/image.hpp

nav2_costmap_2d/plugins/denoise_layer.cpp

nav2_costmap_2d/include/nav2_costmap_2d/image_processing.hpp

AlexeyMerzlyakov · 2021-12-03T13:38:01Z

I've also started the review, but due to amount of changes in this PR and my LP-related and org. activities it still not done yet. Plan to finish it up in the beginning on next week. Apologies for the delay.

ryzhikovas · 2021-12-06T13:43:25Z

Until December 16th I am on vacation with poor internet connection. I hope to commit the modified code no later than December 20.

AlexeyMerzlyakov

Overall, it was made pretty well. There are some items, but they could be resolved without big efforts and commit is on its finish line.

Additionally, the test coverage has some notable misses:
For denoise_layer.cpp:

For header-files, not sure whether it is critical, just for check-up:

Since these files are header-implementation containing ones, I think this should be some attention for this (within reasonable limits).

nav2_costmap_2d/include/nav2_costmap_2d/image.hpp

nav2_costmap_2d/plugins/denoise_layer.cpp

nav2_costmap_2d/include/nav2_costmap_2d/denoise_layer.hpp

nav2_costmap_2d/include/nav2_costmap_2d/image_processing.hpp

ryzhikovas · 2021-12-22T14:00:00Z

For header-files, not sure whether it is critical, just for check-up: Since these files are header-implementation containing ones, I think this should be some attention for this (within reasonable limits).

@AlexeyMerzlyakov I collect test coverage information like this:
git clone -b feature-costmap2d-denoise https://github.com/ryzhikovas/navigation2-fork.git exp && cd exp/nav2_costmap_2d
colcon build --packages-select nav2_costmap_2d --symlink-install --cmake-args -DCMAKE_CXX_FLAGS='--coverage' -DCMAKE_C_FLAGS='--coverage' && colcon test --packages-select nav2_costmap_2d
lcov --capture --directory ./build --output-file ./test-coverage.info && genhtml ./test-coverage.info --output-directory test-coverage
The coverage:

There is an assumption, what am I wrong?

AlexeyMerzlyakov · 2021-12-24T06:09:31Z

@ryzhikovas, I did retest at OSRF docker from the scratch. Now everything seems is OK: headers are being covering by ~100%. It looks like previous time it was my local setup fault (probably sources & build inconsistency). So, this is not an action item to worry about. Thanks for noting this.

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

In general, the image may not be continuous, i.e. there may be unused bytes between adjacent rows. Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

SteveMacenski · 2023-04-28T17:03:16Z

@AlexeyMerzlyakov merge the pair of PRs when you're ready!

AlexeyMerzlyakov

Two nitpick comments after latest update and OK for merge

nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp

nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp

AlexeyMerzlyakov · 2023-05-12T06:47:03Z

Finally we've done. Thanks to @ryzhikovas for the diligent & constant work on this and @SteveMacenski for the review & resources spent on this feature! Great work and one more brick in Nav2 foundation!

ryzhikovas · 2023-05-12T08:51:25Z

Thanks for your continued support from start to finish! I'll try to stay in touch if there are bugs or a request for improvement.

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

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docker/build-push-action#781 - docker/build-push-action#778 * Use checkout action to set version output (#3492) Otherwise there is no source code to use to set the version output. Fixes: #3491 * Change directory to inside checked out repo (#3493) or relative path under $GITHUB_WORKSPACE that actions/checkout places the repository * Write and read from correct output mapping (#3494) * Revert "Change directory to inside checked out repo (#3493)" This reverts commit 332c1fb. * Add `version` to outputs for check step and use output from `check` id * Use output from check_ci_files job * updating world in simple commander for TB3 package change (#3495) * Ensure version output is always set (#3503) even when github.event_name != 'push' by moving run step to same job as build-push action. Also set context path provided by checkout action to avoid future nonintuitive behavoir using default Git context, even when the checkout action appears to be being used. - https://github.com/docker/build-push-action#git-context - https://github.com/docker/build-push-action#path-context * Add labels to pushed image versions (#3505) using Pre-Defined Annotation Keys as defined by The OpenContainers Annotations Spec - https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys - https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows - https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository * Typo README.md (#3506) * [Velocity smoother] Set zeros command if timeout (#3512) * Set zeros command if timeout * Fix lint * Fix gtest increase time to allow deceleration * Always update last_cmd_ * Revert test modif * remove test logs * Fix paste error * Update velocity_smoother.cpp * Update velocity_smoother.cpp * Improve Dev Container ergonomics (#3482) * Install and enable bash autocompletion by using apt durring on create command and by copying skelton .bashrc file that sources it by default * Edit apt for autocomplete by disabling docker-clean from containerized ubuntu * Add ROS2 Ament Task Provider extension Provides tasks and problem matchers for ROS2 projects using ament https://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider * Source underlay for extentions to allow them to find the path to ros binaries such as ament_cpplint needed for althack.ament-task-provider * Target new dever stage in Dockerfile * Reduce need for internet after image build by installing developer dependencies earlier * Edit apt caching before apt updating * Source underlay systemwide this is a hacky workarround to ensure VS Code can run ShellExecution tasks with the ros envorment included in PATH otherwise, postponing this to the on-create-command results in vscode extentions not finding system installed ros commands this also works for all user shells regardless of how devontainers could change the user * Postpone bashrc setup to postCreateCommand once the dev container has been assigned to a user for the first time * Cleanup onCreateCommand as we don't use ros_entrypoint.sh for development and so it doesn't really need to be updated * Quite down the logs when building devcontainer * Formatting * Add refrence ccp properties config file generated from the vscode ROS extention but with the hardcoded paths in includePath deleted * Update version of cppStandard for ROS Rolling * Update workspaceFolder to use new .vscode folder * Mount ccache directory to volume to speed up rebuilding devcontainer whenever onCreateCommand is triggered because of modifications to .devcontainer/ files * Avoid use of containerEnv to express ccache direcotry as doing so is not possable, for more info: - https://stackoverflow.com/a/75759647/2577586 - microsoft/vscode-remote-release#7147 (comment) Just target a path in the temp direcotry instead * Stage auto generated includePath * Remove workspace install from include path except for autogenerated headers from message packages * Avoid hardcoded path to sorce folder * Avoid hardcoded path to install folder but this is still rather fragile as the reletive path between workspaceFolder and the colcon workspace isn't fixed * Sort list of paths * Remove cpp properties configuration as it seems it's existance prevents autoupdating the includePaths property unless user manually runs the vscode command `>ROS:Update C++ Properties` https://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71 and even when this command is invoked it blows aways any customizated properties anyhow issue about wrong cppStandard tracked here: ms-iot/vscode-ros#818 * Fix typo to move docker-clean from loaded config path * fix data race: addFilter() and resizeMap() can be executed concurrently (#3518) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * fix data race: prohibit resizeMap() during plugin/filter initialization (#3522) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * Mount overlay workspace into Dev Container via volume (#3524) * Add volume for overlay to avoid rebuilding it from scratch whenever the dev container is rebuilt this saves startup time locally when fiddling with the configs * Append devcontainerId to volume name to avoid conflicts with other devcontainers note that devcontainerId is stable across rebuilds - https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson * Call updateContentCommand from onCreateCommand to deduplicate scripts and keep setup DRY given the addition of a mounted overlay volume which could include a prebuilt colcon workspace well before the dev container is created/rebuilt * Comment out colcon clean from setup to avoid unintentional removal of built packages from the persistent overlay workspace volume. Users can uncomment the line locally or simply remove the overlay workspace volume if they want to rebuild packages from scratch. * Format json * Add headless and use_rviz LaunchConfigurations to demo launch files (#3527) * Add headless and use_rviz LaunchConfigurations in nav2_simple_commander demo launch files for whether to start rviz or gzclient to simplify their use in headless environments * Fix headless logic to match tb3_simulation_launch.py for launch arg consistency * Fix State-Lattice planner crashes due to FP precision loss (#3531) * Fix State-Lattice planner crashes due to FP precision loss * Move testcase comment * Add PoseProgressChecker (#3530) * add rotation progress checker * clean include * add stopped goal checker reset test * add rotation progress checker tests * uncrustify * better name: PoseProgressChecker instead of RotationProgressChecker * camelCase * uncrustify * rename in tests * more rename * simplify parentheses * faster and better tests --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [velocity_smoother] Fix accel and deccel inverted for negative speeds (#3529) * fix inverted accel / deccel * handle speed through 0.0 * add applyConstraints tests * fold logic * same logic in findEtaConstraint * lint * Update nav2_velocity_smoother/src/velocity_smoother.cpp * Update nav2_velocity_smoother/src/velocity_smoother.cpp * findEtaConstraint tests * space * lint * typos * comment typos --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Enable Visualizations for Dev Container (#3523) * Add visualizer stage to install demo dependencies * Install foxglove * Install gzweb * Add hack for resolvable mesh URIs located by the aws SDL model files - aws-robotics/aws-robomaker-small-warehouse-world#24 * Revert hack and use fork that fixes issues with deploy.sh - osrf/gzweb#248 * Update target stage to visualizer * Comment out gzclient and rviz for debugging * Add hack for resolvable mesh URIs as migrating the python3 scripts still hasn't resolved the issue * Reorder stages for readability by keeping sequential builder and tester stages adjacent while keeping tester stage the default exported target * fix typo * Install gdb for launching ros launch files using the ROS VS Code extension - ms-iot/vscode-ros#588 * Add vscode tasks file * Add Start Gzweb task * Add Start Foxglove tasks for bridge and studio * Add Start Foxglove compound task using dependsOn * Set default problemMatcher to empty to avoid nagging the user to select one as currently none really support our use case * Source overlay before running foxglove_bridge to ensure nav2 message types are defined by inlining all args into command and sourcing workspace setup * Formatting * Generalize and simplify hack * Generalize gazebo model discovery * Patch gzserver to run headless using xvfb to avoid host/platform specific x11 quirks exposed by vscode automatic x11 forwarding This is needed to provide gazebo a virtual frame buffer as it still need one after all these years. This also avoids the need modifying launch files to call xvfb-run - microsoft/vscode-remote-release#8031 - gazebosim/gazebo-classic#1602 * Set isBackground for start tasks * Add stop tasks * Add restart foxglove task * Switch to shell for commanding pkill to gracefully return 0 when process is not running allowing sequence of dependsOn tasks to run such as for the restart tasks * Add icons to tasks for readability * Add restart gzweb task * Add global start, stop, and restart tasks for all background visualization tasks * Formatting * Hide tasks users need not run manually to avoid cluttering up the run task quick pick * Shorten label for background tasks so they succinctly show from the running task list * Show global start and stop visualizations tasks as they may be too helpful to hide * Revert "Comment out gzclient and rviz for debugging" This reverts commit 0addae2. * Add --ipc=host to runArgs to enable shared memory transport - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add --pid=host to runArgs to simplify discovery - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add to runArgs to simplify debugging - https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose * Add comments * Comment out runArgs unintended side effects or cross talk between containers by default also avoids interfering with vscode's X11 forwarding * [nav2_planner] Fix costmap thread reset on cleanup (#3548) * remove costmap thread reset on cleanup * Init costmap thread in on_configure method * Move costmap_thread init in on_configure method * Add IsBatteryChargingCondition (#3553) * Add IsBatteryChargingCondition * Minor fixes in battery charging and add testing * Fix format * Added isBatteryChargingCondition BT node to params * Impl noise filtering layer in the costmap_2d (#2567) Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> * Improve Dev Container Web App Visualization (#3551) * Add Caddyfile to reverse proxy websockets in an attempt to avoid authentication tokens in headers when forwarding ports from codespaces via web interface - https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports - https://caddyserver.com/docs/quick-starts/reverse-proxy - https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13 * Update caddy related tasks * Rename Gzweb task to Gzweb Bridge to make room for more gzweb tasks * Add Gzweb Client Task * Add Caddyfile to reverse proxy websockets now for Gzweb * Specify config file to avoid crosstalk between caddy stop commands * Fix reverse proxy for websockets by correcting matcher using headers as websocket request header value is lowercase for gzweb and foxglove * Comment out log output files for debugging * Simplify tasks by removing client tasks * Stop tasks by using terminate via the workbench.action.tasks.terminate command * Move Caddyfile * Add Web Server tasks * Move Caddyfile * Update log output file path * Update root path * Update reverse_proxy for both gzweb and foxglove by using the path argument for respective matchers - https://caddyserver.com/docs/caddyfile/matchers#path-matchers * Use snippets to keep Caddyfile DRY - https://caddyserver.com/docs/caddyfile/concepts#snippets * Use rewrite to catch trailing slash as file_server defaults do not correct reverse_proxy. This make typing the websocket URL more forgiving - https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes * Improve websocket snippet to keep Caddyfile DRY * Use header_regexp for case-insensitive matching given web port forwarding from Codespaces is odd and rewrites the value of this header field to lowercases even when local browser request is sent as `Upgrade` * Add helper index page to web server to link to web apps for reverse proxy * Limit templates to fix gzweb by adding matcher for only root index otherwise gzweb's own index.html gets overwritten * Add comments to Cadyfile to document tricky configuration * Stage working redirect * Simplify index.html * Add helper redirect to simplify foxglove to set the respective queries values to automate websocket setup, and ensure the websocket schema matches the https request * Avoid hardcoding port number * Clean up comments * Use header to compute redirect to take into account requesting forwarding or more codespace port forwarding shenanigans * Use shorthand placeholders - https://caddyserver.com/docs/caddyfile/concepts#placeholders * Formatting * Keep trailing slash to stay consistent with caddy file_server directive that serves a 308 Permanent Redirect for both foxglove and gzweb paths anyway * Refactor matcher logic to account for requests either from host ports from local dev containers or forwarded requests from codespace web port forwarding * Split snippet into globals for composability * Update comments * Add Placeholders for debugging * Use tables to center * Use github markdown - https://github.com/sindresorhus/github-markdown-css * Simplify vars * Rename vars * Revert "Rename vars" as dotted var names do not work in Caddyfile This reverts commit 3e2d1b3. * Add System Monitor to debug CPU load and memory issues * Update headings * Update layout * Update layout * Add Foxglove layout for Nav2 * Symlink assets folder for web server * Fetch Foxglove layout using layoutUrl a new parameter to load layout json data from URL - https://github.com/orgs/foxglove/discussions/217 * Cleanup * Use fork to fetch Foxglove layout using layoutUrl until this PR is merged: - foxglove/studio#5987 * Update Caddyfile to handle relative root by using local srv folder * Inject mobile view html tags using the caddy replace module - https://caddyserver.com/docs/modules/http.handlers.replace_response - https://github.com/caddyserver/replace-response * Simplify Caddyfile * Use snippet for apps * Simplify Caddyfile * Simplify Caddyfile * Build caddy using custom modules * Remove unused symlinks * Add comments * Use environment and defined variables for config to avoid hard coded paths * Add FoxgloveUrl to vars for reuse in templates * Fix trailing slash for DataSourceUrl * Use exec to run gzserver with xvfb to prevent ros launch from orphaning process and ensure gzserver receives SIGTERM signal given gzserver often hangs after only SIGINT - https://unix.stackexchange.com/a/196053/213124 * Update redirect for foxglove to redirect from path /foxglove/autolayout * Add redirect for foxglove to redirect from path /foxglove/autoconnect but does not use LayoutUrl as to not change from cached layout * Use web app manifest to set display as standalone - https://web.dev/add-manifest/ - https://developer.mozilla.org/en-US/docs/Web/Manifest * Template manifest files to embed host info into app name * Add manifests for other web apps * Add shortcuts for Foxglove - https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts - https://web.dev/app-shortcuts/ * Format * Update comments * Revert use of fork * Remove debug directive * Improve usability of PWAs in Dev Containers (#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > 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. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Fix broken symlink for gzweb (#3585) to load world models * Fix broken link to contributing guidelines (#3587) The 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. * Adding Our Sponsors - May 2023 (#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Add CostmapFilterInfoServer as a component (#3596) * Resolve #3532: reset i (#3597) * [MPPI] empty path_follow_critic proper fix (#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping humble to 1.1.7 for release --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com>

* Option allowing to use simple lookupTransform API (ros-navigation#3412) * Option allowing to use simple lookupTransform API ignoring time shifts between source and base frame during the movement * Refine comments * Fix wrong warning message format (ros-navigation#3416) * Fix wrong warning message format (Closes ros-navigation#3415) * fix code formatting * nav2_dwb_controller: add forward_prune_distance parameter (ros-navigation#3374) Until now, the prune_distance was used as distance threshold to shorten the upcoming path when shorten_transformed_plan was enabled. However, the prune and shortening mechanisms are de-correlated mechanisms. One could wish to use a different shortening distance for upcoming points, than the prune distance used for passed points. For this reason, a new parameter "forward_prune_distance" was added. * Fix service_name for server_name in cancel assisted teleop node * Fix mask coordinates calculation in worldToMask (ros-navigation#3418) * Remove goal checker default from follow path node * Correct CostmapFilters copyrights (ros-navigation#3423) * Correct the parameter description for AMCL (ros-navigation#3451) Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> * Add default service name to BTServiceNode (ros-navigation#3448) * Add default service name to BtServiceNode * docstring * fix initialization-list order * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix Typos (ros-navigation#3452) * removing galactic from table as EOL (ros-navigation#3460) * Support for Dev Containers and Codespaces (ros-navigation#3457) * Alias image tag over current branch name * Duplicate build and push steps for dev tag * Alias image tag over current branch name * Modify build and push steps for dev tag * Build and push dev tag first to not cache from stale stages as otherwise caching from multple regestry images seems error prone * Revert "Build and push dev tag first" as otherwise the build failer durring the dev tag could then still block build of the main tag This reverts commit 12dd5b1. * Cache from multple reference images while giving layers from the main tag priority this assumes that cache-from prioritizes firstly listed references https://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92 * Cache tests in dev image as well colcon cache can then skip tests for uneffected packages * Add devcontainer.json * Ignore doc for image builds * Add more extensions * Change workspaceFolder to root src path to avoid auto generating .vscode folder in repo created by ms-iot.vscode-ros extension upon configuring ros packages with c_cpp_properties.json * Enable features for github-cli * Add docs about codespaces and have it opened when starting codespaces * Update update_ci_image.yaml to fix duplicate step ids and add workflow file to push paths * Patch CI actions and Dockerfiles (ros-navigation#3468) * Unset default value for FAIL_ON_TEST_FAILURE as unsetting it via --build-arg seems unreliable docker/compose#3608 * Use build arg default for failing on test failers * Update from deprecated set-output commands https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/ * Use Codespaces prebuilds (ros-navigation#3470) * Add commands to devcontainer * Set builtin bash to be safe https://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425 https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/ * Setup workspace on create * Revert use of set -u for bash don't raise error due to variables otherwise colcon setup.sh chokes from using an unbounded path variable * Add safe.directory for git config otherwise colcon cache errors out because of issues with git due to complex user mapping magic that vscode does with devcontainers https://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor also used by Moveit2: moveit/moveit2#1994 https://github.blog/2022-04-12-git-security-vulnerability-announced/ * Set env using remoteEnv instead of inlining them in scripts * Revert to using the main tag now that the tester stage has been replicated with the new devcontainer script commands instead * formating * Scrap `-dev` image tag and use codspaces prebuilds instead * Build incrementally from update content command by copying the build workspace steps from circleci config * Adapt the build workspace steps for bash * Fix for different ceres isinf() API (ros-navigation#3471) * Fixing name of security launch file * Clean up pending service client request on interrupt/timeout (ros-navigation#3479) Signed-off-by: Øystein Sture <os@skarvtech.com> * Added str cast to parse int (ros-navigation#3486) Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> * Add flag to not send request in BTServiceNode (ros-navigation#3431) * Add flag to not send request in BTServiceNode * rename goal to request * Fail if should not send goal * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * . * fix linter * fix CI --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prepare test results to only use junit/xunit schema (ros-navigation#3441) * Set ctest arg to output junit To try and help CircleCI to parse the output files https://stackoverflow.com/a/70774733/2577586 * Replace the original Test.xml by outputting the junit to the same filename Context: https://github.com/colcon/colcon-cmake/blob/8f1b92a190b2ad4289ecf837c3200d540c13fdd9/colcon_cmake/task/cmake/test.py#L133 * Fix default formatting to a list WARNING:colcon.colcon_defaults.argument_parser.defaults:Default value 'ctest-args' for parser 'test' should be a list, not: --output-junit Test.xml * Revert junit file name https://circleci.com/docs/collect-test-data/#ctest-for-c-cxx-tests * Fine and rename ctest summary Test.xml * Fix find path * Simplify extention renaming * Copy ctest junit file into test_results so that they can be stored by CI * Revert ctest config modifications * Prepare Test Results by removing Test.xml generated by ctest to simplify fix for circleci * Reorder storage of test result artifacts before Test.xml files are removed so that they can still be archived and viewed for later * Use find command * Container retention via version tagging (ros-navigation#3491) * Use github action expression syntax to alias over github repository name * Tag by version instead of by timestamp * Avoid pushing untagged image to GHCR by setting provenance to false now that provenance is enabled by default as of v4 of docker/build-push-action - docker/build-push-action#781 - docker/build-push-action#778 * Use checkout action to set version output (ros-navigation#3492) Otherwise there is no source code to use to set the version output. Fixes: ros-navigation#3491 * Change directory to inside checked out repo (ros-navigation#3493) or relative path under $GITHUB_WORKSPACE that actions/checkout places the repository * Write and read from correct output mapping (ros-navigation#3494) * Revert "Change directory to inside checked out repo (ros-navigation#3493)" This reverts commit 332c1fb. * Add `version` to outputs for check step and use output from `check` id * Use output from check_ci_files job * updating world in simple commander for TB3 package change (ros-navigation#3495) * Ensure version output is always set (ros-navigation#3503) even when github.event_name != 'push' by moving run step to same job as build-push action. Also set context path provided by checkout action to avoid future nonintuitive behavoir using default Git context, even when the checkout action appears to be being used. - https://github.com/docker/build-push-action#git-context - https://github.com/docker/build-push-action#path-context * Add labels to pushed image versions (ros-navigation#3505) using Pre-Defined Annotation Keys as defined by The OpenContainers Annotations Spec - https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys - https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows - https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository * Typo README.md (ros-navigation#3506) * [Velocity smoother] Set zeros command if timeout (ros-navigation#3512) * Set zeros command if timeout * Fix lint * Fix gtest increase time to allow deceleration * Always update last_cmd_ * Revert test modif * remove test logs * Fix paste error * Update velocity_smoother.cpp * Update velocity_smoother.cpp * Improve Dev Container ergonomics (ros-navigation#3482) * Install and enable bash autocompletion by using apt durring on create command and by copying skelton .bashrc file that sources it by default * Edit apt for autocomplete by disabling docker-clean from containerized ubuntu * Add ROS2 Ament Task Provider extension Provides tasks and problem matchers for ROS2 projects using ament https://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider * Source underlay for extentions to allow them to find the path to ros binaries such as ament_cpplint needed for althack.ament-task-provider * Target new dever stage in Dockerfile * Reduce need for internet after image build by installing developer dependencies earlier * Edit apt caching before apt updating * Source underlay systemwide this is a hacky workarround to ensure VS Code can run ShellExecution tasks with the ros envorment included in PATH otherwise, postponing this to the on-create-command results in vscode extentions not finding system installed ros commands this also works for all user shells regardless of how devontainers could change the user * Postpone bashrc setup to postCreateCommand once the dev container has been assigned to a user for the first time * Cleanup onCreateCommand as we don't use ros_entrypoint.sh for development and so it doesn't really need to be updated * Quite down the logs when building devcontainer * Formatting * Add refrence ccp properties config file generated from the vscode ROS extention but with the hardcoded paths in includePath deleted * Update version of cppStandard for ROS Rolling * Update workspaceFolder to use new .vscode folder * Mount ccache directory to volume to speed up rebuilding devcontainer whenever onCreateCommand is triggered because of modifications to .devcontainer/ files * Avoid use of containerEnv to express ccache direcotry as doing so is not possable, for more info: - https://stackoverflow.com/a/75759647/2577586 - microsoft/vscode-remote-release#7147 (comment) Just target a path in the temp direcotry instead * Stage auto generated includePath * Remove workspace install from include path except for autogenerated headers from message packages * Avoid hardcoded path to sorce folder * Avoid hardcoded path to install folder but this is still rather fragile as the reletive path between workspaceFolder and the colcon workspace isn't fixed * Sort list of paths * Remove cpp properties configuration as it seems it's existance prevents autoupdating the includePaths property unless user manually runs the vscode command `>ROS:Update C++ Properties` https://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71 and even when this command is invoked it blows aways any customizated properties anyhow issue about wrong cppStandard tracked here: ms-iot/vscode-ros#818 * Fix typo to move docker-clean from loaded config path * fix data race: addFilter() and resizeMap() can be executed concurrently (ros-navigation#3518) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * fix data race: prohibit resizeMap() during plugin/filter initialization (ros-navigation#3522) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * Mount overlay workspace into Dev Container via volume (ros-navigation#3524) * Add volume for overlay to avoid rebuilding it from scratch whenever the dev container is rebuilt this saves startup time locally when fiddling with the configs * Append devcontainerId to volume name to avoid conflicts with other devcontainers note that devcontainerId is stable across rebuilds - https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson * Call updateContentCommand from onCreateCommand to deduplicate scripts and keep setup DRY given the addition of a mounted overlay volume which could include a prebuilt colcon workspace well before the dev container is created/rebuilt * Comment out colcon clean from setup to avoid unintentional removal of built packages from the persistent overlay workspace volume. Users can uncomment the line locally or simply remove the overlay workspace volume if they want to rebuild packages from scratch. * Format json * Add headless and use_rviz LaunchConfigurations to demo launch files (ros-navigation#3527) * Add headless and use_rviz LaunchConfigurations in nav2_simple_commander demo launch files for whether to start rviz or gzclient to simplify their use in headless environments * Fix headless logic to match tb3_simulation_launch.py for launch arg consistency * Fix State-Lattice planner crashes due to FP precision loss (ros-navigation#3531) * Fix State-Lattice planner crashes due to FP precision loss * Move testcase comment * Add PoseProgressChecker (ros-navigation#3530) * add rotation progress checker * clean include * add stopped goal checker reset test * add rotation progress checker tests * uncrustify * better name: PoseProgressChecker instead of RotationProgressChecker * camelCase * uncrustify * rename in tests * more rename * simplify parentheses * faster and better tests --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [velocity_smoother] Fix accel and deccel inverted for negative speeds (ros-navigation#3529) * fix inverted accel / deccel * handle speed through 0.0 * add applyConstraints tests * fold logic * same logic in findEtaConstraint * lint * Update nav2_velocity_smoother/src/velocity_smoother.cpp * Update nav2_velocity_smoother/src/velocity_smoother.cpp * findEtaConstraint tests * space * lint * typos * comment typos --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Enable Visualizations for Dev Container (ros-navigation#3523) * Add visualizer stage to install demo dependencies * Install foxglove * Install gzweb * Add hack for resolvable mesh URIs located by the aws SDL model files - aws-robotics/aws-robomaker-small-warehouse-world#24 * Revert hack and use fork that fixes issues with deploy.sh - osrf/gzweb#248 * Update target stage to visualizer * Comment out gzclient and rviz for debugging * Add hack for resolvable mesh URIs as migrating the python3 scripts still hasn't resolved the issue * Reorder stages for readability by keeping sequential builder and tester stages adjacent while keeping tester stage the default exported target * fix typo * Install gdb for launching ros launch files using the ROS VS Code extension - ms-iot/vscode-ros#588 * Add vscode tasks file * Add Start Gzweb task * Add Start Foxglove tasks for bridge and studio * Add Start Foxglove compound task using dependsOn * Set default problemMatcher to empty to avoid nagging the user to select one as currently none really support our use case * Source overlay before running foxglove_bridge to ensure nav2 message types are defined by inlining all args into command and sourcing workspace setup * Formatting * Generalize and simplify hack * Generalize gazebo model discovery * Patch gzserver to run headless using xvfb to avoid host/platform specific x11 quirks exposed by vscode automatic x11 forwarding This is needed to provide gazebo a virtual frame buffer as it still need one after all these years. This also avoids the need modifying launch files to call xvfb-run - microsoft/vscode-remote-release#8031 - gazebosim/gazebo-classic#1602 * Set isBackground for start tasks * Add stop tasks * Add restart foxglove task * Switch to shell for commanding pkill to gracefully return 0 when process is not running allowing sequence of dependsOn tasks to run such as for the restart tasks * Add icons to tasks for readability * Add restart gzweb task * Add global start, stop, and restart tasks for all background visualization tasks * Formatting * Hide tasks users need not run manually to avoid cluttering up the run task quick pick * Shorten label for background tasks so they succinctly show from the running task list * Show global start and stop visualizations tasks as they may be too helpful to hide * Revert "Comment out gzclient and rviz for debugging" This reverts commit 0addae2. * Add --ipc=host to runArgs to enable shared memory transport - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add --pid=host to runArgs to simplify discovery - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add to runArgs to simplify debugging - https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose * Add comments * Comment out runArgs unintended side effects or cross talk between containers by default also avoids interfering with vscode's X11 forwarding * [nav2_planner] Fix costmap thread reset on cleanup (ros-navigation#3548) * remove costmap thread reset on cleanup * Init costmap thread in on_configure method * Move costmap_thread init in on_configure method * Add IsBatteryChargingCondition (ros-navigation#3553) * Add IsBatteryChargingCondition * Minor fixes in battery charging and add testing * Fix format * Added isBatteryChargingCondition BT node to params * Impl noise filtering layer in the costmap_2d (ros-navigation#2567) Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> * Improve Dev Container Web App Visualization (ros-navigation#3551) * Add Caddyfile to reverse proxy websockets in an attempt to avoid authentication tokens in headers when forwarding ports from codespaces via web interface - https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports - https://caddyserver.com/docs/quick-starts/reverse-proxy - https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13 * Update caddy related tasks * Rename Gzweb task to Gzweb Bridge to make room for more gzweb tasks * Add Gzweb Client Task * Add Caddyfile to reverse proxy websockets now for Gzweb * Specify config file to avoid crosstalk between caddy stop commands * Fix reverse proxy for websockets by correcting matcher using headers as websocket request header value is lowercase for gzweb and foxglove * Comment out log output files for debugging * Simplify tasks by removing client tasks * Stop tasks by using terminate via the workbench.action.tasks.terminate command * Move Caddyfile * Add Web Server tasks * Move Caddyfile * Update log output file path * Update root path * Update reverse_proxy for both gzweb and foxglove by using the path argument for respective matchers - https://caddyserver.com/docs/caddyfile/matchers#path-matchers * Use snippets to keep Caddyfile DRY - https://caddyserver.com/docs/caddyfile/concepts#snippets * Use rewrite to catch trailing slash as file_server defaults do not correct reverse_proxy. This make typing the websocket URL more forgiving - https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes * Improve websocket snippet to keep Caddyfile DRY * Use header_regexp for case-insensitive matching given web port forwarding from Codespaces is odd and rewrites the value of this header field to lowercases even when local browser request is sent as `Upgrade` * Add helper index page to web server to link to web apps for reverse proxy * Limit templates to fix gzweb by adding matcher for only root index otherwise gzweb's own index.html gets overwritten * Add comments to Cadyfile to document tricky configuration * Stage working redirect * Simplify index.html * Add helper redirect to simplify foxglove to set the respective queries values to automate websocket setup, and ensure the websocket schema matches the https request * Avoid hardcoding port number * Clean up comments * Use header to compute redirect to take into account requesting forwarding or more codespace port forwarding shenanigans * Use shorthand placeholders - https://caddyserver.com/docs/caddyfile/concepts#placeholders * Formatting * Keep trailing slash to stay consistent with caddy file_server directive that serves a 308 Permanent Redirect for both foxglove and gzweb paths anyway * Refactor matcher logic to account for requests either from host ports from local dev containers or forwarded requests from codespace web port forwarding * Split snippet into globals for composability * Update comments * Add Placeholders for debugging * Use tables to center * Use github markdown - https://github.com/sindresorhus/github-markdown-css * Simplify vars * Rename vars * Revert "Rename vars" as dotted var names do not work in Caddyfile This reverts commit 3e2d1b3. * Add System Monitor to debug CPU load and memory issues * Update headings * Update layout * Update layout * Add Foxglove layout for Nav2 * Symlink assets folder for web server * Fetch Foxglove layout using layoutUrl a new parameter to load layout json data from URL - https://github.com/orgs/foxglove/discussions/217 * Cleanup * Use fork to fetch Foxglove layout using layoutUrl until this PR is merged: - foxglove/studio#5987 * Update Caddyfile to handle relative root by using local srv folder * Inject mobile view html tags using the caddy replace module - https://caddyserver.com/docs/modules/http.handlers.replace_response - https://github.com/caddyserver/replace-response * Simplify Caddyfile * Use snippet for apps * Simplify Caddyfile * Simplify Caddyfile * Build caddy using custom modules * Remove unused symlinks * Add comments * Use environment and defined variables for config to avoid hard coded paths * Add FoxgloveUrl to vars for reuse in templates * Fix trailing slash for DataSourceUrl * Use exec to run gzserver with xvfb to prevent ros launch from orphaning process and ensure gzserver receives SIGTERM signal given gzserver often hangs after only SIGINT - https://unix.stackexchange.com/a/196053/213124 * Update redirect for foxglove to redirect from path /foxglove/autolayout * Add redirect for foxglove to redirect from path /foxglove/autoconnect but does not use LayoutUrl as to not change from cached layout * Use web app manifest to set display as standalone - https://web.dev/add-manifest/ - https://developer.mozilla.org/en-US/docs/Web/Manifest * Template manifest files to embed host info into app name * Add manifests for other web apps * Add shortcuts for Foxglove - https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts - https://web.dev/app-shortcuts/ * Format * Update comments * Revert use of fork * Remove debug directive * Improve usability of PWAs in Dev Containers (ros-navigation#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > 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. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (ros-navigation#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Fix broken symlink for gzweb (ros-navigation#3585) to load world models * Fix broken link to contributing guidelines (ros-navigation#3587) The 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. * Adding Our Sponsors - May 2023 (ros-navigation#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Add CostmapFilterInfoServer as a component (ros-navigation#3596) * Resolve ros-navigation#3532: reset i (ros-navigation#3597) * [MPPI] empty path_follow_critic proper fix (ros-navigation#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping humble to 1.1.7 for release --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com>

* Update nav2_multirobot_params_2.yaml * Update nav2_multirobot_params_1.yaml * Humble backport of MPPI controller (#3439) * Adding new MPPI controller to Nav2 (#3350) * adding new MPPI controller to Nav2 * fixing rename for Nav2 staging * using larger resource class * fix plugin name * wz typo * add mppi gif * Update defaults.yaml * Update makeflags to match core count of resource_class: large * Bump cache version for testing CI changes * fixing tests * remove unused function * Update config.yml * adding a little more detail * adding contextual note * adding contextual exceptions * Fix using different frame for global and local costmap (#3425) * getGlobalPlanConsideringBoundsInCostmapFrame Replace transformPlanPosesToCostmapFrame and getGlobalPlanConsideringBounds by getGlobalPlanConsideringBoundsInCostmapFrame * use stamp from robot pose for transform * style * fix test * lint test --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> --------- Co-authored-by: ruffsl <roxfoxpox@gmail.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> (cherry picked from commit 8d4f6f4e2dcd37afae94d74e7b5b806ea78e9813) * Replace nav2_core exceptions with std::runtime_error * Get inflation layer parameters from node params * remove changes unrelated to mppi * fix eol * Add reset behavior (draft) * initialize last_time_called_ * add readme for reset_period * Revert "remove changes unrelated to mppi" This reverts commit 55fec35fdb82356e7952c9c9c3ee7fd7195422f4. * changing MPPI's SG filter to 9-point formulation (prev. 5) (#3444) * changing filter to 9 * fix tests (cherry picked from commit 7aee1e7be0349d486a0567aa397c34faa51e1018) * Adapt tests to humble Costmap2DROS constructor * cpplint * Update nav2_mppi_controller/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * address time comment * fix API change rclcpp::ServicesQoS() * fix CI --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix ServicesQoS error (#3449) * [MPPI] Fix transformed path oscillations (#3443) (#3453) * use path distance instead of euclidean for upper bound search * rename to pruned_plan_end * rename to pruned_plan_end * fix tests * do not use prune_distance to limit the search for the closest pose --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> (cherry picked from commit 34f18d9222e33a2fddb2e45653cd5c0ef7b3bb11) Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Update photo_at_waypoint.cpp * Update photo_at_waypoint.hpp * hot patch to fix transform error in MPPI caused by #3425 (#3458) (#3459) (cherry picked from commit d4291438eea0abfdfc1632886cef0adfeea1e831) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix out of bound vector (#3461) (#3463) (cherry picked from commit 0a63bf956e5da6e89946fde131303942e282c23b) Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> * Trajectory visualizer namespaces (#3467) (#3469) * namespace trajectory visualizer markers (cherry picked from commit 124843cafe13d34d193699278f7163072328bbe3) * fix linters * fix typo (cherry picked from commit d8a22fa21d77ce0df8a8d4fc9693806115114b3b) Co-authored-by: Tony Najjar <tony.najjar@logivations.com> * fix segfault when path is empty (#3484) (#3485) a Co-authored-by: Guillaume Doisy <guillaume@dexory.com> (cherry picked from commit 26ac8104862b25151d98981da1731931fa16d1b3) Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Check compile options (#3487) (#3489) (cherry picked from commit e7259030f834ff19599206ae80a1ed5d05cd32d2) Co-authored-by: Tony Najjar <tony.najjar@logivations.com> * ackermann motion model bug (#3498) (#3501) Prevent cost to be modified twice. (cherry picked from commit 482017ce02ec08eadd3a23440e619b0e506cb9c5) Co-authored-by: HAIDAR OBEID <31267966+ObeidHaidar@users.noreply.github.com> * Fix robot navigator params getting overriden (#3562) * Humble sync 6 June 9: 1.1.7 (#3616) * Option allowing to use simple lookupTransform API (#3412) * Option allowing to use simple lookupTransform API ignoring time shifts between source and base frame during the movement * Refine comments * Fix wrong warning message format (#3416) * Fix wrong warning message format (Closes #3415) * fix code formatting * nav2_dwb_controller: add forward_prune_distance parameter (#3374) Until now, the prune_distance was used as distance threshold to shorten the upcoming path when shorten_transformed_plan was enabled. However, the prune and shortening mechanisms are de-correlated mechanisms. One could wish to use a different shortening distance for upcoming points, than the prune distance used for passed points. For this reason, a new parameter "forward_prune_distance" was added. * Fix service_name for server_name in cancel assisted teleop node * Fix mask coordinates calculation in worldToMask (#3418) * Remove goal checker default from follow path node * Correct CostmapFilters copyrights (#3423) * Correct the parameter description for AMCL (#3451) Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> * Add default service name to BTServiceNode (#3448) * Add default service name to BtServiceNode * docstring * fix initialization-list order * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix Typos (#3452) * removing galactic from table as EOL (#3460) * Support for Dev Containers and Codespaces (#3457) * Alias image tag over current branch name * Duplicate build and push steps for dev tag * Alias image tag over current branch name * Modify build and push steps for dev tag * Build and push dev tag first to not cache from stale stages as otherwise caching from multple regestry images seems error prone * Revert "Build and push dev tag first" as otherwise the build failer durring the dev tag could then still block build of the main tag This reverts commit 12dd5b1a4e3f37847e6333b9e9ae9ef480a80623. * Cache from multple reference images while giving layers from the main tag priority this assumes that cache-from prioritizes firstly listed references https://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92 * Cache tests in dev image as well colcon cache can then skip tests for uneffected packages * Add devcontainer.json * Ignore doc for image builds * Add more extensions * Change workspaceFolder to root src path to avoid auto generating .vscode folder in repo created by ms-iot.vscode-ros extension upon configuring ros packages with c_cpp_properties.json * Enable features for github-cli * Add docs about codespaces and have it opened when starting codespaces * Update update_ci_image.yaml to fix duplicate step ids and add workflow file to push paths * Patch CI actions and Dockerfiles (#3468) * Unset default value for FAIL_ON_TEST_FAILURE as unsetting it via --build-arg seems unreliable https://github.com/docker/compose/issues/3608 * Use build arg default for failing on test failers * Update from deprecated set-output commands https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/ * Use Codespaces prebuilds (#3470) * Add commands to devcontainer * Set builtin bash to be safe https://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425 https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/ * Setup workspace on create * Revert use of set -u for bash don't raise error due to variables otherwise colcon setup.sh chokes from using an unbounded path variable * Add safe.directory for git config otherwise colcon cache errors out because of issues with git due to complex user mapping magic that vscode does with devcontainers https://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor also used by Moveit2: https://github.com/ros-planning/moveit2/pull/1994 https://github.blog/2022-04-12-git-security-vulnerability-announced/ * Set env using remoteEnv instead of inlining them in scripts * Revert to using the main tag now that the tester stage has been replicated with the new devcontainer script commands instead * formating * Scrap `-dev` image tag and use codspaces prebuilds instead * Build incrementally from update content command by copying the build workspace steps from circleci config * Adapt the build workspace steps for bash * Fix for different ceres isinf() API (#3471) * Fixing name of security launch file * Clean up pending service client request on interrupt/timeout (#3479) Signed-off-by: Øystein Sture <os@skarvtech.com> * Added str cast to parse int (#3486) Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> * Add flag to not send request in BTServiceNode (#3431) * Add flag to not send request in BTServiceNode * rename goal to request * Fail if should not send goal * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * . * fix linter * fix CI --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prepare test results to only use junit/xunit schema (#3441) * Set ctest arg to output junit To try and help CircleCI to parse the output files https://stackoverflow.com/a/70774733/2577586 * Replace the original Test.xml by outputting the junit to the same filename Context: https://github.com/colcon/colcon-cmake/blob/8f1b92a190b2ad4289ecf837c3200d540c13fdd9/colcon_cmake/task/cmake/test.py#L133 * Fix default formatting to a list WARNING:colcon.colcon_defaults.argument_parser.defaults:Default value 'ctest-args' for parser 'test' should be a list, not: --output-junit Test.xml * Revert junit file name https://circleci.com/docs/collect-test-data/#ctest-for-c-cxx-tests * Fine and rename ctest summary Test.xml * Fix find path * Simplify extention renaming * Copy ctest junit file into test_results so that they can be stored by CI * Revert ctest config modifications * Prepare Test Results by removing Test.xml generated by ctest to simplify fix for circleci * Reorder storage of test result artifacts before Test.xml files are removed so that they can still be archived and viewed for later * Use find command * Container retention via version tagging (#3491) * Use github action expression syntax to alias over github repository name * Tag by version instead of by timestamp * Avoid pushing untagged image to GHCR by setting provenance to false now that provenance is enabled by default as of v4 of docker/build-push-action - https://github.com/docker/build-push-action/pull/781 - https://github.com/docker/build-push-action/issues/778 * Use checkout action to set version output (#3492) Otherwise there is no source code to use to set the version output. Fixes: #3491 * Change directory to inside checked out repo (#3493) or relative path under $GITHUB_WORKSPACE that actions/checkout places the repository * Write and read from correct output mapping (#3494) * Revert "Change directory to inside checked out repo (#3493)" This reverts commit 332c1fb07bd787bab8a8eeea5fc896a944bb54d8. * Add `version` to outputs for check step and use output from `check` id * Use output from check_ci_files job * updating world in simple commander for TB3 package change (#3495) * Ensure version output is always set (#3503) even when github.event_name != 'push' by moving run step to same job as build-push action. Also set context path provided by checkout action to avoid future nonintuitive behavoir using default Git context, even when the checkout action appears to be being used. - https://github.com/docker/build-push-action#git-context - https://github.com/docker/build-push-action#path-context * Add labels to pushed image versions (#3505) using Pre-Defined Annotation Keys as defined by The OpenContainers Annotations Spec - https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys - https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows - https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository * Typo README.md (#3506) * [Velocity smoother] Set zeros command if timeout (#3512) * Set zeros command if timeout * Fix lint * Fix gtest increase time to allow deceleration * Always update last_cmd_ * Revert test modif * remove test logs * Fix paste error * Update velocity_smoother.cpp * Update velocity_smoother.cpp * Improve Dev Container ergonomics (#3482) * Install and enable bash autocompletion by using apt durring on create command and by copying skelton .bashrc file that sources it by default * Edit apt for autocomplete by disabling docker-clean from containerized ubuntu * Add ROS2 Ament Task Provider extension Provides tasks and problem matchers for ROS2 projects using ament https://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider * Source underlay for extentions to allow them to find the path to ros binaries such as ament_cpplint needed for althack.ament-task-provider * Target new dever stage in Dockerfile * Reduce need for internet after image build by installing developer dependencies earlier * Edit apt caching before apt updating * Source underlay systemwide this is a hacky workarround to ensure VS Code can run ShellExecution tasks with the ros envorment included in PATH otherwise, postponing this to the on-create-command results in vscode extentions not finding system installed ros commands this also works for all user shells regardless of how devontainers could change the user * Postpone bashrc setup to postCreateCommand once the dev container has been assigned to a user for the first time * Cleanup onCreateCommand as we don't use ros_entrypoint.sh for development and so it doesn't really need to be updated * Quite down the logs when building devcontainer * Formatting * Add refrence ccp properties config file generated from the vscode ROS extention but with the hardcoded paths in includePath deleted * Update version of cppStandard for ROS Rolling * Update workspaceFolder to use new .vscode folder * Mount ccache directory to volume to speed up rebuilding devcontainer whenever onCreateCommand is triggered because of modifications to .devcontainer/ files * Avoid use of containerEnv to express ccache direcotry as doing so is not possable, for more info: - https://stackoverflow.com/a/75759647/2577586 - https://github.com/microsoft/vscode-remote-release/issues/7147#issuecomment-1237779733 Just target a path in the temp direcotry instead * Stage auto generated includePath * Remove workspace install from include path except for autogenerated headers from message packages * Avoid hardcoded path to sorce folder * Avoid hardcoded path to install folder but this is still rather fragile as the reletive path between workspaceFolder and the colcon workspace isn't fixed * Sort list of paths * Remove cpp properties configuration as it seems it's existance prevents autoupdating the includePaths property unless user manually runs the vscode command `>ROS:Update C++ Properties` https://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71 and even when this command is invoked it blows aways any customizated properties anyhow issue about wrong cppStandard tracked here: https://github.com/ms-iot/vscode-ros/issues/818 * Fix typo to move docker-clean from loaded config path * fix data race: addFilter() and resizeMap() can be executed concurrently (#3518) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * fix data race: prohibit resizeMap() during plugin/filter initialization (#3522) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * Mount overlay workspace into Dev Container via volume (#3524) * Add volume for overlay to avoid rebuilding it from scratch whenever the dev container is rebuilt this saves startup time locally when fiddling with the configs * Append devcontainerId to volume name to avoid conflicts with other devcontainers note that devcontainerId is stable across rebuilds - https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson * Call updateContentCommand from onCreateCommand to deduplicate scripts and keep setup DRY given the addition of a mounted overlay volume which could include a prebuilt colcon workspace well before the dev container is created/rebuilt * Comment out colcon clean from setup to avoid unintentional removal of built packages from the persistent overlay workspace volume. Users can uncomment the line locally or simply remove the overlay workspace volume if they want to rebuild packages from scratch. * Format json * Add headless and use_rviz LaunchConfigurations to demo launch files (#3527) * Add headless and use_rviz LaunchConfigurations in nav2_simple_commander demo launch files for whether to start rviz or gzclient to simplify their use in headless environments * Fix headless logic to match tb3_simulation_launch.py for launch arg consistency * Fix State-Lattice planner crashes due to FP precision loss (#3531) * Fix State-Lattice planner crashes due to FP precision loss * Move testcase comment * Add PoseProgressChecker (#3530) * add rotation progress checker * clean include * add stopped goal checker reset test * add rotation progress checker tests * uncrustify * better name: PoseProgressChecker instead of RotationProgressChecker * camelCase * uncrustify * rename in tests * more rename * simplify parentheses * faster and better tests --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [velocity_smoother] Fix accel and deccel inverted for negative speeds (#3529) * fix inverted accel / deccel * handle speed through 0.0 * add applyConstraints tests * fold logic * same logic in findEtaConstraint * lint * Update nav2_velocity_smoother/src/velocity_smoother.cpp * Update nav2_velocity_smoother/src/velocity_smoother.cpp * findEtaConstraint tests * space * lint * typos * comment typos --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Enable Visualizations for Dev Container (#3523) * Add visualizer stage to install demo dependencies * Install foxglove * Install gzweb * Add hack for resolvable mesh URIs located by the aws SDL model files - https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/pull/24 * Revert hack and use fork that fixes issues with deploy.sh - https://github.com/osrf/gzweb/pull/248 * Update target stage to visualizer * Comment out gzclient and rviz for debugging * Add hack for resolvable mesh URIs as migrating the python3 scripts still hasn't resolved the issue * Reorder stages for readability by keeping sequential builder and tester stages adjacent while keeping tester stage the default exported target * fix typo * Install gdb for launching ros launch files using the ROS VS Code extension - https://github.com/ms-iot/vscode-ros/issues/588 * Add vscode tasks file * Add Start Gzweb task * Add Start Foxglove tasks for bridge and studio * Add Start Foxglove compound task using dependsOn * Set default problemMatcher to empty to avoid nagging the user to select one as currently none really support our use case * Source overlay before running foxglove_bridge to ensure nav2 message types are defined by inlining all args into command and sourcing workspace setup * Formatting * Generalize and simplify hack * Generalize gazebo model discovery * Patch gzserver to run headless using xvfb to avoid host/platform specific x11 quirks exposed by vscode automatic x11 forwarding This is needed to provide gazebo a virtual frame buffer as it still need one after all these years. This also avoids the need modifying launch files to call xvfb-run - https://github.com/microsoft/vscode-remote-release/issues/8031 - https://github.com/gazebosim/gazebo-classic/issues/1602 * Set isBackground for start tasks * Add stop tasks * Add restart foxglove task * Switch to shell for commanding pkill to gracefully return 0 when process is not running allowing sequence of dependsOn tasks to run such as for the restart tasks * Add icons to tasks for readability * Add restart gzweb task * Add global start, stop, and restart tasks for all background visualization tasks * Formatting * Hide tasks users need not run manually to avoid cluttering up the run task quick pick * Shorten label for background tasks so they succinctly show from the running task list * Show global start and stop visualizations tasks as they may be too helpful to hide * Revert "Comment out gzclient and rviz for debugging" This reverts commit 0addae2a1ee70c5771055c5dd8fa050af438b896. * Add --ipc=host to runArgs to enable shared memory transport - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add --pid=host to runArgs to simplify discovery - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add to runArgs to simplify debugging - https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose * Add comments * Comment out runArgs unintended side effects or cross talk between containers by default also avoids interfering with vscode's X11 forwarding * [nav2_planner] Fix costmap thread reset on cleanup (#3548) * remove costmap thread reset on cleanup * Init costmap thread in on_configure method * Move costmap_thread init in on_configure method * Add IsBatteryChargingCondition (#3553) * Add IsBatteryChargingCondition * Minor fixes in battery charging and add testing * Fix format * Added isBatteryChargingCondition BT node to params * Impl noise filtering layer in the costmap_2d (#2567) Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> * Improve Dev Container Web App Visualization (#3551) * Add Caddyfile to reverse proxy websockets in an attempt to avoid authentication tokens in headers when forwarding ports from codespaces via web interface - https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports - https://caddyserver.com/docs/quick-starts/reverse-proxy - https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13 * Update caddy related tasks * Rename Gzweb task to Gzweb Bridge to make room for more gzweb tasks * Add Gzweb Client Task * Add Caddyfile to reverse proxy websockets now for Gzweb * Specify config file to avoid crosstalk between caddy stop commands * Fix reverse proxy for websockets by correcting matcher using headers as websocket request header value is lowercase for gzweb and foxglove * Comment out log output files for debugging * Simplify tasks by removing client tasks * Stop tasks by using terminate via the workbench.action.tasks.terminate command * Move Caddyfile * Add Web Server tasks * Move Caddyfile * Update log output file path * Update root path * Update reverse_proxy for both gzweb and foxglove by using the path argument for respective matchers - https://caddyserver.com/docs/caddyfile/matchers#path-matchers * Use snippets to keep Caddyfile DRY - https://caddyserver.com/docs/caddyfile/concepts#snippets * Use rewrite to catch trailing slash as file_server defaults do not correct reverse_proxy. This make typing the websocket URL more forgiving - https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes * Improve websocket snippet to keep Caddyfile DRY * Use header_regexp for case-insensitive matching given web port forwarding from Codespaces is odd and rewrites the value of this header field to lowercases even when local browser request is sent as `Upgrade` * Add helper index page to web server to link to web apps for reverse proxy * Limit templates to fix gzweb by adding matcher for only root index otherwise gzweb's own index.html gets overwritten * Add comments to Cadyfile to document tricky configuration * Stage working redirect * Simplify index.html * Add helper redirect to simplify foxglove to set the respective queries values to automate websocket setup, and ensure the websocket schema matches the https request * Avoid hardcoding port number * Clean up comments * Use header to compute redirect to take into account requesting forwarding or more codespace port forwarding shenanigans * Use shorthand placeholders - https://caddyserver.com/docs/caddyfile/concepts#placeholders * Formatting * Keep trailing slash to stay consistent with caddy file_server directive that serves a 308 Permanent Redirect for both foxglove and gzweb paths anyway * Refactor matcher logic to account for requests either from host ports from local dev containers or forwarded requests from codespace web port forwarding * Split snippet into globals for composability * Update comments * Add Placeholders for debugging * Use tables to center * Use github markdown - https://github.com/sindresorhus/github-markdown-css * Simplify vars * Rename vars * Revert "Rename vars" as dotted var names do not work in Caddyfile This reverts commit 3e2d1b3fe30f8a4ffb5134fc2f6f5cffd574bcdc. * Add System Monitor to debug CPU load and memory issues * Update headings * Update layout * Update layout * Add Foxglove layout for Nav2 * Symlink assets folder for web server * Fetch Foxglove layout using layoutUrl a new parameter to load layout json data from URL - https://github.com/orgs/foxglove/discussions/217 * Cleanup * Use fork to fetch Foxglove layout using layoutUrl until this PR is merged: - https://github.com/foxglove/studio/pull/5987 * Update Caddyfile to handle relative root by using local srv folder * Inject mobile view html tags using the caddy replace module - https://caddyserver.com/docs/modules/http.handlers.replace_response - https://github.com/caddyserver/replace-response * Simplify Caddyfile * Use snippet for apps * Simplify Caddyfile * Simplify Caddyfile * Build caddy using custom modules * Remove unused symlinks * Add comments * Use environment and defined variables for config to avoid hard coded paths * Add FoxgloveUrl to vars for reuse in templates * Fix trailing slash for DataSourceUrl * Use exec to run gzserver with xvfb to prevent ros launch from orphaning process and ensure gzserver receives SIGTERM signal given gzserver often hangs after only SIGINT - https://unix.stackexchange.com/a/196053/213124 * Update redirect for foxglove to redirect from path /foxglove/autolayout * Add redirect for foxglove to redirect from path /foxglove/autoconnect but does not use LayoutUrl as to not change from cached layout * Use web app manifest to set display as standalone - https://web.dev/add-manifest/ - https://developer.mozilla.org/en-US/docs/Web/Manifest * Template manifest files to embed host info into app name * Add manifests for other web apps * Add shortcuts for Foxglove - https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts - https://web.dev/app-shortcuts/ * Format * Update comments * Revert use of fork * Remove debug directive * Improve usability of PWAs in Dev Containers (#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > 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. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 571040173ca83716dfd2f6d5db4b351389a557a8. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Fix broken symlink for gzweb (#3585) to load world models * Fix broken link to contributing guidelines (#3587) The 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. * Adding Our Sponsors - May 2023 (#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Add CostmapFilterInfoServer as a component (#3596) * Resolve #3532: reset i (#3597) * [MPPI] empty path_follow_critic proper fix (#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping humble to 1.1.7 for release --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> * Fix merge conflict error (#3619) * fixing a second merge conflict resolution error (#3621) * fixing merge conflicts for release on humble sync 6 (#3623) * Fixing 3629 (#3630) * Fixing 3629 * Update planner_server.cpp * bumping humble to 1.1.8 for release sync 6 + bug patch * Fixing build warning (#3667) (#3673) (cherry picked from commit 7d4b1992811ccc9d36566d29251fdc8eaee66efc) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix the velocity smoother being stuck when the deadband is too high (#3690) (#3715) * Move last_cmd update before deadband * fix lint (cherry picked from commit cb34d0ce1d24c1c437f548834a31a2ee8c4d9889) Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> * Humble sync 7 August 4 1.1.9 (#3739) * Fix map not showing on rviz when navigation is launched with namespace (#3620) * updating mppi's path angle critic for optional bidirectionality (#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * fixing path angle critic's non-directional bias (#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (#3656) * Adding nan twist rejection for velocity smoother and collision monitor (#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * MPPI: Support Exact Path Following For Feasible Plans (#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix smoother server tests (#3663) * Fix smoother server tests * Update test_smoother_server.cpp * nav2_bt_navigator: log current location on navigate_to_pose action initialization (#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (#3722) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (#3727) * allowing leaf key rewrites that aren't dcits (#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (#3731) * Fix Goal updater QoS (#3719) * Fix GoalUpdater QoS * Fixes * bumping Humble to 1.1.9 for release * fix merge conflict resolution in collision monitor node --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> * Fixing 3768: planner server lifecycle transition down (#3786) * Use ParameterFile (allow_substs) (#3706) (#3806) Signed-off-by: ymd-stella <world.applepie@gmail.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> * Added missing destructor to MPPI critic manager (#3812) * Added missing virtual destructor * Updated CriticManger Destructor to be same as other branches * mppi: return NO_INFORMATION when the checked point is outside the costmap (#3816) (#3818) otherwise the controller crashes at ObstaclesCritic::costAtPose because x_i and y_i isn't initialized. (cherry picked from commit 6b250a7c57536ee43a402c9820ac2a2acdb8bc13) Co-authored-by: Chuanhong Guo <gch981213@gmail.com> * [Humble] Sync 8 - Sept 25 (#3836) * Same orientation of coordinate frames in rviz ang gazebo (#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Fix missing mutex in PlannerServer::isPathValid (#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Using Simple Commander API for multi robot systems (#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * some minor optimizations (#3821) * fix broken behaviortree doc link (#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * bumping 1.1.9 to 1.1.10 for Humble release --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> * Update CMakeLists.txt (#3843) (#3845) (cherry picked from commit 2d6e9a96354c0ea763e70eedd81225635f7b9db5) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bump to 1.1.11 for release for AVX512 fixes * add option for sse4 and avs512 (#3853) (#3855) (cherry picked from commit 7274811c5cb512a05b87523183e29e75ace77f4a) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Bumping to 1.1.12 for binary release of AVX512 patches * [MPPI Optimization] adding regenerate noise param + adding docs (#3868) (#3870) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp (cherry picked from commit 924f167382080f3ccdd000ffc34b921cb64bcf95) # Conflicts: # nav2_mppi_controller/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Updating default map path * [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (#3872) (#3882) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp * adding refactored path alignment critic * fix visualization bug * speed up another 30% * remove a little jitter * a few more small optimizaitons * fixing unit tests * retain legacy critic * adding tests for legacy (cherry picked from commit 7009ffba5f85c50ac97fd0057924b0f1447c5e85) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix incorrect auto merge conflict issue * Pluginizing BT Navigators (#3345) * initial prototype * linting * Create service get_current_navigator * Publish feedback through blackboard * Expections (#3244) * added result codes for global planner * code review * code review * cleanup * cleanup * update smac lattice planner * update planner instances * cleanup * updates * renaming * fixes * cpplint * uncrusitfy * code review * navfn exceptions * theta_star_planner * fix code review * wrote timeout exception * consistent exception throwing across planners * code review * remove * uncrusitfy * uncrusify * catch exception * expect throw * update string of exceptions * throw with coords * removed start == goal error code * code review * code review * uncrustify * code review * message order * remove remarks * update xml * update xml * Update nav2_behavior_tree/nav2_tree_nodes.xml * fix Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace.com> * Controller exceptions (#3227) * added result codes for global planner * code review * code review * cleanup * cleanup * update smac lattice planner * update planner instances * cleanup * added controller exception * renaming * follow path updates * rename exceptions * updated regulated pure pursuit * completed pure pursuit * completed dwb * linting fixes * cleanup * revert planner server * revert planner server * revert planner server * revert planner server * code review * code review * cleanup * cleanup * bug fix * final cleanup * set follow path error on bt * update groot * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * exceptions for compute path through poses (#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Pipe error codes (#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Smoother error codes (#3296) * minimum error code set * test for invalid smoother * undo * added rest of error tests * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * removed changes to simple_smoother * reverted simple_smoother * revert * revert * updated constrained smoother * revert * added smoother error for invalid path * linting * invalid path test * added error codes * Timeout exception thrown by smoothers * code review Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> * Behavior Tree uses Error Codes (#3324) * rough outline for condition node * completed error code condition * behavior tree with error codes * created generic code ex * test for error_code_condition * generic error code bt node * remove error code condition * updates * updated error code condition * would a controller recovery help * rename * added planner recovery condition * initial draft * complete with one error code as input * revert cmake * bt conversion test * code review * code review * code review * refactor behavior tree tests * cleanup * final cleanup * uncomment * removed logger * function header update * update bt to include would a planner recovery help * copyright cleanup * added bt node for smoother recovery * smoother test * costmap filter test fix * remove include * test if commit counted * update copyright * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Behavior server error codes (#3539) * empty error codes * add error codes for behaviors * updated assisted teleop * pass tests * added error codes to bt nodes * Enable Visualizations for Dev Container (#3523) * Add visualizer stage to install demo dependencies * Install foxglove * Install gzweb * Add hack for resolvable mesh URIs located by the aws SDL model files - https://github.com/aws-robotics/aws-robomaker-small-warehouse-world/pull/24 * Revert hack and use fork that fixes issues with deploy.sh - https://github.com/osrf/gzweb/pull/248 * Update target stage to visualizer * Comment out gzclient and rviz for debugging * Add hack for resolvable mesh URIs as migrating the python3 scripts still hasn't resolved the issue * Reorder stages for readability by keeping sequential builder and tester stages adjacent while keeping tester stage the default exported target * fix typo * Install gdb for launching ros launch files using the ROS VS Code extension - https://github.com/ms-iot/vscode-ros/issues/588 * Add vscode tasks file * Add Start Gzweb task * Add Start Foxglove tasks for bridge and studio * Add Start Foxglove compound task using dependsOn * Set default problemMatcher to empty to avoid nagging the user to select one as currently none really support our use case * Source overlay before running foxglove_bridge to ensure nav2 message types are defined by inlining all args into command and sourcing workspace setup * Formatting * Generalize and simplify hack * Generalize gazebo model discovery * Patch gzserver to run headless using xvfb to avoid host/platform specific x11 quirks exposed by vscode automatic x11 forwarding This is needed to provide gazebo a virtual frame buffer as it still need one after all these years. This also avoids the need modifying launch files to call xvfb-run - https://github.com/microsoft/vscode-remote-release/issues/8031 - https://github.com/gazebosim/gazebo-classic/issues/1602 * Set isBackground for start tasks * Add stop tasks * Add restart foxglove task * Switch to shell for commanding pkill to gracefully return 0 when process is not running allowing sequence of dependsOn tasks to run such as for the restart tasks * Add icons to tasks for readability * Add restart gzweb task * Add global start, stop, and restart tasks for all background visualization tasks * Formatting * Hide tasks users need not run manually to avoid cluttering up the run task quick pick * Shorten label for background tasks so they succinctly show from the running task list * Show global start and stop visualizations tasks as they may be too helpful to hide * Revert "Comment out gzclient and rviz for debugging" This reverts commit 0addae2a1ee70c5771055c5dd8fa050af438b896. * Add --ipc=host to runArgs to enable shared memory transport - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add --pid=host to runArgs to simplify discovery - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add to runArgs to simplify debugging - https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose * Add comments * Comment out runArgs unintended side effects or cross talk between containers by default also avoids interfering with vscode's X11 forwarding * ignore warning (#3543) * Split overlay setup into multiple steps by skipping slower to build leaf packages during preparation, then store cache and repeat setup without skipping packages * Skip restore steps after already preping overlay to avoid needlessly downloading the same overlay cache * Revert resource_class to default medium as the build resource usage seldom maxes out 4 cores nor uses more than 2GB RAM * Fix circleci config syntax by setting skip default as empty string to keep it an optional parameter * Fix circleci config syntax missing angle brackets * ignore warning * Revert "Revert resource_class to default medium" This reverts commit 44375a1c6ef6e730e47e30c7d910a15145d4ee2f. * Fix nested defaults to avoid dropping of cache after storing during test jobs by ensuring restore_overlay_workspace still sets restore: true --------- Co-authored-by: ruffsl <roxfoxpox@gmail.com> * code review * code review * removed unsigned short * lint errer * error codes in main bts * behavior error code range change --------- Co-authored-by: Ruffin <roxfoxpox@gmail.com> * correct error message (#3631) (#5) * correct error message * clean up * cleanup * remove header Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> * Option for ObstacleLayer to not override StaticLayer's unknown parts (#3612) (#6) * Add updateWithMaxWithoutUnknownOverride * Add missing break to switch case * Add additional NO_INFORMATION check to make more robust * Add CombinationMethod enum with combination_method_from_int * Rename override to overwrite * Update docs of combination_method_from_int * Move definitions to costmap_layer and remove function_name param * Replace logger with node's logger * Fix linting errors * Add test * Add CombinationMethod::Max test as a counter-case * Let Navigators have different error codes (#3642) (#7) * Change ERROR to DEBUG * INFO message on init * format code * Replace newlines with spaces * Return feedback from bt action node * Fix feedback type error * Increase wait for action server timeout * Add param to calculate remaining time * Add orientation difference to distance remaining * Fix distance remaining crash * Add doors to distance remaining * Revert "Add doors to distance remaining" This reverts commit e0334ea57a66824d06e1089a400e43f4e87c1867. --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: HAIDAR OBEID <31267966+ObeidHaidar@users.noreply.github.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: nakai-omer <108797279+nakai-omer@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Vineet <52542471+VineetTambe@users.noreply.github.com> Co-authored-by: Chuanhong Guo <gch981213@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: redvinaa <redvinaa@gmail.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: turtlewizard73 <mate.laszlo703@gmail.com>

* Humble sync 6 June 9: 1.1.7 (ros-navigation#3616) * Option allowing to use simple lookupTransform API (ros-navigation#3412) * Option allowing to use simple lookupTransform API ignoring time shifts between source and base frame during the movement * Refine comments * Fix wrong warning message format (ros-navigation#3416) * Fix wrong warning message format (Closes ros-navigation#3415) * fix code formatting * nav2_dwb_controller: add forward_prune_distance parameter (ros-navigation#3374) Until now, the prune_distance was used as distance threshold to shorten the upcoming path when shorten_transformed_plan was enabled. However, the prune and shortening mechanisms are de-correlated mechanisms. One could wish to use a different shortening distance for upcoming points, than the prune distance used for passed points. For this reason, a new parameter "forward_prune_distance" was added. * Fix service_name for server_name in cancel assisted teleop node * Fix mask coordinates calculation in worldToMask (ros-navigation#3418) * Remove goal checker default from follow path node * Correct CostmapFilters copyrights (ros-navigation#3423) * Correct the parameter description for AMCL (ros-navigation#3451) Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> * Add default service name to BTServiceNode (ros-navigation#3448) * Add default service name to BtServiceNode * docstring * fix initialization-list order * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix Typos (ros-navigation#3452) * removing galactic from table as EOL (ros-navigation#3460) * Support for Dev Containers and Codespaces (ros-navigation#3457) * Alias image tag over current branch name * Duplicate build and push steps for dev tag * Alias image tag over current branch name * Modify build and push steps for dev tag * Build and push dev tag first to not cache from stale stages as otherwise caching from multple regestry images seems error prone * Revert "Build and push dev tag first" as otherwise the build failer durring the dev tag could then still block build of the main tag This reverts commit 12dd5b1. * Cache from multple reference images while giving layers from the main tag priority this assumes that cache-from prioritizes firstly listed references https://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92 * Cache tests in dev image as well colcon cache can then skip tests for uneffected packages * Add devcontainer.json * Ignore doc for image builds * Add more extensions * Change workspaceFolder to root src path to avoid auto generating .vscode folder in repo created by ms-iot.vscode-ros extension upon configuring ros packages with c_cpp_properties.json * Enable features for github-cli * Add docs about codespaces and have it opened when starting codespaces * Update update_ci_image.yaml to fix duplicate step ids and add workflow file to push paths * Patch CI actions and Dockerfiles (ros-navigation#3468) * Unset default value for FAIL_ON_TEST_FAILURE as unsetting it via --build-arg seems unreliable docker/compose#3608 * Use build arg default for failing on test failers * Update from deprecated set-output commands https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/ * Use Codespaces prebuilds (ros-navigation#3470) * Add commands to devcontainer * Set builtin bash to be safe https://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425 https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/ * Setup workspace on create * Revert use of set -u for bash don't raise error due to variables otherwise colcon setup.sh chokes from using an unbounded path variable * Add safe.directory for git config otherwise colcon cache errors out because of issues with git due to complex user mapping magic that vscode does with devcontainers https://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor also used by Moveit2: moveit/moveit2#1994 https://github.blog/2022-04-12-git-security-vulnerability-announced/ * Set env using remoteEnv instead of inlining them in scripts * Revert to using the main tag now that the tester stage has been replicated with the new devcontainer script commands instead * formating * Scrap `-dev` image tag and use codspaces prebuilds instead * Build incrementally from update content command by copying the build workspace steps from circleci config * Adapt the build workspace steps for bash * Fix for different ceres isinf() API (ros-navigation#3471) * Fixing name of security launch file * Clean up pending service client request on interrupt/timeout (ros-navigation#3479) Signed-off-by: Øystein Sture <os@skarvtech.com> * Added str cast to parse int (ros-navigation#3486) Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> * Add flag to not send request in BTServiceNode (ros-navigation#3431) * Add flag to not send request in BTServiceNode * rename goal to request * Fail if should not send goal * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * . * fix linter * fix CI --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prepare test results to only use junit/xunit schema (ros-navigation#3441) * Set ctest arg to output junit To try and help CircleCI to parse the output files https://stackoverflow.com/a/70774733/2577586 * Replace the original Test.xml by outputting the junit to the same filename Context: https://github.com/colcon/colcon-cmake/blob/8f1b92a190b2ad4289ecf837c3200d540c13fdd9/colcon_cmake/task/cmake/test.py#L133 * Fix default formatting to a list WARNING:colcon.colcon_defaults.argument_parser.defaults:Default value 'ctest-args' for parser 'test' should be a list, not: --output-junit Test.xml * Revert junit file name https://circleci.com/docs/collect-test-data/#ctest-for-c-cxx-tests * Fine and rename ctest summary Test.xml * Fix find path * Simplify extention renaming * Copy ctest junit file into test_results so that they can be stored by CI * Revert ctest config modifications * Prepare Test Results by removing Test.xml generated by ctest to simplify fix for circleci * Reorder storage of test result artifacts before Test.xml files are removed so that they can still be archived and viewed for later * Use find command * Container retention via version tagging (ros-navigation#3491) * Use github action expression syntax to alias over github repository name * Tag by version instead of by timestamp * Avoid pushing untagged image to GHCR by setting provenance to false now that provenance is enabled by default as of v4 of docker/build-push-action - docker/build-push-action#781 - docker/build-push-action#778 * Use checkout action to set version output (ros-navigation#3492) Otherwise there is no source code to use to set the version output. Fixes: ros-navigation#3491 * Change directory to inside checked out repo (ros-navigation#3493) or relative path under $GITHUB_WORKSPACE that actions/checkout places the repository * Write and read from correct output mapping (ros-navigation#3494) * Revert "Change directory to inside checked out repo (ros-navigation#3493)" This reverts commit 332c1fb. * Add `version` to outputs for check step and use output from `check` id * Use output from check_ci_files job * updating world in simple commander for TB3 package change (ros-navigation#3495) * Ensure version output is always set (ros-navigation#3503) even when github.event_name != 'push' by moving run step to same job as build-push action. Also set context path provided by checkout action to avoid future nonintuitive behavoir using default Git context, even when the checkout action appears to be being used. - https://github.com/docker/build-push-action#git-context - https://github.com/docker/build-push-action#path-context * Add labels to pushed image versions (ros-navigation#3505) using Pre-Defined Annotation Keys as defined by The OpenContainers Annotations Spec - https://specs.opencontainers.org/image-spec/annotations/#pre-defined-annotation-keys - https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows - https://docs.github.com/en/rest/repos/repos?apiVersion=2022-11-28#get-a-repository * Typo README.md (ros-navigation#3506) * [Velocity smoother] Set zeros command if timeout (ros-navigation#3512) * Set zeros command if timeout * Fix lint * Fix gtest increase time to allow deceleration * Always update last_cmd_ * Revert test modif * remove test logs * Fix paste error * Update velocity_smoother.cpp * Update velocity_smoother.cpp * Improve Dev Container ergonomics (ros-navigation#3482) * Install and enable bash autocompletion by using apt durring on create command and by copying skelton .bashrc file that sources it by default * Edit apt for autocomplete by disabling docker-clean from containerized ubuntu * Add ROS2 Ament Task Provider extension Provides tasks and problem matchers for ROS2 projects using ament https://marketplace.visualstudio.com/items?itemName=althack.ament-task-provider * Source underlay for extentions to allow them to find the path to ros binaries such as ament_cpplint needed for althack.ament-task-provider * Target new dever stage in Dockerfile * Reduce need for internet after image build by installing developer dependencies earlier * Edit apt caching before apt updating * Source underlay systemwide this is a hacky workarround to ensure VS Code can run ShellExecution tasks with the ros envorment included in PATH otherwise, postponing this to the on-create-command results in vscode extentions not finding system installed ros commands this also works for all user shells regardless of how devontainers could change the user * Postpone bashrc setup to postCreateCommand once the dev container has been assigned to a user for the first time * Cleanup onCreateCommand as we don't use ros_entrypoint.sh for development and so it doesn't really need to be updated * Quite down the logs when building devcontainer * Formatting * Add refrence ccp properties config file generated from the vscode ROS extention but with the hardcoded paths in includePath deleted * Update version of cppStandard for ROS Rolling * Update workspaceFolder to use new .vscode folder * Mount ccache directory to volume to speed up rebuilding devcontainer whenever onCreateCommand is triggered because of modifications to .devcontainer/ files * Avoid use of containerEnv to express ccache direcotry as doing so is not possable, for more info: - https://stackoverflow.com/a/75759647/2577586 - microsoft/vscode-remote-release#7147 (comment) Just target a path in the temp direcotry instead * Stage auto generated includePath * Remove workspace install from include path except for autogenerated headers from message packages * Avoid hardcoded path to sorce folder * Avoid hardcoded path to install folder but this is still rather fragile as the reletive path between workspaceFolder and the colcon workspace isn't fixed * Sort list of paths * Remove cpp properties configuration as it seems it's existance prevents autoupdating the includePaths property unless user manually runs the vscode command `>ROS:Update C++ Properties` https://github.com/ms-iot/vscode-ros/blob/47d8f14f4ec0498cd9e8381e6fcc5f47abb340f2/src/extension.ts#L71 and even when this command is invoked it blows aways any customizated properties anyhow issue about wrong cppStandard tracked here: ms-iot/vscode-ros#818 * Fix typo to move docker-clean from loaded config path * fix data race: addFilter() and resizeMap() can be executed concurrently (ros-navigation#3518) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * fix data race: prohibit resizeMap() during plugin/filter initialization (ros-navigation#3522) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> * Mount overlay workspace into Dev Container via volume (ros-navigation#3524) * Add volume for overlay to avoid rebuilding it from scratch whenever the dev container is rebuilt this saves startup time locally when fiddling with the configs * Append devcontainerId to volume name to avoid conflicts with other devcontainers note that devcontainerId is stable across rebuilds - https://containers.dev/implementors/json_reference/#variables-in-devcontainerjson * Call updateContentCommand from onCreateCommand to deduplicate scripts and keep setup DRY given the addition of a mounted overlay volume which could include a prebuilt colcon workspace well before the dev container is created/rebuilt * Comment out colcon clean from setup to avoid unintentional removal of built packages from the persistent overlay workspace volume. Users can uncomment the line locally or simply remove the overlay workspace volume if they want to rebuild packages from scratch. * Format json * Add headless and use_rviz LaunchConfigurations to demo launch files (ros-navigation#3527) * Add headless and use_rviz LaunchConfigurations in nav2_simple_commander demo launch files for whether to start rviz or gzclient to simplify their use in headless environments * Fix headless logic to match tb3_simulation_launch.py for launch arg consistency * Fix State-Lattice planner crashes due to FP precision loss (ros-navigation#3531) * Fix State-Lattice planner crashes due to FP precision loss * Move testcase comment * Add PoseProgressChecker (ros-navigation#3530) * add rotation progress checker * clean include * add stopped goal checker reset test * add rotation progress checker tests * uncrustify * better name: PoseProgressChecker instead of RotationProgressChecker * camelCase * uncrustify * rename in tests * more rename * simplify parentheses * faster and better tests --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [velocity_smoother] Fix accel and deccel inverted for negative speeds (ros-navigation#3529) * fix inverted accel / deccel * handle speed through 0.0 * add applyConstraints tests * fold logic * same logic in findEtaConstraint * lint * Update nav2_velocity_smoother/src/velocity_smoother.cpp * Update nav2_velocity_smoother/src/velocity_smoother.cpp * findEtaConstraint tests * space * lint * typos * comment typos --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Enable Visualizations for Dev Container (ros-navigation#3523) * Add visualizer stage to install demo dependencies * Install foxglove * Install gzweb * Add hack for resolvable mesh URIs located by the aws SDL model files - aws-robotics/aws-robomaker-small-warehouse-world#24 * Revert hack and use fork that fixes issues with deploy.sh - osrf/gzweb#248 * Update target stage to visualizer * Comment out gzclient and rviz for debugging * Add hack for resolvable mesh URIs as migrating the python3 scripts still hasn't resolved the issue * Reorder stages for readability by keeping sequential builder and tester stages adjacent while keeping tester stage the default exported target * fix typo * Install gdb for launching ros launch files using the ROS VS Code extension - ms-iot/vscode-ros#588 * Add vscode tasks file * Add Start Gzweb task * Add Start Foxglove tasks for bridge and studio * Add Start Foxglove compound task using dependsOn * Set default problemMatcher to empty to avoid nagging the user to select one as currently none really support our use case * Source overlay before running foxglove_bridge to ensure nav2 message types are defined by inlining all args into command and sourcing workspace setup * Formatting * Generalize and simplify hack * Generalize gazebo model discovery * Patch gzserver to run headless using xvfb to avoid host/platform specific x11 quirks exposed by vscode automatic x11 forwarding This is needed to provide gazebo a virtual frame buffer as it still need one after all these years. This also avoids the need modifying launch files to call xvfb-run - microsoft/vscode-remote-release#8031 - gazebosim/gazebo-classic#1602 * Set isBackground for start tasks * Add stop tasks * Add restart foxglove task * Switch to shell for commanding pkill to gracefully return 0 when process is not running allowing sequence of dependsOn tasks to run such as for the restart tasks * Add icons to tasks for readability * Add restart gzweb task * Add global start, stop, and restart tasks for all background visualization tasks * Formatting * Hide tasks users need not run manually to avoid cluttering up the run task quick pick * Shorten label for background tasks so they succinctly show from the running task list * Show global start and stop visualizations tasks as they may be too helpful to hide * Revert "Comment out gzclient and rviz for debugging" This reverts commit 0addae2. * Add --ipc=host to runArgs to enable shared memory transport - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add --pid=host to runArgs to simplify discovery - https://community.rti.com/kb/communicate-between-two-docker-containers-using-rti-connext-dds-and-shared-memory * Add to runArgs to simplify debugging - https://code.visualstudio.com/docs/devcontainers/create-dev-container#_use-docker-compose * Add comments * Comment out runArgs unintended side effects or cross talk between containers by default also avoids interfering with vscode's X11 forwarding * [nav2_planner] Fix costmap thread reset on cleanup (ros-navigation#3548) * remove costmap thread reset on cleanup * Init costmap thread in on_configure method * Move costmap_thread init in on_configure method * Add IsBatteryChargingCondition (ros-navigation#3553) * Add IsBatteryChargingCondition * Minor fixes in battery charging and add testing * Fix format * Added isBatteryChargingCondition BT node to params * Impl noise filtering layer in the costmap_2d (ros-navigation#2567) Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> * Improve Dev Container Web App Visualization (ros-navigation#3551) * Add Caddyfile to reverse proxy websockets in an attempt to avoid authentication tokens in headers when forwarding ports from codespaces via web interface - https://docs.github.com/en/codespaces/developing-in-codespaces/forwarding-ports-in-your-codespace#using-command-line-tools-and-rest-clients-to-access-ports - https://caddyserver.com/docs/quick-starts/reverse-proxy - https://caddy.community/t/caddy-v2-how-to-proxy-websoket-v2ray-websocket-tls/7040/13 * Update caddy related tasks * Rename Gzweb task to Gzweb Bridge to make room for more gzweb tasks * Add Gzweb Client Task * Add Caddyfile to reverse proxy websockets now for Gzweb * Specify config file to avoid crosstalk between caddy stop commands * Fix reverse proxy for websockets by correcting matcher using headers as websocket request header value is lowercase for gzweb and foxglove * Comment out log output files for debugging * Simplify tasks by removing client tasks * Stop tasks by using terminate via the workbench.action.tasks.terminate command * Move Caddyfile * Add Web Server tasks * Move Caddyfile * Update log output file path * Update root path * Update reverse_proxy for both gzweb and foxglove by using the path argument for respective matchers - https://caddyserver.com/docs/caddyfile/matchers#path-matchers * Use snippets to keep Caddyfile DRY - https://caddyserver.com/docs/caddyfile/concepts#snippets * Use rewrite to catch trailing slash as file_server defaults do not correct reverse_proxy. This make typing the websocket URL more forgiving - https://caddyserver.com/docs/caddyfile/patterns#trailing-slashes * Improve websocket snippet to keep Caddyfile DRY * Use header_regexp for case-insensitive matching given web port forwarding from Codespaces is odd and rewrites the value of this header field to lowercases even when local browser request is sent as `Upgrade` * Add helper index page to web server to link to web apps for reverse proxy * Limit templates to fix gzweb by adding matcher for only root index otherwise gzweb's own index.html gets overwritten * Add comments to Cadyfile to document tricky configuration * Stage working redirect * Simplify index.html * Add helper redirect to simplify foxglove to set the respective queries values to automate websocket setup, and ensure the websocket schema matches the https request * Avoid hardcoding port number * Clean up comments * Use header to compute redirect to take into account requesting forwarding or more codespace port forwarding shenanigans * Use shorthand placeholders - https://caddyserver.com/docs/caddyfile/concepts#placeholders * Formatting * Keep trailing slash to stay consistent with caddy file_server directive that serves a 308 Permanent Redirect for both foxglove and gzweb paths anyway * Refactor matcher logic to account for requests either from host ports from local dev containers or forwarded requests from codespace web port forwarding * Split snippet into globals for composability * Update comments * Add Placeholders for debugging * Use tables to center * Use github markdown - https://github.com/sindresorhus/github-markdown-css * Simplify vars * Rename vars * Revert "Rename vars" as dotted var names do not work in Caddyfile This reverts commit 3e2d1b3. * Add System Monitor to debug CPU load and memory issues * Update headings * Update layout * Update layout * Add Foxglove layout for Nav2 * Symlink assets folder for web server * Fetch Foxglove layout using layoutUrl a new parameter to load layout json data from URL - https://github.com/orgs/foxglove/discussions/217 * Cleanup * Use fork to fetch Foxglove layout using layoutUrl until this PR is merged: - foxglove/studio#5987 * Update Caddyfile to handle relative root by using local srv folder * Inject mobile view html tags using the caddy replace module - https://caddyserver.com/docs/modules/http.handlers.replace_response - https://github.com/caddyserver/replace-response * Simplify Caddyfile * Use snippet for apps * Simplify Caddyfile * Simplify Caddyfile * Build caddy using custom modules * Remove unused symlinks * Add comments * Use environment and defined variables for config to avoid hard coded paths * Add FoxgloveUrl to vars for reuse in templates * Fix trailing slash for DataSourceUrl * Use exec to run gzserver with xvfb to prevent ros launch from orphaning process and ensure gzserver receives SIGTERM signal given gzserver often hangs after only SIGINT - https://unix.stackexchange.com/a/196053/213124 * Update redirect for foxglove to redirect from path /foxglove/autolayout * Add redirect for foxglove to redirect from path /foxglove/autoconnect but does not use LayoutUrl as to not change from cached layout * Use web app manifest to set display as standalone - https://web.dev/add-manifest/ - https://developer.mozilla.org/en-US/docs/Web/Manifest * Template manifest files to embed host info into app name * Add manifests for other web apps * Add shortcuts for Foxglove - https://developer.mozilla.org/en-US/docs/Web/Manifest/shortcuts - https://web.dev/app-shortcuts/ * Format * Update comments * Revert use of fork * Remove debug directive * Improve usability of PWAs in Dev Containers (ros-navigation#3576) * Add WIP icons * Add WIP icons for gzweb * Add WIP icons for glances * Set cross origin to use credentials ensuring auth cookie is included in request header when requesting for web app manifest file thus avoiding CORS policy violations in browser when accessing forwarded codespaces ports from the web > 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. - https://web.dev/add-manifest/ - https://stackoverflow.com/a/57184506/2577586 * Use ReqHost variable in templates to account for X-Forwarded-Host value in header * Delete duplicate manifest * Set id property in app manifests so we can address them independently from their start_url - https://developer.chrome.com/blog/pwa-manifest-id/ * Ensure apps are uniquely identifies by adding trailing slash to id and thus different URI directories * Refactor root landing page into nav2 app by moving page file into nav2 sub folder adding root redirect pointing to /nav2/ and updating html, markdown, manifest files respectively * Fix https detection for Caddy reverse proxies by also checking X-Forwarded-Proto in request header * Remove unnecessary files * Prune smaller images * Prune duplicate icon * Clean up html tags * Update manifest icons * Rename icons * Revert "Prune duplicate icon" This reverts commit 5710401. * Add back favicon for shortcut * Add self index for completeness and bookmarking * Simplify icon linking * Delete binary files * Fix hyperlink path * Include image files using gitattributes to track these binary files via git LFS * Add icons using git lfs * Standardized all icon paths * Use external links for icons to avoid the need for using git LFS although this is a bit of a hack * Stage any and maskable icons * Use any and masked icons * Set colors to match maskable icon colors * Update icon * Use lossless compression without removing background - https://shortpixel.com/online-image-compression * Use WebP instead of PNG for smaller file sizes - https://en.wikipedia.org/wiki/WebP * Move icons into icons folder * Use _SRV environment variables for service paths * Download media files from github during docker image build to avoid adding always online dependencies when creating or starting dev containers * Delete media icons from git repo now that we download media from anonymized URLs on github - https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/attaching-files * Add comments * Enable file browsing for non app paths for remote debugging of media and asset files * Consolidate assets into single folder * Add links for file browser paths to Server Diagnostics * Delete unused symlink * Update landing page to match manifest by including same shortcuts and start url * Patch gzweb to disable modelList avoiding 404s for thumbnails as they are hardcoded into js * Update comments * Simplify Caddyfile by reverting to symlinking but add ROOT_SRV env for custom overriding * Loop over nav2 srv folders when symlinking to generalize over folder names * Add matcher for file browsing root directory while still redirecting to nav2 app by default * Use placeholders for root variable to consolidate env default fallback settings e.g `:/srv` * Promote file browser in Nav2 app shortcuts * Fix and update SRV envs * Postpone symlinking for Nav2 web app to when post-create-command script then runs given full repo is not copied into builder stage in Dockerfile. While this could be postponed to update-content-command leaving it here avoids blowing user changes after the container has been created or modified. * Add guard to check if srv folder exists * Add refresh rate shortcuts to glances * Add file browser shortcut to nav2 * Set scope for nav2 PWA to root to allow for opening child apps inside nav2 app * Display child apps in fullscreen mode by default as users can still open them in standalone via nav2 app given the nav2 app's scope is the parent root path * Update shortcuts and landing page * Document PWA scope and installation order when using Nav2 PWA scoped as root * Revert setting scope for nav2 PWA to root path as adding file browser shortcut to nav2 PWA is not worth the trouble of having to explain installation order caveats and URL launch behavior. File browser shortcut is still accessible from inside nav2 pwa launcher but merely displays in browser preview given root / is out of scope for /nav2/ * Update server diagnostics for troubleshooting * Verify checksum of archive before extraction incase anonymized URL changes expected archive * Fix the condition in ackerman motion model constraints (ros-navigation#3581) * Fix the condition in ackerman motion model constraints * Fix ackerman motion model tests * Fix another ackerman motion model test * Fix broken symlink for gzweb (ros-navigation#3585) to load world models * Fix broken link to contributing guidelines (ros-navigation#3587) The 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. * Adding Our Sponsors - May 2023 (ros-navigation#3593) * adding our sponsors - may 2023 * adding blurb * adding links * adding links * adding links * adding Open Nav * Add CostmapFilterInfoServer as a component (ros-navigation#3596) * Resolve ros-navigation#3532: reset i (ros-navigation#3597) * [MPPI] empty path_follow_critic proper fix (ros-navigation#3599) * [MPPI] empty path_follow_critic proper fix * fix linting issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bumping humble to 1.1.7 for release --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> * Fix merge conflict error (ros-navigation#3619) * fixing a second merge conflict resolution error (ros-navigation#3621) * fixing merge conflicts for release on humble sync 6 (ros-navigation#3623) * Fixing 3629 (ros-navigation#3630) * Fixing 3629 * Update planner_server.cpp * bumping humble to 1.1.8 for release sync 6 + bug patch * Fixing build warning (ros-navigation#3667) (ros-navigation#3673) (cherry picked from commit 7d4b199) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix the velocity smoother being stuck when the deadband is too high (ros-navigation#3690) (ros-navigation#3715) * Move last_cmd update before deadband * fix lint (cherry picked from commit cb34d0c) Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> * Humble sync 7 August 4 1.1.9 (ros-navigation#3739) * Fix map not showing on rviz when navigation is launched with namespace (ros-navigation#3620) * updating mppi's path angle critic for optional bidirectionality (ros-navigation#3624) * updating mppi's path angle critic for optional bidirectionality * Update README.md * fixing path angle critic's non-directional bias (ros-navigation#3632) * fixing path angle critic's non-directional bias * adding reformat * adapting goal critic for speed to goal (ros-navigation#3641) * adapting goal critic for speed to goal * retuning goal critic * add readme entries * Update critics_tests.cpp * Fix uninitialized value (ros-navigation#3651) * In NAV2, this warning is treated as an error Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix rviz panel node arguments (ros-navigation#3655) Signed-off-by: Nick Lamprianidis <info@nlamprian.me> * Reduce out-of-range log to DEBUG (ros-navigation#3656) * Adding nan twist rejection for velocity smoother and collision monitor (ros-navigation#3658) * adding nan twist rejection for velocity smoother and collision monitor * deref * MPPI: Support Exact Path Following For Feasible Plans (ros-navigation#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fix smoother server tests (ros-navigation#3663) * Fix smoother server tests * Update test_smoother_server.cpp * nav2_bt_navigator: log current location on navigate_to_pose action initialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes. * nav2_behaviors: export all available plugins (ros-navigation#3716) It allows external packages to include those headers and create child classes through inheritance. * changing costmap layers private to protected (ros-navigation#3722) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures * Update RewrittenYaml to support list rewrites (ros-navigation#3727) * allowing leaf key rewrites that aren't dcits (ros-navigation#3730) * adding checks on config and dynamic parameters for proper velocity and acceleration limits (ros-navigation#3731) * Fix Goal updater QoS (ros-navigation#3719) * Fix GoalUpdater QoS * Fixes * bumping Humble to 1.1.9 for release * fix merge conflict resolution in collision monitor node --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> * Fixing 3768: planner server lifecycle transition down (ros-navigation#3786) * Use ParameterFile (allow_substs) (ros-navigation#3706) (ros-navigation#3806) Signed-off-by: ymd-stella <world.applepie@gmail.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> * Added missing destructor to MPPI critic manager (ros-navigation#3812) * Added missing virtual destructor * Updated CriticManger Destructor to be same as other branches * mppi: return NO_INFORMATION when the checked point is outside the costmap (ros-navigation#3816) (ros-navigation#3818) otherwise the controller crashes at ObstaclesCritic::costAtPose because x_i and y_i isn't initialized. (cherry picked from commit 6b250a7) Co-authored-by: Chuanhong Guo <gch981213@gmail.com> * [Humble] Sync 8 - Sept 25 (ros-navigation#3836) * Same orientation of coordinate frames in rviz ang gazebo (ros-navigation#3751) * rviz view straight in default xy orientation Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * gazebo orientation to match rviz Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * rotating in direction of view --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> * Fix flaky costmap filters tests: (ros-navigation#3754) 1. Set forward_prune_distance to 1.0 to robot not getting lost 2. Correct map name for costmap filter tests * Fix missing mutex in PlannerServer::isPathValid (ros-navigation#3756) Signed-off-by: ymd-stella <world.applepie@gmail.com> * Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (ros-navigation#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * use ros clock for wait (ros-navigation#3782) * use ROS clock for wait * fix backport issue --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * fixing external users of the BT action node template (ros-navigation#3792) * fixing external users of the BT action node template * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> --------- Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> * Using Simple Commander API for multi robot systems (ros-navigation#3803) * support multirobot namespaces * add docs * adding copy all params primitive for BT navigator (to ingest into rclcpp) (ros-navigation#3804) * adding copy all params primitive * fix linting * lint * I swear to god, this better be the last linting issue * allowing params to be declared from yaml * Update bt_navigator.cpp * some minor optimizations (ros-navigation#3821) * fix broken behaviortree doc link (ros-navigation#3822) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * [MPPI] complete minor optimaization with floating point calculations (ros-navigation#3827) * floating point calculations * Update optimizer_unit_tests.cpp * Update critics_tests.cpp * Update critics_tests.cpp * 25% speed up of goal critic; 1% speed up from vy striding when not in use * bumping 1.1.9 to 1.1.10 for Humble release --------- Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> * Update CMakeLists.txt (ros-navigation#3843) (ros-navigation#3845) (cherry picked from commit 2d6e9a9) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * bump to 1.1.11 for release for AVX512 fixes * add option for sse4 and avs512 (ros-navigation#3853) (ros-navigation#3855) (cherry picked from commit 7274811) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Bumping to 1.1.12 for binary release of AVX512 patches * [MPPI Optimization] adding regenerate noise param + adding docs (ros-navigation#3868) (ros-navigation#3870) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp (cherry picked from commit 924f167) # Conflicts: # nav2_mppi_controller/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Updating default map path * [MPPI] Reworked Path Align Critic; 70% faster + Tracks Paths Better! Edit: strike that, now 80% (ros-navigation#3872) (ros-navigation#3882) * adding regenerate noise param + adding docs * fix tests * remove unnecessary normalization * Update optimizer.cpp * adding refactored path alignment critic * fix visualization bug * speed up another 30% * remove a little jitter * a few more small optimizaitons * fixing unit tests * retain legacy critic * adding tests for legacy (cherry picked from commit 7009ffb) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fix incorrect auto merge conflict issue * Use mutex to protect costmap reads. (backport ros-navigation#3877) (ros-navigation#3897) * Use mutex to protect costmap reads. (ros-navigation#3877) * Use mutex to protect costmap reads. Otherwise costmap can be read during a map update and return 0. * Revert "Use mutex to protect costmap reads." This reverts commit e16a44c. * Lock costmap before running MPPI controller. * Fix typo. * Protect against costmap updates in MPP and RotationShim controllers. --------- Co-authored-by: Leif Terry <leif@peanutrobotics.com> (cherry picked from commit a1c9fd5) # Conflicts: # nav2_mppi_controller/src/controller.cpp * fix merge conflict --------- Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Adjust the Variable types in Nav2_costmap_2d pkg in [nav2_humble] ros-navigation#3891 (ros-navigation#3900) (ros-navigation#3902) * image.hpp ros-navigation#3891 * Update image.hpp (cherry picked from commit 7a7c6da) Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> * Log if BT rate is exceeded (ros-navigation#3909) (ros-navigation#3913) (cherry picked from commit a11cdd8) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Update theta_star_planner.cpp (ros-navigation#3918) (ros-navigation#3922) (cherry picked from commit 0629ff3) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing subtree issues with blackboard shared resources (3640) (backport ros-navigation#3911) (ros-navigation#3916) * Fixing subtree issues with blackboard shared resources (3640) (ros-navigation#3911) * fixing subtree issues * Update bt_action_server_impl.hpp (cherry picked from commit 4b4465d) # Conflicts: # nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp * Update bt_action_server_impl.hpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * fix build Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * disdt Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * remove unused Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * test Signed-off-by: kevin <kevin@floatic.io> * fix spin Signed-off-by: ladianchad <qhrejddlvltm@gmail.com> * remove looprate log Signed-off-by: ladianchad <qhrejddlvltm@gmail.com> * removed loop rate waring Signed-off-by: ladianchad <qhrejddlvltm@gmail.com> --------- Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com> Signed-off-by: Øystein Sture <os@skarvtech.com> Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Nick Lamprianidis <info@nlamprian.me> Signed-off-by: ymd-stella <world.applepie@gmail.com> Signed-off-by: Christian Henkel <christian.henkel2@de.bosch.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Signed-off-by: kevin <kevin@floatic.io> Signed-off-by: ladianchad <qhrejddlvltm@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com> Co-authored-by: DylanDeCoeyer-Quimesis <102609575+DylanDeCoeyer-Quimesis@users.noreply.github.com> Co-authored-by: Trung Kien <letrungkien.k53.hut@gmail.com> Co-authored-by: HovorunB <87417416+HovorunB@users.noreply.github.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: Ruffin <roxfoxpox@gmail.com> Co-authored-by: Øystein Sture <oysstu@users.noreply.github.com> Co-authored-by: mrmara <48493979+mrmara@users.noreply.github.com> Co-authored-by: antoniomarangi <antonio.marangi@alba-robot.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Griswald Brooks <griswald.brooks@gmail.com> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <1677757+dirkmb@users.noreply.github.com> Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Alberto Tudela <ajtudela@gmail.com> Co-authored-by: ryzhikovas <ryzhikovas@gmail.com> Co-authored-by: Alexandr Buyval <alexbuyval@gmail.com> Co-authored-by: Hyung-Taik Choi <htc.refactor@gmail.com> Co-authored-by: Filipe Cerveira <filipecerveira@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Ryan <ryanfriedman5410+github@gmail.com> Co-authored-by: Nick Lamprianidis <info@nlamprian.me> Co-authored-by: gyaanantia <78275262+gyaanantia@users.noreply.github.com> Co-authored-by: ymd-stella <7959916+ymd-stella@users.noreply.github.com> Co-authored-by: Vineet <52542471+VineetTambe@users.noreply.github.com> Co-authored-by: Chuanhong Guo <gch981213@gmail.com> Co-authored-by: Christian Henkel <6976069+ct2034@users.noreply.github.com> Co-authored-by: Hyunseok <yanghyunseok@me.com> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: LeifHookedWireless <leif@hookedwireless.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: kevin <kevin@floatic.io>

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

ryzhikovas mentioned this pull request Sep 17, 2021

Add docs for Denoise Layer plugin (costmap_2d) ros-navigation/docs.nav2.org#209

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AlexeyMerzlyakov reviewed Sep 30, 2021

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ryzhikovas force-pushed the feature-costmap2d-denoise branch 2 times, most recently from 303f089 to bc2b780 Compare October 7, 2021 10:34

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ryzhikovas force-pushed the feature-costmap2d-denoise branch from 652354e to 5d1abd1 Compare November 24, 2021 15:58

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ryzhikovas added 14 commits April 28, 2023 14:22

Fix internal map construction

c9a50ec

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Add debug dump

a2deb8f

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Add images to the tests in which step != columns

abc31a6

In general, the image may not be continuous, i.e. there may be unused bytes between adjacent rows. Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Adapt probeRows for non-continuous images

f094ae6

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Add standard header files

55df387

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Rollback debug dump

3b4bd64

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Add tests for the case when NO_INFORMATION is obstacle

6c8d1fe

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Update the year in copyright

e3e669c

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Fix the enumeration description (autodoc)

101c99c

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Remove redundant out-of-bounds check

7a63824

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Change the outdated test name

dac9c11

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Simplify max function and slightly speed up it

f5683c5

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Fix uncrustify errors

c6be9c2

Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

Move impl details to denoise subdirectory

8105b53

ryzhikovas force-pushed the feature-costmap2d-denoise branch from 944646f to 8105b53 Compare April 28, 2023 11:26

SteveMacenski approved these changes Apr 28, 2023

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AlexeyMerzlyakov reviewed May 11, 2023

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nav2_costmap_2d/include/nav2_costmap_2d/denoise/image.hpp Outdated Show resolved Hide resolved

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ryzhikovas added 2 commits May 11, 2023 17:33

Fix header guards names

9830245

Update year in copyright

1901f81

AlexeyMerzlyakov merged commit b58ef4a into ros-navigation:main May 12, 2023
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SteveMacenski pushed a commit that referenced this pull request Jun 9, 2023

Impl noise filtering layer in the costmap_2d (#2567)

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Signed-off-by: ryzhikovas <ryzhikovas@gmail.com>

enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024

Impl noise filtering layer in the costmap_2d (ros-navigation#2567)

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Signed-off-by: ryzhikovas <ryzhikovas@gmail.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

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Impl noise filtering layer in the costmap_2d #2567

Impl noise filtering layer in the costmap_2d #2567

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Impl noise filtering layer in the costmap_2d #2567

Impl noise filtering layer in the costmap_2d #2567

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