Add allow_unknown parameter to theta star planner #3286

pepisg · 2022-11-15T23:31:48Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3285
Primary OS tested on	Ubuntu 22
Robotic platform tested on	Custom gazebo robot

Description of contribution in a few bullet points

Added the allow_unknown parameter to the theta star planner to make it possible to plan through unknown space

Description of documentation updates required from your changes

I need to add the new parameter to the configuration guide in navigation.ros.org

For Maintainers:

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

mergify · 2022-11-15T23:32:21Z

@pepisg, please properly fill in PR template in the future. @SteveMacenski, use this instead.

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

pepisg · 2022-11-15T23:37:55Z

nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp

@@ -185,7 +188,7 @@ class ThetaStar
  bool isSafe(const int & cx, const int & cy, double & cost) const
  {
    double curr_cost = getCost(cx, cy);
-    if (curr_cost < LETHAL_COST) {
+    if ((costmap_->getCost(cx, cy) == UNKNOWN_COST && allow_unknown_) || curr_cost < LETHAL_COST) {


not sure if a different cost should be considered for the planning itself when the cell is unknown rather than using the maximum (which if I understand correctly would penalize unknown tiles the same way as obstacles). What do you think @SteveMacenski ?

Look at what NavFn does with this value and you can copy that methodology here

just to confirm, that is setting it to the obstacle cost - 1?

SteveMacenski

LGTM

nav2_theta_star_planner/src/theta_star_planner.cpp

SteveMacenski · 2022-11-16T00:13:13Z

nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp

@@ -185,7 +188,7 @@ class ThetaStar
  bool isSafe(const int & cx, const int & cy, double & cost) const
  {
    double curr_cost = getCost(cx, cy);
-    if (curr_cost < LETHAL_COST) {
+    if ((costmap_->getCost(cx, cy) == UNKNOWN_COST && allow_unknown_) || curr_cost < LETHAL_COST) {


Look at what NavFn does with this value and you can copy that methodology here

nav2_theta_star_planner/src/theta_star_planner.cpp

mergify · 2022-11-16T00:56:42Z

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

SteveMacenski · 2022-11-16T01:16:31Z

What conclusions did you come to about costs for UNKNOWN?

pepisg · 2022-11-16T01:21:50Z

What conclusions did you come to about costs for UNKNOWN?

NavFn seems to be setting it to the obstacle cost - 1. Should I do the same? IMO is too punishing to assume all unknown space is as "undesirable" as obstacles but I can leave it as you say

SteveMacenski · 2022-11-16T01:30:44Z

I think doing the same thing as NavFn is reasonable - no one's complained about that in years. Good enough for that, good enough for us here 😆

pepisg · 2022-11-16T18:46:41Z

Done

nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp

codecov · 2022-11-16T21:29:41Z

Codecov Report

Base: 89.05% // Head: 88.88% // Decreases project coverage by -0.16% ⚠️

Coverage data is based on head (198078d) compared to base (1b9d002).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3286      +/-   ##
==========================================
- Coverage   89.05%   88.88%   -0.17%     
==========================================
  Files         351      351              
  Lines       15673    15683      +10     
==========================================
- Hits        13957    13940      -17     
- Misses       1716     1743      +27

Impacted Files	Coverage Δ
...ner/include/nav2_theta_star_planner/theta_star.hpp	`96.55% <100.00%> (+0.55%)`	⬆️
nav2_theta_star_planner/src/theta_star.cpp	`97.84% <100.00%> (+0.01%)`	⬆️
nav2_theta_star_planner/src/theta_star_planner.cpp	`90.90% <100.00%> (+0.39%)`	⬆️
..._dwb_controller/dwb_critics/src/rotate_to_goal.cpp	`82.22% <0.00%> (-8.89%)`	⬇️
..._planner/include/nav2_smac_planner/node_hybrid.hpp	`92.85% <0.00%> (-7.15%)`	⬇️
...ehaviors/include/nav2_behaviors/timed_behavior.hpp	`84.93% <0.00%> (-6.85%)`	⬇️
..._smoother/include/nav2_smoother/smoother_utils.hpp	`92.30% <0.00%> (-5.13%)`	⬇️
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	`94.80% <0.00%> (-2.60%)`	⬇️
nav2_controller/src/controller_server.cpp	`83.17% <0.00%> (-2.54%)`	⬇️
nav2_planner/src/planner_server.cpp	`75.17% <0.00%> (-1.42%)`	⬇️
... and 6 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

* Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * 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> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * 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> * 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 * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * 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> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * 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> * 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 * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#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> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#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> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify

* remove exec_depend on behaviortree_cpp_v3 (#3279) * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * Remove duplicate of nav2_back_up_cancel_bt_node (#3332) * Remove unused velocity scaling config from example xml (#3330) Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Make mapUpdateLoop() indicator variables to be thread-safe (#3308) * Ensure that plugin initialization to be called before updating routines (#3307) * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * bump to 1.1.3 for humble sync 3 Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Sven Langner <svenlr@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>

* Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#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> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * initial prototype of the Savitzky Golay Filter Path Smoother * fixed indexing issue - tested working * updates for filter * adding unit tests for SG-filter smoother * adding lifecycle transitions * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#3265) * refactor for RPP on way to ROSCon * fixing header * fixing header * fixing header * fix edge cases test samplings * linting * exceptions for compute path through poses (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * Added Line Iterator * Updated Line Iterator to a new iteration method * Added the resolution as a parameter/ fixed linting * Added the resolution as a parameter/ fixed linting * Added unittests for the line iterator * Added unittests based on "unittest" package * Fixed __init__.py and rephrased some docstrings * Fixed linting errors * Fixed Linting Errors * Added some unittests and removed some methods * Dummy commit for CircleCI Issue Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> * Use SetParameter Launch API to set the yaml filename for map_server (ros-navigation#3174) * implement launch priority for the mapserver parameter yaml_filename minor fix fix commit reincluded rewritten function comment remaining lines for yaml_filename removed default_value issue with composable node alternative soltion to the condition param not working in composable node remove unused import remove comments and reorder composablenode execution fixing commit fixing format fixing lint Update nav2_bringup/params/nav2_params.yaml Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * state new ros-rolling release changes and deprecation Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Pipe error codes (ros-navigation#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> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <44140526+Cryst4L9527@users.noreply.github.com> Co-authored-by: jaeminSHIN <91681721+woawo1213@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Afif Swaidan <53655365+afifswaidan@users.noreply.github.com> Co-authored-by: Afif Swaidan <afif.swaidan@spexal.com> Co-authored-by: Stevedan Ogochukwu Omodolor <61468301+stevedanomodolor@users.noreply.github.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>

* remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * Remove duplicate of nav2_back_up_cancel_bt_node (ros-navigation#3332) * Remove unused velocity scaling config from example xml (ros-navigation#3330) Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Borong Yuan <yuanborong@hotmail.com> * Make mapUpdateLoop() indicator variables to be thread-safe (ros-navigation#3308) * Ensure that plugin initialization to be called before updating routines (ros-navigation#3307) * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <17ofh@queensu.ca> * updated copyright in modified file Signed-off-by: Owen Hooper <17ofh@queensu.ca> Signed-off-by: Owen Hooper <17ofh@queensu.ca> * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * bump to 1.1.3 for humble sync 3 Signed-off-by: Borong Yuan <yuanborong@hotmail.com> Signed-off-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com> Co-authored-by: Erwin Lejeune <erwin.lejeune15@gmail.com> Co-authored-by: Sven Langner <svenlr@users.noreply.github.com> Co-authored-by: Borong Yuan <yuanborong@hotmail.com> Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com> Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com> Co-authored-by: Owen Hooper <17ofh@queensu.ca> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>

Add allow unknown parameter to theta star planner

33dafae

pepisg mentioned this pull request Nov 15, 2022

Theta star planner fails to get path when goals falls in unknown space, where tile value = NO_INFORMATION #3285

Closed

pepisg commented Nov 15, 2022

View reviewed changes

SteveMacenski linked an issue Nov 16, 2022 that may be closed by this pull request

Theta star planner fails to get path when goals falls in unknown space, where tile value = NO_INFORMATION #3285

Closed

SteveMacenski requested changes Nov 16, 2022

View reviewed changes

Add allow unknown parameter to tests

33dfb23

pepisg mentioned this pull request Nov 16, 2022

Add allow unknown paramter to theta star planner ros-navigation/docs.nav2.org#371

Merged

missing comma

0638bed

Change cost of unknown tiles

f4a16da

SteveMacenski requested changes Nov 16, 2022

View reviewed changes

nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star.hpp Outdated Show resolved Hide resolved

Uncrustify

198078d

SteveMacenski approved these changes Nov 16, 2022

View reviewed changes

SteveMacenski merged commit 3358ed4 into ros-navigation:main Nov 16, 2022

SteveMacenski pushed a commit that referenced this pull request Dec 21, 2022

Add allow_unknown parameter to theta star planner (#3286)

fa44682

* Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add allow_unknown parameter to theta star planner #3286

Add allow_unknown parameter to theta star planner #3286

pepisg commented Nov 15, 2022 •

edited

Loading

mergify bot commented Nov 15, 2022

pepisg Nov 15, 2022 •

edited

Loading

SteveMacenski Nov 16, 2022

pepisg Nov 16, 2022

SteveMacenski left a comment

SteveMacenski Nov 16, 2022

mergify bot commented Nov 16, 2022

SteveMacenski commented Nov 16, 2022

pepisg commented Nov 16, 2022 •

edited

Loading

SteveMacenski commented Nov 16, 2022

pepisg commented Nov 16, 2022

codecov bot commented Nov 16, 2022 •

edited

Loading

Add allow_unknown parameter to theta star planner #3286

Add allow_unknown parameter to theta star planner #3286

Conversation

pepisg commented Nov 15, 2022 • edited Loading

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

For Maintainers:

mergify bot commented Nov 15, 2022

pepisg Nov 15, 2022 • edited Loading

Choose a reason for hiding this comment

SteveMacenski Nov 16, 2022

Choose a reason for hiding this comment

pepisg Nov 16, 2022

Choose a reason for hiding this comment

SteveMacenski left a comment

Choose a reason for hiding this comment

SteveMacenski Nov 16, 2022

Choose a reason for hiding this comment

mergify bot commented Nov 16, 2022

SteveMacenski commented Nov 16, 2022

pepisg commented Nov 16, 2022 • edited Loading

SteveMacenski commented Nov 16, 2022

pepisg commented Nov 16, 2022

codecov bot commented Nov 16, 2022 • edited Loading

Codecov Report

pepisg commented Nov 15, 2022 •

edited

Loading

pepisg Nov 15, 2022 •

edited

Loading

pepisg commented Nov 16, 2022 •

edited

Loading

codecov bot commented Nov 16, 2022 •

edited

Loading