[velocity smoother] Protect properly againt invalid max_accel and max_decel values #3952

doisyg · 2023-11-10T05:36:07Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu
Robotic platform tested on	Dexory's Robot

Description of contribution in a few bullet points

On dynamic change of max_accel or max_decel parameters, invalid values (wrong sign) were triggering an error message and returning false, but the invalid values were still set internally.

This PR fixes it. break was not used as we are in a nested for loop there.

Description of documentation updates required from your changes

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 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

codecov · 2023-11-10T06:21:06Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (5053226) 90.30% compared to head (7d81045) 90.44%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3952      +/-   ##
==========================================
+ Coverage   90.30%   90.44%   +0.14%     
==========================================
  Files         415      415              
  Lines       18444    18446       +2     
==========================================
+ Hits        16655    16683      +28     
+ Misses       1789     1763      -26

Files	Coverage Δ
nav2_velocity_smoother/src/velocity_smoother.cpp	`98.50% <100.00%> (+0.01%)`	⬆️

... and 6 files with indirect coverage changes

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Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: gg <josho.wallace@gmail.com>

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

* collision_monitor: dynamic polygon and source enable/disable (#3825) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * initial * fix * fix * remove unrelated change * reset * fix format * PR fixes * Add test * fix comments * add to params * publish only if enabled * Add source dynamic enable/disable * add enabled param to sources * fix * add same to collision detector * Update README.md: fix typo (#3842) * Update package.xml * fix typo (#3850) * adjust link to point to v3.8 of behavior tree docs (#3851) BT.CPP_v3 is used, thereby the correct docs should be linked * Fix bug in nav2_behavior_tree/bt_action_node (#3849) * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix bug in nav2_behavior_tree/bt_action_node * Fixed the bug in halt function inside nav2_behavior_tree/plugin/action/bt_action_node.hpp * Added new case to nav2_behavior_tree/plugin/action/bt_action_node.hpp for testing the scenario to cancel * Refactored existing cases in nav2_behavior_tree/plugin/action/bt_action_node.hpp Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> * Fix action test failure due to rate after Rolling sync API change (#3852) * Update CMakeLists.txt (#3843) * add option for sse4 and avs512 (#3853) * Remove all exit(-1) crash conditions (#3846) * Update transform_available_condition.cpp * wrapping all examples of get_plugin_type_param in exceptions and making that throw instead of crash * some linting * fix typo * Update controller.cpp * Update nav2_params.yaml * Update nav2_params.yaml * simplication of lattice_generator.py, fixes #3858 (#3859) * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. * Stop error diagnostics when pausing nav (#3830) * Added nodestate enum and a variable to keep track of current state of managed nodes. * Updating state_of_managed_nodes_ when switching states and using it to determine an accurate diagnostics message. * Fixing bugs. * Updated/added docstrings. * Publishing OK status when nodes are unconfigured. Changed if-else chain to switch case. * Renamed NodeState PAUSED to INACTIVE, state_of_managed_nodes_ to managed_nodes_state_ and replaced system_active_ with an inline method. * Bugfix. --------- Co-authored-by: Pekka Myller <pekka.myller@karelics.fi> * Add a timeout to the wait for transforms step of the costmap activation. (#3866) * Add a timeout to the wait for transforms step of the costmap activation. Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Rename wait_for_transforms_timeout to initial_transform_timeout * Activate costmap publishers only after transforms are checked * Check if controller server activation was succesful in planner_server * Add unittest for costmap activation Signed-off-by: Fabian König <fabiankoenig@gmail.com> --------- Signed-off-by: Fabian König <fabiankoenig@gmail.com> * Fix class doxygen * fix minor typos (#3892) Signed-off-by: Anton Kesy <antonkesy@gmail.com> * Publish collision points for debug purposes (#3879) * Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * . * fixes * add to collision detector * fix * fix * . * fixes * add namespace to topic * fixes * fix use after free (#3910) * fix build mppi (#3927) Signed-off-by: kevin <kevin@floatic.io> Co-authored-by: kevin <kevin@floatic.io> * Removing old TODOs * protect invalid max_velocity min_velocity (#3953) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * protect properly max_accel and max_decel (#3952) Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Fixed links for install and build in README (#3963) Currently the readme is linking to an invalida page in the docs (404 error). * adding support for rotate in place cusps (#3934) * Fix linting error (#3969) * Fix linting error * Update regulated_pure_pursuit_controller.cpp * fix a few outdated comments in smac planners (#3978) * adding soft realtime prioritization for collision monitor and velocity smoother (#3979) * adding soft realtime prioritization for collision monitor and velocity smoother * refactor simple action server to use new utils API * Update README.md * Synchronize map size information during map initialization (#4015) * Update costmap size configuration This commit updates the costmap_2d.cpp file to fix a bug where the costmap size wasn't appropriately updated. Two new lines of code have been added to ensure the size of the costmap is correctly configured each time it's instantiated. * Refactor costmap size assignment in Costmap2D class The code refactor eliminates the direct mutation of the size_x_ and size_y_ attributes in the Costmap2D class. Instead, the class uses the size of cells provided during initialization and calculation from map coordinates for better encapsulation and clarity. * check width&height params (#4017) Co-authored-by: GoesM <GoesM@buaa.edu.cn> * Fix SimpleActionServer nullprt callback (#4025) * add check before calling completion_callback_ * Fix lint * footprint checks (#4030) * footprint checks Signed-off-by: gg <josho.wallace@gmail.com> * lint fix Signed-off-by: gg <josho.wallace@gmail.com> --------- Signed-off-by: gg <josho.wallace@gmail.com> * Is path valid doc (#4032) * docs Signed-off-by: gg <josho.wallace@gmail.com> * update Signed-off-by: gg <josho.wallace@gmail.com> --------- Signed-off-by: gg <josho.wallace@gmail.com> * Update vision_opencv's branch for rolling Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * handle dynamically changes in parameters. (#4046) Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com> * Add inflation_layer_name param (#4047) Signed-off-by: Renan Salles <renan028@gmail.com> * missing urdf dep (#4050) Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * bump to 1.2.6 for release --------- Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Signed-off-by: Fabian König <fabiankoenig@gmail.com> Signed-off-by: Anton Kesy <antonkesy@gmail.com> Signed-off-by: kevin <kevin@floatic.io> Signed-off-by: gg <josho.wallace@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Sebastian Solarte <johan.solarte@kiwibot.com> Signed-off-by: Renan Salles <renan028@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Tony Najjar <tony.najjar@logivations.com> Co-authored-by: thandal <than@timbrel.org> Co-authored-by: Anton Kesy <antonkesy@gmail.com> Co-authored-by: CihatAltiparmak <cihataltiparmak1@gmail.com> Co-authored-by: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com> Co-authored-by: Plaqueoff <44152820+Plaqueoff@users.noreply.github.com> Co-authored-by: Pekka Myller <pekka.myller@karelics.fi> Co-authored-by: Fabian König <fabiankoenig@gmail.com> Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com> Co-authored-by: kevin <kevin@floatic.io> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Abiel Fernandez <empoleom@gmail.com> Co-authored-by: Michael Ferguson <mfergs7@gmail.com> Co-authored-by: Hao-Li-Bachelorarbeit <141755843+Hao-Li-Bachelorarbeit@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: GoesM <GoesM@buaa.edu.cn> Co-authored-by: BriceRenaudeau <48433002+BriceRenaudeau@users.noreply.github.com> Co-authored-by: Joshua Wallace <josho.wallace@gmail.com> Co-authored-by: Sebastian Solarte <89881453+Sunart24@users.noreply.github.com> Co-authored-by: Renan Salles <renan028@gmail.com>

Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

protect properly max_accel and max_decel

7d81045

SteveMacenski approved these changes Nov 10, 2023

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SteveMacenski merged commit e066ed1 into ros-navigation:main Nov 10, 2023
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jwallace42 pushed a commit to jwallace42/navigation2 that referenced this pull request Jan 3, 2024

protect properly max_accel and max_decel (ros-navigation#3952)

10efedb

Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: gg <josho.wallace@gmail.com>

SteveMacenski pushed a commit that referenced this pull request Jan 24, 2024

protect properly max_accel and max_decel (#3952)

6148a76

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>

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

protect properly max_accel and max_decel (ros-navigation#3952)

d516377

Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: enricosutera <enricosutera@outlook.com>

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[velocity smoother] Protect properly againt invalid max_accel and max_decel values #3952

[velocity smoother] Protect properly againt invalid max_accel and max_decel values #3952

doisyg commented Nov 10, 2023

codecov bot commented Nov 10, 2023

[velocity smoother] Protect properly againt invalid max_accel and max_decel values #3952

[velocity smoother] Protect properly againt invalid max_accel and max_decel values #3952

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doisyg commented Nov 10, 2023

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

codecov bot commented Nov 10, 2023

Codecov Report