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New MPPI Cost Critic (Contrib: Brice Renaudeau) #4090
Commits on Jan 29, 2024
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Update inflation_cost_critic.hpp
- copyright - ifndef Signed-off-by: Brice <brice.renaudeau@gmail.com>
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- extra space Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Fix Smac Planner confined collision checker (#4055)
* Update collision_checker.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fix tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update test_a_star.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Prevent analytic expansions from shortcutting Smac Planner feasible p…
…aths (#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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change pointer free order in amcl to avoid use-after-free bug mention…
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[Smac Planner] Massive Improvement of Behavior for SE2 Footprint Chec…
…king (ie non-circular robots) In Confined Settings (#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Adding new Smac paper to readme
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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[behavior_tree] don't repeat yourself in "blackboard->set" (#4074)
* don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Allow path end pose deviation revive (#4065)
* Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <josho.wallace@gmail.com> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <josho.wallace@gmail.com> Co-authored-by: pepisg <pedro.gonzalez@eia.edu.co> Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Updated code to use getInflationLayer() method (#4076)
* updated code to use getInflationLayer method Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> * Fix linting Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> --------- Signed-off-by: Jose Faria <20467009+jncfa@users.noreply.github.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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1594 twist stamped publisher (#4077)
* Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove stored node and assert Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix syntax errors Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused code Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Add other constructor and docs Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Fix linter issues Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Manually fix paren alignment Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove GSoC reference Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Document twist bool param in README Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * More linter fixes Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> --------- Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: pedro-fuoco <pedrofuoco6@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Change costmap_queue to shared library (#4072)
Signed-off-by: cybaol <cybao292261@163.com> Signed-off-by: Brice <brice.renaudeau@gmail.com>
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Signed-off-by: Brice Renaudeau <brice.renaudeau@gmail.com>
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Commits on Feb 1, 2024
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Commits on Feb 2, 2024
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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Commits on Feb 12, 2024
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Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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