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Nav2 Velocity Smoother #2964

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merged 17 commits into from Jun 13, 2022
Merged

Nav2 Velocity Smoother #2964

merged 17 commits into from Jun 13, 2022

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SteveMacenski
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@SteveMacenski SteveMacenski commented May 24, 2022 •
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#2633

Docs PR: ros-planning/navigation.ros.org#314

TODO

  • testing on hardware

Had one tester

I actually tried the smoother on the real robot. Seems that it works fine.

@SteveMacenski SteveMacenski mentioned this pull request May 25, 2022
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vinnnyr
vinnnyr reviewed May 26, 2022
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I just added a few small questions about the README while I look into configuring this in our robot

nav2_velocity_smoother/README.md Show resolved Hide resolved
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mergify bot commented Jun 10, 2022

@SteveMacenski, 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 SteveMacenski merged commit 6f31d59 into main Jun 13, 2022
@SteveMacenski SteveMacenski deleted the vel_smoother branch June 13, 2022 20:36
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022
@SteveMacenski @redvinaa
Nav2 Velocity Smoother (ros-planning#2964)
b5a4a2a 
* WIP velocity smoother with ruckig

* a few comments

* vel smoother prototype

* updating defaults

* adding defaults to readme

* removing note from readme

* updates to velocity smoother TODO items

* adding unit tests

* finishing system tests

* adding failure to change parameters tests

* fix last bits

* fixing negative sign bug

* lint

* update tests

* setting defaults

* Adding warning

* Update velocity_smoother.cpp
SteveMacenski added a commit that referenced this pull request Aug 24, 2022
@SteveMacenski
Nav2 Velocity Smoother (#2964)
d76d2aa 
* WIP velocity smoother with ruckig

* a few comments

* vel smoother prototype

* updating defaults

* adding defaults to readme

* removing note from readme

* updates to velocity smoother TODO items

* adding unit tests

* finishing system tests

* adding failure to change parameters tests

* fix last bits

* fixing negative sign bug

* lint

* update tests

* setting defaults

* Adding warning

* Update velocity_smoother.cpp
SteveMacenski added a commit that referenced this pull request Aug 24, 2022
@SteveMacenski @m2-farzan
@gezp @jwallace42 @arshadlab @MartiBolet @shoufei403 @hodnajit @vinnnyr @SrijaneeBiswas @NikolasE @Aposhian @AlexeyMerzlyakov @padhupradheep @nakai-omer @samiamlabs @aaronchongth @pepisg @ladianchad @kevin-floatic @austin-InDro
Humble Sync 1: Aug 24 (#3148)
74fae42 
* Fix size_t format specifier (#3003)

* clear up params file (#3004)

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Bt test fix (#2999)

* fixed tests

* undo

* linting fix (#3007)

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>

* Add nav2_constrained_smoother to metapackage

* adding humble release to table (#3008)

* Fix for costmap nodes lifecycle status (#3009)

Lifecycle status for global and local cost nodes not correct.
ros2 lifecycle/service commands  shows unconfigured for these two.
This is due to directly calling on_configure/on_activate/on_cleanup
calls in parent node.  This PR to replace on_xxxxxx() to
configure()/activate()/cleanup() calls of lifecycle base.

Signed-off-by: Arshad <arshad.mehmood@intel.com>

* Get parameters on configure transition addressing #2985 (#3000)

* Get parameters on configure transition

Signed-off-by: MartiBolet <mboletboixeda@gmail.com>

* Remove past setting of parameters

Signed-off-by: MartiBolet <mboletboixeda@gmail.com>

* Expose transition functions to public for test

Signed-off-by: MartiBolet <mboletboixeda@gmail.com>

* fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_… (#2994)

* fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp

* Update navigate_through_poses_action.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Nav2 Velocity Smoother (#2964)

* WIP velocity smoother with ruckig

* a few comments

* vel smoother prototype

* updating defaults

* adding defaults to readme

* removing note from readme

* updates to velocity smoother TODO items

* adding unit tests

* finishing system tests

* adding failure to change parameters tests

* fix last bits

* fixing negative sign bug

* lint

* update tests

* setting defaults

* Adding warning

* Update velocity_smoother.cpp

* Fixing rebase issue

* adding plugin type for static in local + removing unused print (#3021)

* removed extra includes (#3026)

* remove extra sub (#3025)

* Fix missing dependency on nav2_velocity_smoother (#3031)

* adding timeout for action client initialization (#3029)

* adding timeout for action client initialization

Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>

* adding constant 1s timeout, catching exception

Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>

* cleanup warnings (#3028)

* cleanup warnings

* removed referenc

* installing plugins folder of nav2_behaviors package (#3051)

Co-authored-by: Srijanee Biswas <srijanee.biswas@toyotatmh.com>

* Completed PR 2929 (#3038)

* accepting empty yaml_filename if no initial map is available

* invalid load_map-request does not invalidate existing map, added Testcase

* style

* finish PR 2929

* finish linting

* removing change

* removing change

* Update test_map_server_node.cpp

* Update test_map_server_node.cpp

Co-authored-by: Nikolas Engelhard <nikolas.engelhard@gmail.com>

* zero z values in rpp transformed plan (#3066)

* removing get node options default for nav2 utils (#3073)

* adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes (#3071)

* adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes

* fix linting

* remove inline comment

* adding goal updated controller node to test

* Smac Planner 2D changes (#3083)

* removing 4-connected option from smac; fixing 2D heuristic and traversal function from other planner's changes

* fix name of variable since no longer a neighborhood

* partial test updates

* ported unit tests fully

* revert to no costmap downsampling

* Collision monitor (#2982)

* Add Collision Monitor node

* Meet review items

* Fix next review items

* Code cleanup

* Support dynamic footprint. More optimizations.

* Switch to multiple footprints. Move variables.
Remove odom subscriber. Add 0-velocity optimization

* Update nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Meet smaller review items

* Add fixes found during unit test development

* Fix uncrustify issues

* Add unit tests

* Fix number of polygons points

* Move tests

* Add kinematics unit test

* Minor tests fixes

* Remove commented line

* Add edge case checking testcase and references

* Update comment

* Add README.md

* Fixed table

* Minor changes in README.md

* Fix README.md for documentation pages

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Meet review items

* Meet review items (part 2)

* Update polygons picture for README

* Change simulation_time_step to 0.1

* Fix bounding boxes to fit the demo from README.md

* Terminology fixes

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* removing the extra argument in class dec (#3084)

* Fix for #3078, fix image path in YAML (#3082)

* Fix for #3078, fix image path in YAML

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* do not depend on velocity for approach scaling (#3047)

* do not depend on velocity for approach scaling

* add approach_velocity_scaling_dist to README

* do not pass references to shared ptr

* fixup! do not pass references to shared ptr

* fix approach velocity scaling compile issues

* default approach_velocity_scaling_dist based on costmap size

* change default approach_velocity_scaling_dist to 0.6 to match previous behavior

* update tests for approach velocity scaling

* remove use_approach_linear_velocity_scaling from readme

* smooth approach velocity scaling

* Use correct timeout when checking future (#3087)

* Adds missing commas so default plugin names are not stuck together (#3093)

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

* Fix Costmap Filters system tests (#3120)

* Fix Costmap Filters system tests

* Update map_io.cpp

Co-authored-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>

* Finding distance H if obstacle H is <= 0 (#3122)

* adding checks on goal IDs in results for waypoint follower (#3130)

* ComputePathToPose Sets empty path on blackboard if action is aborted or cancelled (#3114)

* set empty path on black on failure

* docs

* switched to correct message type

* set empty path for compute_path_through_poses

* Ignore feedback from old goals in waypoint follower (#3139)

* apply joinchar in pathify (#3141)

Co-authored-by: kevin <kevin@floatic.io>

* Log level (#3110)

* added log level for navigation launch

* localization log level

* slam log level

* revert use_comp

* added log level to components

* linting and uncrusitfy fixes for CI (#3144)

* start is now added to the path (#3140)

* start is now added to the path

* lint fix

* Update README.md (#3147)

Current example doesn't work with the updates.

* fixing linting problem

* Setting map map's yaml path to empty string, since overridden in launch (#3123)

* Update nav2_params.yaml

* Update nav2_params.yaml

* Update nav2_params.yaml

* bumping to 1.1.1 for release

Signed-off-by: zhenpeng ge <zhenpeng.ge@qq.com>
Signed-off-by: Arshad <arshad.mehmood@intel.com>
Signed-off-by: MartiBolet <mboletboixeda@gmail.com>
Signed-off-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>
Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
Co-authored-by: M. Mostafa Farzan <m2_farzan@yahoo.com>
Co-authored-by: Zhenpeng Ge <zhenpeng.ge@qq.com>
Co-authored-by: Joshua Wallace <47819219+jwallace42@users.noreply.github.com>
Co-authored-by: Arshad Mehmood <arshad.mehmood@intel.com>
Co-authored-by: MartiBolet <43337758+MartiBolet@users.noreply.github.com>
Co-authored-by: shoufei <907575489@qq.com>
Co-authored-by: hodnajit <jitkahodna67@gmail.com>
Co-authored-by: Vinny Ruia <vinny.ruia@fireflyautomatix.com>
Co-authored-by: SrijaneeBiswas <30804865+SrijaneeBiswas@users.noreply.github.com>
Co-authored-by: Srijanee Biswas <srijanee.biswas@toyotatmh.com>
Co-authored-by: Nikolas Engelhard <nikolas.engelhard@gmail.com>
Co-authored-by: Adam Aposhian <aposhian.dev@gmail.com>
Co-authored-by: Alexey Merzlyakov <60094858+AlexeyMerzlyakov@users.noreply.github.com>
Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com>
Co-authored-by: nakai-omer <108797279+nakai-omer@users.noreply.github.com>
Co-authored-by: Samuel Lindgren <samuel@dynorobotics.se>
Co-authored-by: Aaron Chong <aaronchongth@gmail.com>
Co-authored-by: Alexey Merzlyakov <alexey.merzlyakov@samsung.com>
Co-authored-by: Pedro Alejandro González <71234974+pepisg@users.noreply.github.com>
Co-authored-by: 정찬희 <60467877+ladianchad@users.noreply.github.com>
Co-authored-by: kevin <kevin@floatic.io>
Co-authored-by: Austin Greisman <92941098+austin-InDro@users.noreply.github.com>
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