* adding tests to simple action server and fixed bug

* more test coverage in nav2_utils

* testing lifecycle cli program

* shifting action server test around for stability

* adding test temp commented out

* flake

* w/o resetting

deactivate needs to be called before cleanup
to stop the mapUpdateLoop()

Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

The cell reference becomes invalidated as the reference becomes invalid when a new  cell is added to the vector

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

* Add ignoring code cov any files named test_

* Update slack URL

* Update codecov.yml

* adding recovery wait test

* adding copy rights

* fixing gaurds

* Add Particle and ParticleCloud msgs to publish amcl particle cloud with weights

* Add deprecation warning

* Fix infinite rotation in Spin recovery when angle > PI

* Add test for spin recovery

* Fix formatting

* Add general optimizations

* Fix copyright

Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>

* Ignore codecov paths in tests

* adding missing string test case for stripping leading slash

* Update test_string_utils.cpp

* Update test_string_utils.cpp

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

* Update hyperlinks in readme for new website docs

* Adding link to join slack

Accidental commit into github ui

Signed-off-by: Pablo Vega <epvega@gmail.com>

* Map Server docs update for Foxy

* Fixes after review

* Add brief description of map_io

* [WIP] map_server refactor and cleanup

nav2_map_server/mapio (map input-optput library):
* Move OccupancyGrid messages saving code from MapSaver::mapCallback()
  to saveMapToFile() function
* Rename and move try_write_map_to_file() MapSaver method
  to tryWriteMapToFile() function
* Move map saving parameters into one SaveParameters struct
* Reorganize map saving parameters verification code from MapSaver
  to new checkSaveParameters() function
* Correct logging for incorrect input cases in checkSaveParameters()
* Copy loadMapFromYaml() method from OccupancyGridLoader
* Move loadMapFromFile() method from OccupancyGridLoader
* Rename and move load_map_yaml() OccupancyGrid method
  to loadMapYaml() function
* Move LoadParameters struct from OccupancyGridLoader

nav2_map_server/map_saver:
* Completely re-work MapSaver node:
 - Switch MapSaver from rclcpp::Node to nav2_utils::LifecycleNode
 - Revise MapSaver node parameters model
 - Add saveMapTopicToFile() method for saving map from topic
 - Remove future-promise synchronization model as unnecessary
* Add "save_map" service with new SaveMap service messages
* Rename map_saver_cli.cpp -> map_saver_cli_main.cpp file
  and map_saver -> to map_saver_cli executable
* Add ability to save a map from custom topic ("-t" cli-option)
* Restore support of "--ros-args" remappings
* Update help message in map_saver_cli
* New map_saver_server_main.cpp file and map_saver_server executable:
  continuously running server node
* New launch/map_saver_server.launch.py: map_saver_server launcher

nav2_map_server/map_server:
* Revise MapServer node parameters model
* Rename loadMapFromYaml() -> loadMapResponseFromYaml()
* Add node prefix to "map" and "load_map" service names
* Fix crash: dereferencing nullptr in map_server running as a node
  while handling of incorrect input map name
* Add updateMsgHeader() method for correcting map message header
  when it belongs to instantiated object
* Rename main.cpp -> map_server_main.cpp file
* Minor changes and renames to keep unified code style

nav2_util/map_loader:
* Remove as duplicating of loadMapFromFile() from MapIO library

other:
* Update nav2_map_server/README
* Fix testcases

* Fixes for cpplint, uncrustify, flake8 and test_occ_grid_node failures

* Fixing review comments

* Rename mapio -> map_io
* Move all OccGridLoader functionality into MapServer. Remove OccGridLoader
* Switch all thresholds to be floating-point
* Switch loadMapFromYaml() returning type to LOAD_MAP_STATUS and remove
  duplicating code from loadMapResponseFromYaml()
* Make mapCallback() to be lambda-function
* Make saveMapCallback() to be class method
* Utilize local rclcpp_node_ from LifecycleNode instead of map_listener_.
  Remove map_listener_ and got_map_msg_ variables.
* Rename load_map_callback() -> loadMapCallback() and make it to be class method
* Rename handle_occ_callback() -> getMapCallback() and make it to be class method
* Force saveMapTopicToFile() and saveMapToFile() to work with constant arguments
* map_saver_cli: move arguments parsing code into new parse_arguments() function
* Rename test_occ_grid_node -> test_map_server_node and fix test
* Rename test_occ_grid -> test_occ_grid and fix test
* Fix copyrights
* Fix comments
* Update README

* Increase test coverage

* Fixing review comments

* Separate map_server and map_saver sources
* Fix copyrights
* Suppress false-positive uncrustify failure

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

The problem appears while addressing zero-length path vector
after planner failed to create a plan.

* Nav2 planner plugin tutorial draft 1

* Reduced gif size

* Updated the config code block

* Remove RRTConnect plugin and add StraightLine plugin.

* Address reviewer's comments

* Add information about planners mapping in Navigation2

* Changed onCycleUpdate to allow preemption (#1622)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Deleted unnecessary wait and corrected style (#1622)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Updated website gifs (#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Created new gifs (#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected gif name (#1228)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Added thread synchronization to KinematicParameters (#1459)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Doxygen fix (#1459)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

A BT port is introduced in case the user wants to change the default action_name
of BtActionNode.

- `BtServiceNode::check_future()` was created, to encapsulate the logic
where a the output of the BtServiceNode is computed.
- Inherited classes can overload this function according to the requirement
of the user

* Proposed refactoring to avoid issues with CoroAction

* correctly haltAllActions (related to #1600)

* not really needed and will be deprecated soon

* Applying changes suggested in the comments of #1606

- fix haltAllActions
- changes method signature on_success()
- reverts the changes made here:
https://github.com/ros-planning/navigation2/pull/1515/files

* fix warnings and errors

* make uncrustify happy?

* Update bt_navigator.cpp

* Update bt_navigator.cpp

* uncrustify fix

Co-authored-by: daf@blue-ocean-robotics.com <Davide Faconti>

* corrected wrong indexing in NavfnPlanner::smoothApproachToGoal function

* resolved uncrustify errors

* corrected the condition inside NavfnPlanner::smoothApproachToGoal to replace last pose of computed path

Co-authored-by: chikmagalore.thilak <chikmagalore.thilak@bshg.com>

* Corrected check to detect collision (#1404)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Changed collision check to detect only lethal and unknown cells (#1404)(#1603)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

the removed code has no effect at all: the status of a node will be its returned value!.

In general, you never set your status to IDLE, unless halted.

* Add eloquent option to build script and made it default

* Add eloquent in the error message

* Remove dashing

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* fixing BT node action processors

* fix crusty code

* remove server timeout

* Included widget to rviz plugins for displaying status of lifecycle managers (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Updated state machine and InitalThread (#1479)

Changed InitialThread to check the status of each lifecycle manager periodically. Modified state machine to support updating the state of the lifecycle managers.

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Revert "Updated state machine and InitalThread (#1479)"

This reverts commit 3ef5ae4206e24013b3f3c611438b00421ff08d57.

* Revert "Included widget to rviz plugins for displaying status of lifecycle managers (#1479)"

This reverts commit 7befdb3ffd7365faf17120a39caf87a362411a27.

* Added QLabels showing state of lifecycle managers after initialization (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected typo (#1479)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

* Corrected style issues (#1479).

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>

It made segfault when running map_saver using option param without value.
When there are wrong args, terminate the process.

Signed-off-by: Koeun Choi <gony0206@gmail.com>