* reduce controller server nodes by setting SimpleActionServer's argument spin_thread true

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

* remove duplicated action_server_.reste()

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

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

fix nav2 params and launch file to publish Local and global costmaps in multi robots example (#2471)

* adjust launch file with needed gazebo plugin and set groot to False for multi-robot params

* correct unwanted changes

* change port and set groot to false

* fix lints

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* improve SimpleActionServer

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

add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server

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

* use Nodethread for executor

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

* add constructor's arg options and member variable executor_

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

* Put action name in node namespace instead of node name

* Put namespace remapping in node options

* Rename client node with action name replacing "/" by "_"

* Code formatting

* Code formatting

* fix smac2d cleanup

* same for hybrid

* Convert to python format strings for readability

* Merge concatenated strings

* Revert converting generated files

* Single quotes for consistency

* Just print the exception

* remove LifecycleServiceClient's constructor which create internal node

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

* fix the linter

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

Co-authored-by: YOUSSEF LAHROUNI <youssef.lahrouni@proioxrobots.com>

* remove bond_client_node_ in class LifecycleManager

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

* clear unused variables

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

* fix lint

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

* use dedicated executor thread

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix building error

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

* support to process executor for NodeThread

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

* use  NodeThread for LifecycleManager

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

Co-authored-by: William Woodall <william@osrfoundation.org>

Add `costmap_thread_.reset()` on the destructor of ControllerServer class

* reduce MapSaver nodes by using callback group/executor combo

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

* set use_rclcpp_node false

* a cleaner solution using a future and spin_until_future_complete()

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

* Add dependabot config

* Workarround missing ARG support in dependabot
Parrent image can't yet be parameterized for version parsing
https://github.com/dependabot/dependabot-core/issues/2057

* Fix CCACHE_DIR to be absolute path
https://github.com/ros-planning/navigation2/pull/2403

* Remove FAIL_ON_BUILD_FAILURE ARG
now that CI image builds from rolling testing
and no longer ros2 nightly
so forcing image rebuilds is no longer needed

* Trigger rebuild on changes to Dockerfile

* Add github-actions to dependabot

* Refactor actions to rebuild CI image from CI

* Clean old dockerhub build hook

* Rename action

* Combine workflows to avoid dispaching
as that requires a github personal access token
which is an inconvenience to generate and add to repo secrets

* Add needs param to define job order

* Use job outputs for condition instead of env
Seems that env in context is not yet avalable at the job level
but only at the current job's step level
https://github.community/t/how-to-set-and-access-a-workflow-variable/17335/6
https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idoutputs

* Use multi-line syntax for tags param

* Use toJSON for job conditional

* Test with always

* Update param syntax

* Test with always

* Update if syntax

* Test if trigger for only check_ci_files

* Simplify if params

* Try using GitHub's Container registry

* Indent formating

* Add step conditional

* Default arg to build from unpinned parrent stage
allowing CI to build from pinned testing image
while enabling dependabot to find and update testing image version
ensuring CI images are up-to-date with upstream registries

* Set build arg for continuous integration

* Ignore .github folder

* testing

* Update colcon-cache

* Revert to rolling

* Revert testing

* Update README

* Feature addition: capability for the RRP to drive the robot backwards

* findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop

* satisfying ament_uncrustify and ament_cpplint

* removing the unnecessary condition in the cusp determination

* Satisfying ament_uncrustify - 2

* Reduce node of waypoint_follower by using callback group and executor

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

* fix linting failures

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

* feat(navfn): improve coverage

* wip(navfn): add new test launch

* refactor(navfn): check expect_failure flag value

Boost features have been deprecated and removed
in pluginlib for rolling

* Add lazy_theta_star

* Added license

* Added license

* Update lazy_theta_star_b.cpp

* restructured files

- separated planner part and the algorithm
- implemented all the changes as suggested

* restructured files

* Update CMakeLists.txt

* removed unnecessary comments

* removed comments

* Delete planner.cpp

* Delete lazy_theta_star_b.cpp

* Delete lazy_theta_star_b.h

* Delete planner.h

* Delete CMakeLists.txt

* Delete global_planner_plugin.xml

* Delete package.xml

* replaced the files

- refactored code
- improved reliability
- have to write a code similar to that in nav2_system_tests, to test it (working on it)

* removed comments

* removed comments

* Update lazy_theta_star2.cpp

* update files

- replaced manual management of priority queue with stl priority queue
- added the parameter ".lethal_cost"
- removed unnecessary parameters passed to the functions

* update files

- updated the header files in accordance to their .cpp counterparts

* Delete lazy_theta_star2.h

* Delete lazy_theta_star_planner.h

* Delete lazy_theta_star2.cpp

* Delete lazy_theta_star_planner.cpp

* Delete CMakeLists.txt

* Delete package.xml

* Delete global_planner_plugin.xml

* upload the changed code

Changes from last time are:
- the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs
- parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now
-

* Delete lazy_theta_star_p_planner directory

* Replace the old files

- the structure of code has been changed
- new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function]
- documentation added for variables and functions
- the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon)
- fixed a bug where the incorrect traversal cost of the node was taken

* Delete lazy_theta_star_p_planner directory

* update the files

- renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner
- renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp
- added a readme file outlining the parameters, usage notes and images to be added soon
- added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic)
- replaced the SharedPtr with a WeakPtr for node
- removed +1 and the pusher_ variable added to compensate for it

* Update README.md

* update the code

- linted the code 
- **updates to readme, are still pending**
- changed the type of message from INFO to DEBUG
- replaced the capital letters with the smaller ones

* update the readme file

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Delete global_planner_plugin.xml

* fix the linting issues

* remove the space on line 7

* change RCLCPP_INFO to RCLCPP_DEBUG

* Update README.md

* Add test coverage

- added tests to check the algorithm itself and its helper functions
- added smoke test to detect plugin level issues
- inlined some functions 
- shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class
- removed the functions `dist()` and `getCellCost()` from the ThetaStar class

* update the test file

* update the test file

* Update README.md

* Update README.md

* Update README.md

* add test on the size of the output path

* Update README.md

* Update README.md

* change the function name from `isSafeToPlan()` to `isUnsafeToPlan()`

* update the files

- inlined the functions `getIndex` and `addIndex`
- removed typos from the comments

* fix typos

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* fix the typo

- the first isSafe calls output wasn't negated, it has been fixed

* Update theta_star.hpp

- added the `getCost()` function (again)
- replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`.
- the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct
- the global variable `curr_node` was renamed to `exp_node`
- removed the struct `pos`

* Update theta_star.cpp

* update default parameters

* update default parameters

* Update README.md

* update the test file

* fix linting issues

* Update README.md

* Update README.md

* Update README.md

* Update theta_star_planner.cpp

* update LETHAL_COST

* update README.md

* update dependency list

* Update package.xml

* in observation.hpp fixed operator=

* style fix

* Include filter only by packge name
as using package source paths can exclude coverage from other packages
such as header files reported usign under workspace's install path

* formating

* Process gcno
Process both gcno and gcda coverage files.
This option is useful for capturing untested files in the coverage report.

* Validate sources
Check if every source file exists

* Dump statistic
Dump total statistic at the end

* Branch coverage
Include only the most useful branches in the coverage report.

* Fix install path

* Explicitly exclude packages
to ignore rviz package
but still explicitly include packages
as the include filter is what mostly speeds up processing

* Revert "Branch coverage"

This reverts commit 20f28949904ef965c8b5b011f3e387037adc93ce.

* Keep path fixes relative to workspace

As the working directory used for running code coverage report script 
is already at the root of the colcon workspace,
avoiding the use of unnecessary path globbing

Co-authored-by: Jonatan Olofsson <jonatan.olofsson@saabgroup.com>

* major smac planner collision checking speedups and improvements

* fix linting errors

* wireframe for state lattice node

* finishing boilerplate changes

* adding more context to each TODO and notes about path to completion

* prototype for the base plugin + refactor out common logic for all planners

* commiting speed up work in progress

* adding in improvements to overall user quality of life

* pushing updates to 2D for faster / smoother; hybrid for smoother and new heuristic function; a bit of rearchitecture; deprecating smoother to make room for a new one

* adding smoother prototype

* adding orientation guestimator

* correcing 2d

* done with smoother

* enabling collision checking full SE2 only when under inscribed cost according to current exponential decay function

* adding doxgyen on new function

* linting

* testing working

* fixing looping at end of paths + simplifying code

* fixed cost-based issue in smoother

* finishing touches on smoothing

* smoother recursion fix + crashing issue resolved

* incremental changes

* completed hybrid A* plannern

* adding images

* purge state lattice work to merge in just Hybrid-A* improvements

* linting

* Working on improve coverage for waypoint_follower package

* Fix typo

* Fix cpplint and uncrustify errors

* Fix nav_2d_utils/src/conversions.cpp include order errors (#2407)

* Improve coverage for wait_at_waypoint plugin

* Improve coverage for photo_at_waypoint plugin

* adding nav2_python_commander package

* adding readme

* launch files for the python commander examples

* renaming to nav2_simple_commander

* resolve review comments

* fixing rosdep key

* fixing up linters

as ccache doesn't seem to work otherwise with relative paths

* Use dpkg --list to format stdout to lockfile
to make list of installed package more readable

* Line formating
space new line after each lockfile checksum

* Specify ROS distro for rosdep update

* Strip ros distro install fom AMENT_PREFIX_PATH
to force rosdep to resolve and list apt installed package dependencies
and to not skip them as if they are in the catkin workspace

* Prevent dpkg from listing all installed pacakge
when set of dependencies happens to be empty

* Account single entry case AMENT_PREFIX_PATH

* Unset AMENT_PREFIX_PATH if only ros install path
to prevent rosdep from erroring out on empty var

* Cache ccache folder in workspace
and move ccache_stats command into setup_workspace

* Store ccache logs in colcon build log path

* Updates to cache ccache folder in workspace

* Install colcon clean extension

* Clean install path for packages to rebuild

* Clean test result path for packages to retest

* Set entrypoint for builder stage
to update time stamp used for breaking caches

do so at end of builder stage to capture overlay dependencies

* Set test-result-base for clean package verb

* Reinstate copy test results step

* Set default test-result-base for all verbs

* Drop copy step for test results

* Use parallel executor for testing
to print Processing status to stdout and avoid CI timeouts
but limit parallel-workers to 1 to be like sequential

* Remove entrypoint for builder stage
as lockfiles capture installed dependency versions
and colcon cache can ensure underlay sourse correspond to ws build
thus updates to builder stage layers need not break cache

* Revert to testing image for CI

* Use ompl from testing repo
and modify Dockerfile to account for empty underlay

* Clean up RUN directive for caching

* Revert #2025
now that ompl issue is resolved
https://github.com/ompl/ompl/issues/753

* Continue checkout if ccache doesn't yet exist

* Use fastcov

Missing from #2348