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  1. Jul 28, 2021
  2. Jul 27, 2021
  3. Jul 24, 2021
    • Tim Clephas's avatar
      Python string format (#2466) · 5c616446
      Tim Clephas authored
      * Convert to python format strings for readability
      
      * Merge concatenated strings
      
      * Revert converting generated files
      
      * Single quotes for consistency
      
      * Just print the exception
  4. Jul 23, 2021
  5. Jul 22, 2021
  6. Jul 21, 2021
  7. Jul 20, 2021
  8. Jul 15, 2021
  9. Jul 14, 2021
  10. Jul 13, 2021
  11. Jul 03, 2021
    • M. Hofstätter's avatar
      Remove deprecated pluginlib boost feature disable (#2431) · 29c1af08
      M. Hofstätter authored
      Boost features have been deprecated and removed
      in pluginlib for rolling
    • Anshumaan Singh's avatar
      Add lazy_theta_star (#1839) · 7fa55091
      Anshumaan Singh authored
      * 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
  12. Jun 29, 2021
  13. Jun 23, 2021
    • Ruffin's avatar
      Fix code coverage (#2419) · f201b4f8
      Ruffin authored
      * 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
  14. Jun 22, 2021
  15. Jun 19, 2021
    • Steven Macenski's avatar
    • Steven Macenski's avatar
    • Steven Macenski's avatar
      Hybrid-A* optimizations and completion without on-going State Lattice work (#2404) · 8a6607b7
      Steven Macenski authored
      * 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
    • Luca Bonamini's avatar
      Improve coverage for waypoint_follower package (#2407) · 12fa5919
      Luca Bonamini authored
      * 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
  16. Jun 18, 2021
  17. Jun 10, 2021
    • Ruffin's avatar
      Set ccache envs to use absolute paths (#2403) · 40f4c381
      Ruffin authored
      as ccache doesn't seem to work otherwise with relative paths
    • Ruffin's avatar
      Update lockfile formating (#2402) · 4486a5cf
      Ruffin authored
      * 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
    • Ruffin's avatar
      Cache ccache folder in CI workspace (#2401) · d2cf200b
      Ruffin authored
      * 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
  18. Jun 09, 2021
  19. Jun 08, 2021