- May 19, 2020
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Jack Pien authored
The forward_point_distance used in the GoalAlign and PathAlign critics projects the current pose forward a default 0.325 meters before scoring the trajectory. This can cause velocities that create sharp turns into obstacles to be chosen (reproducible with the Turtlebot3 simulation). For TB3, which is small in size, 0.325 meters is too far. Instead, enable GoalAlign and PathAlign critics in the DWB controller and shorten the critics' forward_point_distance (how far the current pose is project given the current orientation before scoring the trajectory) from the default 0.325 meters to 0.1 meters which improves stability when running with TB3. Signed-off-by:
Jack Pien <jack@jackpien.com>
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Ruffin authored
* Revert libgazebo11 workaround * Revert gazebo_ros_pkgs to main ros2 branch
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Marwan Taher authored
* parametrized collision_checker getCurrentPose timeout * Parameterized tf_tol for spin and backup recoveries * Parameterized tf_tol for goal_reached_condition * moved transform_tolerance_ to recovery.hpp * moved transform_tolerance parameter declaration to bt_navigator * Fixed typo * Fixed transform_tolerance_ location and transform_tolerance param declaration location * Parameterized tf_tol for distance_controller.cpp
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Ruffin authored
as tests for connext rmw have been disabled.54
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- May 16, 2020
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Sarthak Mittal authored
* adding navigate to pose feedback and remove random crawl from master * adding controller feedback * recovery feedback actions * Update nav2_controller/src/nav2_controller.cpp Co-Authored-By:
Carl Delsey <1828778+cdelsey@users.noreply.github.com> * Add feedback in wait action and make general improvements Signed-off-by:
Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix rebase errors * Make feedback reset across different goals Co-authored-by:
stevemacenski <stevenmacenski@gmail.com> Co-authored-by:
Carl Delsey <1828778+cdelsey@users.noreply.github.com>
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Sarthak Mittal authored
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- May 15, 2020
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Shivang Patel authored
* Add collision checking for footprint without using subscibers. * Address reviewer's comments - Changed the design if the footprint collision checkers - And propogate the changes to dependencies such as nav2_recoveries and nav2_core * Remove some extra headers * Remove debuging code * Add requested test * Change weird test names. * Remove unorientFootprint function dependency * Imporve tests * Fix commented Varible
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Sarathkrishnan Ramesh authored
* Add BehaviorTree visualization support using Groot * Add nav2 TreeNodesModel containing all BT Nodes used * Add instructions on using Groot to visualize behavior trees Signed-off-by:
Sarathkrishnan Ramesh <sarathkrishnan99@gmail.com> * Rearrange files and minor updates * Move nav2_tree_nodes.xml and groot instruction to nav2_beahvior_tree * Run cmake install rules for nav2_tree_nodes.xml Signed-off-by:
Sarathkrishnan Ramesh <sarathkrishnan99@gmail.com> * Add distance controller node in nav2 TreeNodesModel Signed-off-by:
Sarathkrishnan Ramesh <sarathkrishnan99@gmail.com>
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Shrijit Singh authored
* Add option to inflate around unknown space Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Fix bug regarding lower bound of double in worldToMapEnforceBounds Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Convert 2D caches to 1D vectors for automatic memory management and better locality Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Add general optimizations and modern syntax Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Switch from map<double> to vector<> in using precached integer distances Credits to original author from https://github.com/ros-planning/navigation/pull/839 Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Add tests for inflate_unknown and inflate_around_unknown Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com> * Remove commented out assert Signed-off-by:
Shrijit Singh <shrijitsingh99@gmail.com>
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Sarthak Mittal authored
* Add DistanceController decorator node Signed-off-by:
Sarthak Mittal <sarthakmittal2608@gmail.com> * Update documentation and rename behavior tree XMLs * Add tests for distance controller * Fix test * Update readme and add BT image * Rename test files * Remove protected setStatus calls
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TingChang authored
* Fix uninitialized warning for variable temp_tf_tol. * Change default GridBased.tolerance to 0.5 meters
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Alexey Merzlyakov authored
* Return back planning system tests * Fix testcase failure related to not updating costmap This appeared while compiler treated costmap pointer to be unused and optimized it out * Fix flake8 E128 failure
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- May 14, 2020
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Marwan Taher authored
* Parameterized tf_timeout in amcl * Refactored the existing transform_tolerance parameter in amcl to transform_publish_shift. * Refactored tf_buffer method calls to use transform_tolerance according to [978]. * Added tf_timeout to static_layer and observation_buffer * declared transform_tolerance parameter * change transform_tolerance default value Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com> * Removed transform_publish_shift param * Fixed linting errors Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com>
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Aitor Miguel Blanco authored
* Added goal updated condition node Signed-off-by:
Aitor Miguel Blanco <aitormibl@gmail.com> * Updated bt_navigator readme and added missing failure condition Signed-off-by:
Aitor Miguel Blanco <aitormibl@gmail.com> * Updated bt_navigator readme Signed-off-by:
Aitor Miguel Blanco <aitormibl@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com> * Update nav2_bt_navigator/README.md Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com> Co-authored-by:
Steve Macenski <stevenmacenski@gmail.com>
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Sean Yen authored
* Windows bringup. * nullity check. * nullity check.
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- May 12, 2020
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Shivang Patel authored
* Add parsers options * Disable all branch detection option * Replace lcov with gcov * Revert changes in codecov.yaml and remove branch coverage from coverage bash script
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Sarthak Mittal authored
* Fix cppcheck errors Signed-off-by:
Sarthak Mittal <sarthakmittal2608@gmail.com> * Fix test name generator * Fix returning after it is deallocated / released error * Increase sleep to 10 seconds to allow map server node to start up * Fix infinite wait for service in nav2_map_server tests
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- May 11, 2020
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Shivang Patel authored
* Refactor deprecated code * Add ompl repo (for test) * Fix indent * Remove OMPL
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Ruffin authored
with ament_export_targets See notice here: https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/
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- May 10, 2020
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Ruffin authored
* Update Dockerfile * Update repo paths * Copy all of workspaceto include .repo files expected by CI in image * Patch Docker and CI for missing gazebo 11 Revert once gazebo 11 is ready * Disable connext for now * Disable debug jobs in nightly workflow * Remove unused install_deployment_key refrence * Update the release Dockerfile * Use buildkit to speed up loacal builds * Add example of running tests * Roll back BTcpp and no-error deprecated warnings * Revert "Roll back BTcpp and no-error deprecated warnings" This reverts commit 301eb5435f531289514e0e21cd32c661868ccfc5. * Move extra Dockerfiles to tools folder
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Steven Macenski authored
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- May 09, 2020
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Sarathkrishnan Ramesh authored
* Change publishers to publish unique ptrs * Revert test case modification * Update function signature to receive unique_ptrs * Update publishers in nav2_costmap_2d to publish unique ptrs * Update publishers in nav2_planner and nav2_map_server * Change nav2_map_server publisher to publish occupancy grid unique ptr * Change publisher in nav2_planner to publish path unique ptr * Remove smart pointer return from functions in nav2_costmap_2d * Run cpp_lint manually in nav2_costmap_2d * Minor fixes * Adhere to conventions of smart pointers passing to function * Change publisher in dwb_core to publish unique pointer
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- May 07, 2020
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Steven Macenski authored
* 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
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- May 06, 2020
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Siddarth Gore authored
deactivate needs to be called before cleanup to stop the mapUpdateLoop() Signed-off-by:
Siddarth Gore <siddarth.gore@gmail.com>
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Shrijit Singh authored
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>
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Steven Macenski authored
* Add ignoring code cov any files named test_ * Update slack URL * Update codecov.yml
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- May 05, 2020
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Steven Macenski authored
* adding recovery wait test * adding copy rights * fixing gaurds
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Steven Macenski authored
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Sarthak Mittal authored
* Add Particle and ParticleCloud msgs to publish amcl particle cloud with weights * Add deprecation warning
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Sarthak Mittal authored
* Fix infinite rotation in Spin recovery when angle > PI * Add test for spin recovery * Fix formatting * Add general optimizations * Fix copyright
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- May 04, 2020
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Francisco Martín Rico authored
Signed-off-by:
Francisco Martin Rico <fmrico@gmail.com>
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- May 02, 2020
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Steven Macenski authored
* 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
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- Apr 30, 2020
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Steven Macenski authored
* Update hyperlinks in readme for new website docs * Adding link to join slack
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Steven Macenski authored
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Ruffin authored
Accidental commit into github ui
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Ruffin authored
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- Apr 28, 2020
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Steven Macenski authored
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- Apr 26, 2020
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p-vega authored
Signed-off-by:
Pablo Vega <epvega@gmail.com>
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- Apr 25, 2020
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Alexey Merzlyakov authored
* Map Server docs update for Foxy * Fixes after review * Add brief description of map_io
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- Apr 24, 2020
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Alexey Merzlyakov authored
* [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
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