* Initial commit

* Added AMCL params and some formatting fixes

* Added some missing params

* Added bt nodes ports

* fixed typo

* Added <> to base names + some reformating

* added default_critic_namespaces param to dwb_local_planner

* adding backup tests

* add negative case

* correct termination logic

* increase speed

* fixish failure test case

* Update deprecated launch params

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Revert internal python changes

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Add condition nodes and behavior tree to enable replan on new goal

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix time expired and distance traveled conditions

* Remove new_goal_received from blackboard

* Fix IDLE check condition in new condition nodes

* Fix lint errors

* Fix lint errors

* Address reviewer's comments

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

The following is an example of the error.
[ERROR] [1590171638.335693813] [bt_navigator]: Action server failed while executing action callback: "failed to send request: ros_request argument is null, at /opt/ros/src/ros2/rcl/rcl/src/rcl/client.c:278"a bugfix of clear costmap service action

Signed-off-by: Daisuke Sato <daisukes@cmu.edu>

* Added use of declare_parameter_if_not_declared.

* Fixed column width.

* Whitespace removal

* Style cleanup.

Initial pose is needed for the test to run
so it makes sense to wait for it till it times out.

Looks like codecov analytics from merged PRs alone do not update codecov status for the master branch.
Re-enabling nightly debug builds to keep codecov status on master up-to-date

* Consider the goal itself when looking to potential within tolerance region

* Fixed comments

* Use parameterized frames (ros-planning#1726)

Signed-off-by: ymd-stella <world.applepie@gmail.com>

* Expore frame to ports in GoalReached and add params to bringu yaml files

* Fix recovery interface

* Update launch file and add recovery parameters to bringup yaml

* Remove lifecycle node params

* Update bringup param files

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix cpplint error

* Fix nav2_recoveries cpplint errors

Co-authored-by: ymd-stella <world.applepie@gmail.com>

Context: https://github.com/osrf/docker_images/pull/399

So we don't have to wait for the nightly parent image to update rosdep

* make basic failing test for tf2 wrapper

* add file :-)

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>

* Revert libgazebo11 workaround

* Revert gazebo_ros_pkgs to main ros2 branch

* 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

as tests for connext rmw have been disabled.54

* 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>

* 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

* 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>

* 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>

* 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

* Fix uninitialized warning for variable temp_tf_tol.

* Change default GridBased.tolerance to 0.5 meters

* 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

* 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>

* 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>

* Windows bringup.

* nullity check.

* nullity check.

* 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

* 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

* Refactor deprecated code

* Add ompl repo (for test)

* Fix indent

* Remove OMPL

with ament_export_targets
See notice here:
https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/

* 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

* 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

* 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