* failures tests

* adding copyrights

* cancel test in recoveries

* trying to get A* to work again

* make flake 8 happy

* adding cancel and preempt test

* planner tests use A*

* adding A* note

* test with topic

* remove on_errors in favor of a general lifecycle warning

* adding removed thing

* more tests

* removing old cmake

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

* prototype of lifecycle bond system

* adding more structure to get around weak ptr issue

* working prototype for manager

* adding some ns -> s conversions

* changing to service node

* adding bond connections to all servers

* update logs

* fixing review comments

* fix types

* remove extraneous functions

* make linters happy

* simplifications

* adding spinner to get working but now unstable

* moving bond connections to activate state

* adding defaults

* working complete prototype for review

* update dependencies

* adding connection logging

* remove accidental file

* fix server side timeout for heartbeats

* adding complete unit coverage of bond support

* fixing lifecycle test

* trying to activate since autostart was removed

Signed-off-by: Marwan Taher <marokhaled99@gmail.com>

* Move definitions of functions in tf_help to separate src cpp file to avoid multiple definition error

* Fix linting issues

* Make uncrustify happier

* More format fixing

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

* Added new costmap buffer to resize map safely

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

* Update map if the layer is not being processed.

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

* Updated bool name and added buffer initialization

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

* Remove deprecated rclcpp::executor::FutureReturnCode::SUCCESS in favor of rclcpp::FutureReturnCode::SUCCESS

Signed-off-by: Hunter L. Allen <hunter.allen@ghostrobotics.io>

* Update nav2_util/include/nav2_util/service_client.hpp

Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

Co-authored-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Truncate path finished

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

* Follow Pose finished

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

* Change names. Add test and doc

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

* Change names and check atan2 values

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

* Checking Inf/NaNs and trucate path changes

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

* Revert changes in launcher

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

* Documenting Tree

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

* Change TruncatePath from decorator to action node

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

* Update nav2_bt_navigator/README.md

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Move dwb goal/progress checker plugins to nav2_controller

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

* Move goal/progress checker plugins to nav2_controller

Address review comments

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

* Move goal/progress checker plugins to nav2_controller

Use new plugin declaration format and doc update

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

* Update bringup.yaml for new plugins in nav2_controller

Also remove redundent file from dwb_plugins
Signed-off-by: Siddarth Gore <siddarth.gore@gmail.com>

* Fix doc errors and update remaining yaml files

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

* Remove mention of goal_checker from dwb docs

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

* Add .plugin params to doc

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

* Tests for progress_checker plugin

declare .pl...

* Added transient local subscription qos profile parameter to map saver

* Made transient local default true

* Fixed linter problem

* switched back house world to waffle model

* Added parameters to configure amcl topic

* changed parameter to scan_topic and added to all the configuration files

* added scan_topic amcl param to docs

* Satisfied linter

* Add citation

We'll want to add the DOI once published

* Bump citation section above build status

* Fix line breaks

reload behavior tree before creating RosTopicLogger to prevent nullptr error or no /behavior_tree_log problem (#1849)

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

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

Add unit tests for clear entire costmap and reinitialize global localization BT service nodes (#1845)

* Add clear entire costmap service unit tests

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

* Add reinitialize global localization service unit test

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

* sync master from foxy version updates

* syncing foxy and master

* adding foxy build icons

* adding dividers

* Add compute path to pose unit tests

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

* Add follow path action unit tests

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

* Add navigate to pose action unit tests

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

* Add slam toolbox as exec dep

* Added slam toolbox

* Changed version of slam toolbox to foxy-devel

* Added modifications to allow for exec depend of slam toolbox without breaking docker / CI

* reformatted skip keys

* Added tabs to skip key arguments

* Removed commented out code block

* Add spin action unit tests

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

* Add wait and backup action unit tests and fix spin unit test

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

* Add utility function to get plugin type param and refactor controller params

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

* Exit when plugin param is not provided

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

* Minor fix

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

* Remove defaults

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

* Fix uncrustify error

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

* Default to DWB

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

* Add tests

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

* Refactor planner server plugin param

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

* Refactor recovery server plugin param

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

* Refactor costmap plugin param

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

* Update bringup parmas

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

* Update parameter list in docs

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

* Rename plugins parameter

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

* Update parameter list and fix defaults in costmap node

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

* Declare default .plugin params only when plugin name parameter is default

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

* Update parameter list

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

* Update nav2_recoveries/src/recovery_server.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update params.md

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

* Fix uncrustify errors

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

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* separate test from build mixins

* remove ccache from test

* remove all test mixins

* remove test mixins

* remove line wrap

* Moved the zero velocity check to higher level(xy_theta_iterator)

* Moved valid speed check from kinematic params to xy theta itearator

* Fixed code styling.

* linted the cpp code

* Revert "linted the cpp code"

This reverts commit fb1a74b6dea99c52114739a1861a01d6f3494801.

* Revert "Fixed code styling."

This reverts commit bd82113a52a6418edd7b9ea41f102ce539a83784.

* Fixed style and small bug

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

* Style fix

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

Co-authored-by: Gokul <astrogok@gmail.com>

* updated bt2img.py to handle subtrees also

* Added RateController, DistanceController, and SpeedController to decorators name list, readded GoalUpdated

* Added latest condition node names to list

* added control node name to list

Co-authored-by: Max Leingartner <max.leingartner@knapp.com>

* Fix recovery node test

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

* Fix round robin logic and add unit tests

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

* remove old lifecycle functions for updown tests

* remove initialization

* Refactor recovery node

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

* Add recovery node tests

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

* Add pipeline sequence tests

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

* Add bt_conversions unit tests

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

* Add TransformAvailable condition test

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

* Add IsStuckCondition test

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

* Add RateController test

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

* Fix typo

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

* Remove samsung license

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

* Add dump_params integration test

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

* Add tests for verbose option in dump_params

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

* Fix byte array test

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

* Fix bool array stuff

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

* Add test cases for default, help, and multiple nodes

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

* Add error test

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