* initial work commit for compiling

* building and almost basic working in navigator

* working!

* MVP done of navigate through poses in BT navigator side

* working with zmq issue

* adding compute path to pose, navigate through pose, through XML, and goal updater updates to support navigate through poses action

* feedback contains culling

* planner server with compute through poses server

* abstracting more of the logic from the 2 planner server actions

* fixing action server mixup

* adding rviz support for nav  through poses

* improvements in reliability

* resolving issues in the rviz plugins and enabling the BT navigator to better handle exceptions and muxing states

* working nav through poses complete MVP, just cleanup now

* bookkeeping up to date

* linting updates + launch file parameter change updates

* additional removal of patches from individual BT parameterization

* adding find BT node for path removal points

* remove extraneous file

* adding to readme

* linting

* adding missing comma

* moving try catch to another part of the code

* create fake servers for BT system tests

* clean exiting

* unit BT tests

* fixing typo

* switch poses for pose

* adding system test to nav through poses

* fixing merge conflict issue

* fix conflicts with 2246

* function conflict test resolution

* fix linting

* adding doxygen to costmap_2d part 1

* finishing doxygen for costmap

* linting

* first commit

* Added empty line at end

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* linting

* linting

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* Variable name fix

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* changed shared_ptr to weak_ptr

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* get node handle from blackboard

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* changed initialization of odom smoother object

* changed initialization of odom smoother object

* changed initialization of odom smoother object

* changed initialization of odom smoother object

* addressed comment re std::hypot

* added overloaded constructor

* added overloaded constructor

* added overloaded constructor

* added try catch and template to blackboard get path

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* lint

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* lint - pushing to rerun CI due to cc1plus failure

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* setting of current_pose in feedback msg outside of try/catch

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* added path integrator to nav2_controller for better distance feedback

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* added path integrator to nav2_controller for better distance feedback

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* fixed issue with lambda capturing class member

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* retrigger CI

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* add limits header

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

* retrigger CI

Signed-off-by: Deepak Talwar <deepaktalwardt@farmwise.io>

Co-authored-by: Deepak Talwar <deepaktalwardt@farmwise.io>

Co-authored-by: Simon Honigmann <shonigmann@blueorigin.com>

* first implementation

* restructure + param

* lint

* remove uneeded publishVelocity and deal with controller_patience_ 1.0

* change param name

* add reasonable param

* removed geometry_msgs/PoseArray in AMCL, updated rviz configs

* ParticleFilter -> ParticuleCloud

* put back adding of weights and poses for particles

was incorrectly deleted in 0ca93b5413b85d05202868c79b83ac630df7e40a

* complies with linter's max line length

https://github.com/ros-planning/navigation2/pull/2281#issuecomment-811449976

* reformatted file using ament_uncrustify

commandline tool used: ament_uncrustify --reformat src/navigation2/nav2_amcl/src/amcl_node.cpp

* adding amcl doxygen

* removing trailing spaces

* Handle navigate_to_pose preemptions with new BT

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

* Terminate preempt requests with different BT XML files and add log

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

* Remove isPreemptRequested()

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

* smac checking collision footprint only when in possibly inscribed situation

* adding intermediate check

* testing based on possibly inscribed conditions

* fix tests

* change wait_for_service behavior

* Add unit test

* converted PointCloud -> PointCloud2 adn checked linting. WIP

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* modified base_obstacke_test

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* Changed to PointCloudModifier WIP

* formating fix

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* formating fix2

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* added tests for clearing_endpoints

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* removing print statements

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* added subscribers for voxel marked and cost_cloud

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* modified test cases to use single wait for all pointcloud2 subscribers

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* removed unnecessary comments and publish_cost_grid_pc from yaml file

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* Fix ament_flake issues

Signed-off-by: Sachin <sachin.guruswamy@gmail.com>

* RCLCPP_INFO to RCLCPP_DEBUG

* same for bt_service_node

To again have a third RMW to triage CI failures

* remove service_node from nav2_lifecycle_manager

* wait_for_service() returns the value of service_is_ready()

* explain wait_for_service return

* use timer to trigger init()

* init() as lambda function

* wait_for_service as void

* fix gtest

* Switch ccache away from ramdisk to tmp

to reduce CI RAM usage during builds

* Use ccache environment variables

for CCACHE_DIR and CCACHE_LOGFILE

* Add defaults file for colcon

https://colcon.readthedocs.io/en/released/user/configuration.html#defaults-yaml

https://colcon.readthedocs.io/en/released/reference/executor-arguments.html#executor-arguments

* Enable colcon defaults.yml config

* Unset MAKEFLAGS

* Break the build cache for testing

* Fix env

* Reset MAKEFLAGS

* Use env for copy

* Increase limits

* break build cache for testing

* consolidate colcon build args into config

* cleanup

* Update mixin comment

* Prune repos file
image_common already included in ros2.repo and thus osrf/ros2:nightly

* Set limts as if there where 2 CPUs
prior config rencountered load deadlock
and colcon doesn't seem to count the correct number of cores in CI

* Remove load average
to avoid any deadlock

* Bust CI cache for testing

* Increase make job limit

* Bust CI cache for testing

* Revert failed changes

* Revert use of env as path arg
as it's incrocly interpreted as
/opt/overlay_ws/$CCACHE_DIR

* Move colcon defaults file

* Re-enable load average limit

Builds without warm ccache caches can still fail
like when building ompl and gazebo_ros simultaneously

* planner selector proposal

* PR review changes: https://github.com/ros-planning/navigation2/pull/2249

* minor, inline function in cpp file

* Third PR for planner selector: default input_topic, additional test and main class doxygen brief

* some more documentation on planner_selector

* adding planner selector to nav_tree_nodes.xml

* method namming convention in planner_selector

* Fix for inflation artifacts behind update bounds
appearing when some layer is going after inflation_layer

* Fix failing tests

* dyn params plugin

* lint recommandation

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

* adding goal checker to the API for controllers and the controller server

* updating DWB and RPP to include the new controller API change to include the goal checker pointer

* adding getTolerances functions for goal checkers with unset default method

* use getTolerances for goal checkers in RPP

* adding missing headers to goal stoppers

* fix linting of RPP

* add parameter_event_sub

* recompute xy_goal_tolerance_sq_ after param change

* Fix SingleTrigger BT node

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

* Add explicit failure case

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

* Fix uncrustify error

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

* Forse ROS2 parameters to be static to meet RCLCPP API changes

* Fix comments

* Move all common CostmapFilter parameter declarations into try-catch block

* Fix #2186

* goal_pose instead of goal->goal

* avoid redundant code

* change name and switch to input + output param pattern

* code style

* change timeout default value

* create and use callback group

* remove generate_internal_node option

* unit test to do a service call in a topic callback

* fix unit test

* set default value to -1

* working on canceling state machine for waypoint mode

* fixing cancelation logic

* fix linting isue