* 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 .plugin only if not declared before

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

* Tweak plugin names/description in doc

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

* 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>

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

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

* Add GoalReachedCondition test and move around headers

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

* Rename to BehaviorTreeTestFixture

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

* Remove GoalReachedCondition test

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

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

* Changing eloquent to foxy

* Replace eloquent with foxy in build_all script

* Add SpeedController decorator node and update default BTs

* Fix lint errors

* Add OdomSmoother class and fix SpeedController to use smoothed velocity

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

* Add duration input port to tree nodes xml for groot

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

* Revert BT images

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

* Address reviewer's comments

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

* Throw BT exception when rate <= 0

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

* Add simple behavior tree using speed controller

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

* Set default value to maximum rate on IDLE

* Add test for speed controller

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

* Use smart pointers in tests

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

* Fix test

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

* Move speed controller header file

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

* Update speed controller to reset only on new goal

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

* Fix test

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

* Add params to parameter list

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

* Fix memory leak

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

* Select BT in NavigateToPose action

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

* Change to unique_ptr. Default bt_xml to a valid file

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

* Return tree to stack

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

* Removed default_bt_xml_filename default value

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

* Failing fast, early and loud when BT is not valid

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

* Return inmediately after terminate

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

Parameter ``bt_xml_filename`` has changed to ``default_bt_xml_filename``

* Add test

* Add more coverage

* Merge test header file with executable

* Address PR reviewer's comment

* Add some more coverage

* Revert accidental changes to localization_launch.py file.

* adding a bunch of parameter descriptions

* ading costmap param descriptions

* add AMCL parameters

* adding DWB params

* resolving review questions

* include planner and controller ID parameters

* fixing jack's requests

* include bt_conversions.hpp to convert input properly

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

* delete redundant include statement

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

* Add SLAM launch file

Fix possible collision of laser scan with camera on waffle

* Simplifications and fixes after review

* Increase save_map_timeout to 5 sec to comply with SLAM Toolbox map rate