* Rename rclcpp parameter exception

The parameter exception name is being changed in https://github.com/ros2/rclcpp/pull/1673



Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Exception is thrown when getting the parameter

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Fix typo

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update BT nodes to use callback groups / executors to process

implement #2251

* add executor to other BT nodes

* use spin_some in is_battery_low BT condition

* fix merge

* remove spinning thread

* Disable dockerhub workflow for testing

* Disable debug jobs for testing

* Disable extra rmw jobs for testing

* Rename docker images for testing

* Default to cache from main branch

* Use colcon cache

* Install colcon cache

* Fix xargs typo

* List names only

* Checksum overlay ws src after restore and store
to restore ws cache for incremental builds

* Disable test jobs

* Revert checksum update but use underlay src

* Only cache ws build and install folder
to avoide overwritting ws src folder with restore

* Don't remove git files from underlay
so vcs tools can export underlay to checksum

* Save build cache regardless of failure

* cache tests

* Update colcon cache

* No need to remove log folder
as its no longer cached

* Bypass .dockerignore for dockerhub build hooks
to include .git folder in overlay for colcon cache

* Simplify checkout
now that underlay and overload have lockfiles

* Remove overlay src folder for checkout

* Echo env for debug

* Use if checks for empty package sets
as --packages-above with empty args will not skip any package

* Save workspace log to cache

* Set TEST_PACKAGES to empty instead of skipping

* Update colcon cache

* Update colcon cache

* Explicitltly list packages to build
using an environment variable

* Enable debug and nightly jobs

* Test all packages if cache_test is false

* Revert testing fork changes

* Install pip in rolling image

* Rename checksum file to lockfile.txt

* Config formatting

* Simplify testing

* Trigger dockerhub build when ros2 has updates

* Apt upgrade in dockerfile
to avoid dockerhub build trigger loops
when latest ros docker image is outdated
as compared to latest sync ros2 list repo

* Update Dockerfiles and Dockerhub to rolling

* Comment out packages avalable in rolling

* Install RMWs as CI dependencies

* Add action feedback information to nav2 rviz panel

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

* Reset based on goal status

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

* Add goal handle resets on goal completeion

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

Use incremental timeouts in spin_until_future_calls during BT execution to handle large server timeouts (#2320)

* Use incremental timeouts in spin_until_future_calls during BT execution

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

* Fix tests

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

* Fix tests

* Remove unnecessary timeout_ variable

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

* Reset goal_sent on terminal conditions

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

* Rename variables and refactor timeout logic

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

* Fix timeout logic and add tests

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

* Updates tests to ensure previous node state does not leak into new cycles

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

* Change goal_handle_ checks to future_goal_handle_

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

* Remove goal handle reset in halt

* Update server_timeout to 20ms and inherit BtServiceNode from BT::ActionNodeBase

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

* goal checker selector

* updating main nav yaml configuration file to support multiple goal checkers

* imised defaiñt gpañ cjecler àra,eter

* changes requested in the PR

* improving selector subscribers for laching behavior

* fixing cpplint uncristify style

* fixing issues

* setting original yaml configuration for the general_goal_checker

* the usage of the goal_checker vector now totally mimic the controller vector

* [Selector Actions] re-enabling back transient local for subscribers and tests

* commit failure on non default avaialable

* Some comments in selector behaviors code and some aesthetic changes

* fixing some linting issues

* minor linting error

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

`local` in bash can only be used within a function context.

After the recent Codecov security incident[1] I've been reviewing
codecov usage across ROS repositories.

This repository is fetching the codecov bash uploader without performing
the recommended validation step.

The validation step does not appear to have been widely explained or
publicised and even the official codecov GitHub action was not
validating the script until the recent security incident.

I have made an attempt to validate the bash uploader here.

[1]: https://about.codecov.io/security-update/

* open option to use parent node

* add constructor and clean

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

* remove '/' from node name

* add namespace argument

* use namespace for service client node creation

* ns instead of namespace_

* const

* ns instead of namespace_ in lifecycle_node too

* lint

* Fix for wings artifacts: adding new filters entity to separately update costmaps

* Update nav2_costmap_2d/src/layered_costmap.cpp

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

* Fix review items

* Fix/add tests

* Rename costmaps

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

* 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