* 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

deactivate needs to be called before cleanup
to stop the mapUpdateLoop()

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

The cell reference becomes invalidated as the reference becomes invalid when a new  cell is added to the vector

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

* Add ignoring code cov any files named test_

* Update slack URL

* Update codecov.yml

* adding recovery wait test

* adding copy rights

* fixing gaurds

* Add Particle and ParticleCloud msgs to publish amcl particle cloud with weights

* Add deprecation warning

* Fix infinite rotation in Spin recovery when angle > PI

* Add test for spin recovery

* Fix formatting

* Add general optimizations

* Fix copyright

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

* Ignore codecov paths in tests

* adding missing string test case for stripping leading slash

* Update test_string_utils.cpp

* Update test_string_utils.cpp

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

* Update codecov.yml

* Update hyperlinks in readme for new website docs

* Adding link to join slack

Accidental commit into github ui

Signed-off-by: Pablo Vega <epvega@gmail.com>

* Map Server docs update for Foxy

* Fixes after review

* Add brief description of map_io

* [WIP] map_server refactor and cleanup

nav2_map_server/mapio (map input-optput library):
* Move OccupancyGrid messages saving code from MapSaver::mapCallback()
  to saveMapToFile() function
* Rename and move try_write_map_to_file() MapSaver method
  to tryWriteMapToFile() function
* Move map saving parameters into one SaveParameters struct
* Reorganize map saving parameters verification code from MapSaver
  to new checkSaveParameters() function
* Correct logging for incorrect input cases in checkSaveParameters()
* Copy loadMapFromYaml() method from OccupancyGridLoader
* Move loadMapFromFile() method from OccupancyGridLoader
* Rename and move load_map_yaml() OccupancyGrid method
  to loadMapYaml() function
* Move LoadParameters struct from OccupancyGridLoader

nav2_map_server/map_saver:
* Completely re-work MapSaver node:
 - Switch MapSaver from rclcpp::Node to nav2_utils::LifecycleNode
 - Revise MapSaver node parameters model
 - Add saveMapTopicToFile() method for saving map from topic
 - Remove future-promise synchronization model as unnecessary
* Add "save_map" service with new SaveMap service messages
* Rename map_saver_cli.cpp -> map_saver_cli_main.cpp file
  and map_saver -> to map_saver_cli executable
* Add ability to save a map from custom topic ("-t" cli-option)
* Restore support of "--ros-args" remappings
* Update help message in map_saver_cli
* New map_saver_server_main.cpp file and map_saver_server executable:
  continuously running server node
* New launch/map_saver_server.launch.py: map_saver_server launcher

nav2_map_server/map_server:
* Revise MapServer node parameters model
* Rename loadMapFromYaml() -> loadMapResponseFromYaml()
* Add node prefix to "map" and "load_map" service names
* Fix crash: dereferencing nullptr in map_server running as a node
  while handling of incorrect input map name
* Add updateMsgHeader() method for correcting map message header
  when it belongs to instantiated object
* Rename main.cpp -> map_server_main.cpp file
* Minor changes and renames to keep unified code style

nav2_util/map_loader:
* Remove as duplicating of loadMapFromFile() from MapIO library

other:
* Update nav2_map_server/README
* Fix testcases

* Fixes for cpplint, uncrustify, flake8 and test_occ_grid_node failures

* Fixing review comments

* Rename mapio -> map_io
* Move all OccGridLoader functionality into MapServer. Remove OccGridLoader
* Switch all thresholds to be floating-point
* Switch loadMapFromYaml() returning type to LOAD_MAP_STATUS and remove
  duplicating code from loadMapResponseFromYaml()
* Make mapCallback() to be lambda-function
* Make saveMapCallback() to be class method
* Utilize local rclcpp_node_ from LifecycleNode instead of map_listener_.
  Remove map_listener_ and got_map_msg_ variables.
* Rename load_map_callback() -> loadMapCallback() and make it to be class method
* Rename handle_occ_callback() -> getMapCallback() and make it to be class method
* Force saveMapTopicToFile() and saveMapToFile() to work with constant arguments
* map_saver_cli: move arguments parsing code into new parse_arguments() function
* Rename test_occ_grid_node -> test_map_server_node and fix test
* Rename test_occ_grid -> test_occ_grid and fix test
* Fix copyrights
* Fix comments
* Update README

* Increase test coverage

* Fixing review comments

* Separate map_server and map_saver sources
* Fix copyrights
* Suppress false-positive uncrustify failure

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

The problem appears while addressing zero-length path vector
after planner failed to create a plan.