Jazzy sync 5: Feb 4, 2025 #4902
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… same cell (#4793) * nav2_smac_planner: handle corner case where start and goal are on the same cell This case was already properly handled in the smac_planner_2d, but it was still leading to an A* backtrace failure in the smac_planner_hybrid and smac_planner_lattice. Let's harmonize the handling of this case. This commit fixes issue #4792. Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_smac_planner: use goal orientation when path is made of one point Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_smac_planner: publish raw path also when start and goal are on the same cell Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_smac_planner: add corner case to unit tests Add a plan where the start and goal are placed on the same cell. Signed-off-by: Dylan De Coeyer <[email protected]> --------- Signed-off-by: Dylan De Coeyer <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
* Fix trajectory in docking controller Signed-off-by: Alberto Tudela <[email protected]> * Ceil and remove resolution Signed-off-by: Alberto Tudela <[email protected]> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Update nav2_docking/opennav_docking/src/controller.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
…4795) * initial pass at iterative Signed-off-by: Michael Ferguson <[email protected]> * add v_angular_min_in_place Signed-off-by: Michael Ferguson <[email protected]> * add orientation filter, fix remaining TODOs Signed-off-by: Michael Ferguson <[email protected]> * try to increase coverage, fixup minor test issues Signed-off-by: Michael Ferguson <[email protected]> * address review comments Signed-off-by: Michael Ferguson <[email protected]> * review comments * update defaults * rename to in_place_collision_resolution Signed-off-by: Michael Ferguson <[email protected]> * revert change in default Signed-off-by: Michael Ferguson <[email protected]> --------- Signed-off-by: Michael Ferguson <[email protected]>
Signed-off-by: Michael Ferguson <[email protected]>
Signed-off-by: Michael Ferguson <[email protected]>
…eding time allowance (#4836) Until now, the NONE error code was returned when exceeding the time allowance. Let's return the more appropriate TIMEOUT error code instead. Signed-off-by: Dylan De Coeyer <[email protected]>
* fix bug in orientation filtering some global planners output all zeros for orientation, however the plan is in the global frame. when transforming to the local frame, the orientation is no longer zero. Instead of comparing to zero, we simply check if all the orientations in the middle of the plan are equal Signed-off-by: Michael Ferguson <[email protected]> * account for floating point error Signed-off-by: Michael Ferguson <[email protected]> --------- Signed-off-by: Michael Ferguson <[email protected]>
* Add IsStoppedBTNode Signed-off-by: Tony Najjar <[email protected]> * add topic name + reformat Signed-off-by: Tony Najjar <[email protected]> * fix comment Signed-off-by: Tony Najjar <[email protected]> * fix abs Signed-off-by: Tony Najjar <[email protected]> * remove log Signed-off-by: Tony Najjar <[email protected]> * add getter functions for raw twist Signed-off-by: Tony Najjar <[email protected]> * remove unused code Signed-off-by: Tony Najjar <[email protected]> * use odomsmoother Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * update groot Signed-off-by: Tony Najjar <[email protected]> * Add test Signed-off-by: Tony Najjar <[email protected]> * reset at success Signed-off-by: Tony Najjar <[email protected]> * FIX velocity_threshold_ Signed-off-by: Tony Najjar <[email protected]> * Fix stopped Node Signed-off-by: Tony Najjar <[email protected]> * Add tests to odometry_utils Signed-off-by: Tony Najjar <[email protected]> * fix linting Signed-off-by: Tony Najjar <[email protected]> * Adapt goalUpdater to modify goals as well Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * change name of msg Signed-off-by: Tony Najjar <[email protected]> * Make input goals be Goals again for compatibility Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * Revert "fix" This reverts commit 8303cdc. Signed-off-by: Tony Najjar <[email protected]> * refactoring Signed-off-by: Tony Najjar <[email protected]> * ament Signed-off-by: Tony Najjar <[email protected]> * ignore if no timestamps Signed-off-by: Tony Najjar <[email protected]> * facepalm Signed-off-by: Tony Najjar <[email protected]> * update groot nodes Signed-off-by: Tony Najjar <[email protected]> * Use PoseStampedArray Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * use geometry_msgs Signed-off-by: Tony Najjar <[email protected]> * fix import Signed-off-by: Tony Najjar <[email protected]> * use geometry_msgs Signed-off-by: Tony Najjar <[email protected]> * more fixes Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * . Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * add common_interfaces Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * use PoseStampedArray Signed-off-by: Tony Najjar <[email protected]> * reformat Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * revert Signed-off-by: Tony Najjar <[email protected]> * fix warn msg Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * fix Signed-off-by: Tony Najjar <[email protected]> * improve Signed-off-by: Tony Najjar <[email protected]> * fix format Signed-off-by: Tony Najjar <[email protected]> * change to info Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]>
* new test case for end of path approach Signed-off-by: rayferric <[email protected]> * modify tests to match the more permissive smoother policy Signed-off-by: rayferric <[email protected]> * implement steve's suggestions Signed-off-by: rayferric <[email protected]> --------- Signed-off-by: rayferric <[email protected]>
…roller (#4864) * Add acc limit consideration to avoid overshoot in RotationShimController Signed-off-by: RBT22 <[email protected]> * Add acceleration limit tests to RotationShimController Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]>
Call publish() (odom -> base_link tf) at startup to kick things off and spin 10 times(1 second) TF, so that it has a chance to propogate to the docking_server so that it will accept an action request. Previously it was only spinning once, hoping the timer would fire and call publish fast enough for it to propogate to the docking_server so that it is able to accept the first 'dock_robot' action request Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
…4889) (#4884) There is no protection/checks in the pathway from lineCost to costmap_2d::getIndex(mx, my) for grid coordinates that exceed the of bounds of the allocated costmap. (presumably for speed) This test was triggering an off by one error attempting to read the the 2500 byte costmap at byte 2503 costmap size 50x50. getIndex(3, 50) = my * size_x_ + mx; = 50 * 50 + 3; = 2503 Signed-off-by: Mike Wake <[email protected]>
* Initial implementation Signed-off-by: RBT22 <[email protected]> * replace feedback param with closed_loop Signed-off-by: RBT22 <[email protected]> * Reset last_angular_vel_ in activate method Signed-off-by: RBT22 <[email protected]> * Add closed_loop parameter to dynamicParametersCallback Signed-off-by: RBT22 <[email protected]> * Add tests Signed-off-by: RBT22 <[email protected]> * Override reset function Signed-off-by: RBT22 <[email protected]> --------- Signed-off-by: RBT22 <[email protected]>
* Fix unstable test in nav2 util Signed-off-by: mini-1235 <[email protected]> * Fix linting Signed-off-by: mini-1235 <[email protected]> * Change 5s to 1s Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]>
Signed-off-by: Maurice-1235 <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
This reverts commit 55d7387.
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Jazzy Sync 5: Feb 4, 2025 - 1.3.5