[LifecycleManagerClient] clean set_initial_pose and navigate_to_pose #1
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…avior (ros-navigation#3650) * fixing path angle critic's non-directional bias * adding reformat * handle linting * add utility unit tests * adding unit tests for path angle
…#3659) * alternative to path align critic for inversion control * fix default behavior (enforce_path_inversion: false) (ros-navigation#3643) Co-authored-by: Guillaume Doisy <[email protected]> * adding dyaw option for path alignment to incentivize following the path's intent where necessary * add docs for use path orientations * fix typo --------- Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
* Resolves 3646: Update CMAKE_COMPILER_IS_GNUCXX * Update CMakeLists.txt
* Fix smoother server tests * Update test_smoother_server.cpp
…igation#3605) * CI test fixing for BT.CPP (paired with BehaviorTree.CPP/579) * lint * fixing smoother unit test failures
* fix some new build warnings * fixing last issue * Update navigate_through_poses_action.hpp * adding unsigned int to tests * all to unsigned shorts * test new warning resolution * Update * convert unsigned shorts to uint16_t for linter
* added printouts * ignore system tests * fix * cleanup * Update test_costmap_2d_publisher.cpp remove space
* Fix max_points -> min_points in parameters * Move robot_utils.hpp include to source where it actually using * Remove double-description of getTransform()
…avigation#3693) * moved error code enumerations to the result of action messages * test fixes * code review
Signed-off-by: ymd-stella <[email protected]>
…os-navigation#3690) * Move last_cmd update before deadband * fix lint
* onCycle has access to the result * revert * pr review
…itialization (ros-navigation#3720) It is very useful to know the current location considered by the bt_navigator for debug purposes.
It allows external packages to include those headers and create child classes through inheritance.
* Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * Modified nav2_behavior_tree and nav2_bt_navigator to use bt_navigator parameters as backup for behavior tree parameters * implemented feedback from pull request * fixed RCLCPP_DEBUG error Signed-off-by: vboxuser <[email protected]> * fixed hpp layout, removed previous code line in distance_controller * fixed all CI/CD errors, modified tests * fixed bt_navigator coding style. Modified behavior trees for updated nodes * implemented comments, fixed distance in distance_controller * updated circleci v14 to v15 --------- Signed-off-by: vboxuser <[email protected]> Co-authored-by: vboxuser <[email protected]>
… and Smac which impact performance substantially (ros-navigation#3728) * adding error warnings around incorrect inflation layer setups in MPPI and Smac which impact performance substantially * fix test failures
…d acceleration limits (ros-navigation#3731)
* Fix GoalUpdater QoS * Fixes
* Set start and goal as float Signed-off-by: Brice <[email protected]> * fix worldToMapContinuous type Signed-off-by: Brice <[email protected]> * add static_cast<float> Signed-off-by: Brice <[email protected]> * fix linting Signed-off-by: Brice <[email protected]> * floor float to check start = goal Signed-off-by: Brice <[email protected]> --------- Signed-off-by: Brice <[email protected]>
…gation#4256) * Adding new velocity deadband critic. - add some tests - cast double to float - add new features from "main" branch - fix formating - add cost test - fix linting issue - add README Signed-off-by: Denis Sokolov <[email protected]> * Remove velocity deadband critic from defaults Signed-off-by: Denis Sokolov <[email protected]> * remove old weight Signed-off-by: Denis Sokolov <[email protected]> * fix velocity deadband critic tests Signed-off-by: Denis Sokolov <[email protected]> --------- Signed-off-by: Denis Sokolov <[email protected]>
* changed slam launch file according to the comments for the PR ros-navigation#4211 Signed-off-by: Ibrahim Özcan <[email protected]> * Fixing litning problems --------- Signed-off-by: Ibrahim Özcan <[email protected]> Co-authored-by: Ibrahim Özcan <[email protected]>
…#4226) * Collision monitor: add a radius topic sub for dynamic circle polygon Signed-off-by: asarazin <[email protected]> * add test on circle radius update Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]>
* nav_2d_utils: use get_parameter without default value the original prototype construct a Parameter from the ¶meter references. Our value is unassigned, which caused a warning. fix ‘value’ may be used uninitialized warning on gcc13. Signed-off-by: Chuanhong Guo <[email protected]> * nav2_behaviors: use get_parameter without default value the two-parameter version of get_parameter constructs a Parameter from the ¶meter references. Our value is unassigned, which caused a warning. fix 'may be used uninitialized' warning on gcc13. Signed-off-by: Chuanhong Guo <[email protected]> * waypoint_follower: use get_parameter without default value the two-parameter version of get_parameter constructs a Parameter from the ¶meter references. Our value is unassigned, which caused a warning. fix 'may be used uninitialized' warning on gcc13. Signed-off-by: Chuanhong Guo <[email protected]> * nav2_behavior_tree: use get_parameter without default value the two-parameter version of get_parameter constructs a Parameter from the ¶meter references. Our value is unassigned, which caused a warning. fix 'may be used uninitialized' warning on gcc13. Signed-off-by: Chuanhong Guo <[email protected]> * constrained_smoother: initialize prelast_dir in upsampleAndPopulate It's technically not needed but GCC can't figure this out and complains. Signed-off-by: Chuanhong Guo <[email protected]> * waypoint_follower: fix warns about null pointer dereferencing gcc13 warns that get_current_goal() may be nullptr and doesn't allow the assignment of it to poses: error: potential null pointer dereference [-Werror=null-dereference] Check the pointer before using it. Signed-off-by: Chuanhong Guo <[email protected]> * Update nav2_waypoint_follower/src/waypoint_follower.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Chuanhong Guo <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
* Rename PushRosNamespace to PushROSNamespace * Fix min_points checking * Add polygon source * Revert "Merge branch 'add-collision-points-debug' into add-polygon-source" This reverts commit 15c261c, reversing changes made to 5a63584. * . * fix * fix * fix lint * PR comments fixes * fixes * add test * fix space * use standard msg Polygonstamped * draft * . * fixes * fixes * fixes * fix * revert * fixes * add detector test * rebasing fixes * Adding polygon source * adjusting tests * linting --------- Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Tony Najjar <[email protected]>
Signed-off-by: James Ward <[email protected]>
* provide validation_message.hpp Signed-off-by: goes <[email protected]> * fix typo Signed-off-by: goes <[email protected]> * add test_validation_messages.cpp Signed-off-by: goes <[email protected]> * change include-order Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> --------- Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]>
Signed-off-by: Silvio Traversaro <[email protected]>
) When the path is shorter than ´forward_sampling_distance´ the rotatitonShimController would directly give control to the primary controller to navigate to the goal. This would lead to the exact behavior that was tried to be fixed by the rotationShimController: "The result is an awkward, stuttering, or whipping around behavior" [1]. It often resulted in navigation failure. In this case, the controller should try to rotate towards the last point of the path, so that the primary controller can have a better starting orientation. [1] https://navigation.ros.org/tuning/index.html#rotate-in-place-behavior
…os-navigation#4293) % `ruff check` ``` Error: nav2_system_tests/src/system/test_wrong_init_pose_launch.py:117:21: F601 Dictionary key literal `'use_composition'` repeated ``` % ` ruff rule F601` # multi-value-repeated-key-literal (F601) Derived from the **Pyflakes** linter. Fix is sometimes available. ## What it does Checks for dictionary literals that associate multiple values with the same key. ## Why is this bad? Dictionary keys should be unique. If a key is associated with multiple values, the earlier values will be overwritten. Including multiple values for the same key in a dictionary literal is likely a mistake. ## Example ```python foo = { "bar": 1, "baz": 2, "baz": 3, } foo["baz"] # 3 ``` Use instead: ```python foo = { "bar": 1, "baz": 2, } foo["baz"] # 2 ``` ## References - [Python documentation: Dictionaries](https://docs.python.org/3/tutorial/datastructures.html#dictionaries) Signed-off-by: Christian Clauss <[email protected]>
* Add footprint clearing for static layer Signed-off-by: Tony Najjar <[email protected]> * fix flckering --------- Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
…#4300) Signed-off-by: PRP <[email protected]>
* 64 bit for index Signed-off-by: Guillaume Doisy <[email protected]> * Graph storing in uint64 * Remove incorrect usage --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
Update link to docs Signed-off-by: João Britto <[email protected]>
Signed-off-by: Pradheep <[email protected]>
When I build `nav2_amcl` with `-Wl,--no-undefined` I noticed `libpf_lib.so` has undefined symbols. This PR correctly links `libpf_lib.so` to `libm` so all symbols can be found. You can verify this by executing the following command: ``` ldd -r ./build/nav2_amcl/src/pf/libpf_lib.so linux-vdso.so.1 (0x00007ffd1f8c0000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000074e909a00000) /lib64/ld-linux-x86-64.so.2 (0x000074e909e60000) undefined symbol: ceil (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: atan2 (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sin (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: hypot (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: cos (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: log (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sqrt (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: floor (./build/nav2_amcl/src/pf/libpf_lib.so) ``` Signed-off-by: Ramon Wijnands <[email protected]>
…n#4301) * add validation check for PoseWithCovarianceStamped Signed-off-by: goes <[email protected]> * remove rebundant check before Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * typo fixed Signed-off-by: goes <[email protected]> * change the type-name Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * . Signed-off-by: goes <[email protected]> * add comment Signed-off-by: goes <[email protected]> * update comment Signed-off-by: goes <[email protected]> * change header Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> * typo fixed Signed-off-by: goes <[email protected]> --------- Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]>
…::getClosestAngularBin. (ros-navigation#4324) Signed-off-by: Krzysztof Pawełczyk <[email protected]> Co-authored-by: Krzysztof Pawełczyk <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
* add bond_heartbeat_period Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
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Basic Info
Description of contribution in a few bullet points
I was looking at
nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hppand noticed 2 methods that do not seem to be used anywhere:set_initial_poseandnavigate_to_pose. I guess they can be removed ?