Humble: nav2_navfn_planner poses created had uninitialized header #5087

sandeepdutta · 2025-04-14T22:09:42Z

The poses created by NavfnPlanner::getPlanFromPotential function had blank headers, this
caused problems wit Foxglove, which did not display these paths. Fix is simple in navfn_planner.cpp
update pose.header with the path.header.

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubunts)
Robotic platform tested on	(Jeeves Robot, hardware Jeeves)
Does this PR contain AI generated software?	(No; )

Description of testing performed

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

…into humble

mergify · 2025-04-14T22:10:20Z

@sandeepdutta, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

SteveMacenski

Please:

Revert the changes to the behavior tree which don't seem related, and
Submit a complimentary NavFn PR for main which I can backport automatically to Jazzy so that all distributions have this update, and
Please update the other planners as well so that this behavior is consistent across all planner algorithms

…w_replanning_and_recovery.xml

SteveMacenski · 2025-04-16T19:43:05Z

@sandeepdutta please open up the other PR and sign off your commit with DCO, then I can merge the set!

sandeepdutta · 2025-04-16T20:49:31Z

Hi Steve,
I have gone over the code for the other planners, they all update the goal header correctly.
I will have the PR for "main" asap.

Sandeep

sandeepdutta · 2025-04-17T00:43:03Z

Hi Steve,

I have created a PR for the "main" branch , could you please review, seems to have a lot more changes than
I was expecting.

Sandeep

* merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge

* Pre-Commit (#4915) * Add pre-commit Signed-off-by: Nils-ChristianIseke <[email protected]> * Add codespell workflow Signed-off-by: Nils-ChristianIseke <[email protected]> * Codespell write_changes=false. As otherwise CI does not fail. Signed-off-by: Nils-ChristianIseke <[email protected]> * Configure isort Signed-off-by: Nils-ChristianIseke <[email protected]> * add precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Introducing some issues. Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Introducing some issues." This reverts commit 5377b65. Signed-off-by: Nils-ChristianIseke <[email protected]> * Removing pre-commit workflow. Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix formatting error Signed-off-by: Nils-ChristianIseke <[email protected]> * Merge remote-tracking branch 'origin/main' into precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Change v31 to v32 Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Merge remote-tracking branch 'origin/main' into precommit" This reverts commit 8a7ca39. Signed-off-by: Nils-ChristianIseke <[email protected]> * Rm submodule Signed-off-by: Nils-ChristianIseke <[email protected]> * pre-commit run --all after merge Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix path comparison to avoid unnecessary updates (#5009) Signed-off-by: Tatsuro Sakaguchi <[email protected]> * nav2_rviz_plugins: Don't use non-existent slot (#5016) The definition of the slot was removed in commit e6f500e ("nav2_rviz_plugins: Remove slots without implementation (#4974)", 2025-03-10), because it had no implementation. But we forgot to remove the reference to this slot, because the compiler cannot detect it. We remove the reference now. Without this, rviz shows warnings like: QObject::connect: No such slot nav2_rviz_plugins::CostmapCostTool::updateAutoDeactivate() QObject::connect: (sender name: 'Single click') Signed-off-by: Michal Sojka <[email protected]> * * Parametrize collision checking in nav2_graceful_controller (#5006) * * Parametrize collision checking in nav2_graceful_controller Signed-off-by: suchetanrs <[email protected]> * * Fix linting errors Signed-off-by: suchetanrs <[email protected]> * * Address PR comments * Add parameter to dynamic reconfigure Signed-off-by: suchetanrs <[email protected]> * * Add test for the use_collision_detection parameter Signed-off-by: suchetanrs <[email protected]> --------- Signed-off-by: suchetanrs <[email protected]> * Update smac planner types (#4927) * Update smac planner types Signed-off-by: Michael Carlstrom <[email protected]> * Test ament_mypy Signed-off-by: Michael Carlstrom <[email protected]> * Add packages Signed-off-by: Michael Carlstrom <[email protected]> * Fix arg name Signed-off-by: Michael Carlstrom <[email protected]> * Add ** Signed-off-by: Michael Carlstrom <[email protected]> * Specific package Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> * Declare_parameter_if_not_declared in docking navigator (#5023) Signed-off-by: Alberto Tudela <[email protected]> * Fix naming of launch file Signed-off-by: Steve Macenski <[email protected]> * Fixed naming conventions of launch file Signed-off-by: Steve Macenski <[email protected]> * navfn : fix performance issue (#4945) Signed-off-by: Yancey <[email protected]> * Configured mypy strict for nav2_smac_planner (#5022) * Configured mypy strict on nav2_smac_planner. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Modify workflow to contain mypy configuration. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dependency for type support Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Mypy nav2 common (#5031) * Configured mypy for nav2_common Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_common to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed all instances of Any. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixed unsafe fixes using ruff. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Clear costmap if reset distance exceeds costmap bounds. (#5010) * Migrate costmap bound check to clearArea for STVL override Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added unbounded map to world function. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added test for mapToWorldNoBounds Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add near collision cost and warnings for misaligned parameter settings in MPPI critics (#4996) * Add warning when settings not aligned; Add tunable option for near collision Signed-off-by: mini-1235 <[email protected]> * Linting Signed-off-by: mini-1235 <[email protected]> * Add more information for warning Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Throw controller exception instead of invalid argument Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Added pre-commit with ament ignores to the workflow. (#5029) * Added pre-commit with ament ignores to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed codespell from workflow and enabled write changes in pre-commit. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Update pull request template with a testing description section. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * feat(nav2_rotation_shim_controller): add use_path_orientations (#5034) * feat(nav2_rotation_shim_controller): add use_path_orientations Signed-off-by: Kemal Bektas <[email protected]> * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2 bringup (#5040) * Configured nav2_bringup to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_bringup to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add service introspection (#4955) * Add service introspection for client and server side, more tests to go Signed-off-by: mini-1235 <[email protected]> * Add test for service server, fix repeat declaration Signed-off-by: mini-1235 <[email protected]> * Fix cpplint Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Declare and set the parameter in service client and server class Signed-off-by: mini-1235 <[email protected]> * Add typedef; Fix costmap cost tool and bt service Signed-off-by: mini-1235 <[email protected]> * Rebase; Add tests for coverage Signed-off-by: mini-1235 <[email protected]> * Fix costmap cost tool; Typedef Signed-off-by: mini-1235 <[email protected]> * Cleanup Signed-off-by: mini-1235 <[email protected]> * Add spin thread Signed-off-by: mini-1235 <[email protected]> * Add spin Signed-off-by: mini-1235 <[email protected]> * Change spin thread to internal executor Signed-off-by: mini-1235 <[email protected]> * Use rclcpp spin when no internal executor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Refactor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2_collision_monitor (#5043) * Configured nav2_collision_monitor to use mypy strict. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_collision_monitor to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Mypy nav2 costmap 2d (#5044) * Configured mypy to run on the costmap_2d package. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added mypy_nav2_costmap_2d to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Halt recovery action when main action succeeds to reset status (#5027) * Halt recovery action when main action succeeds to reset status Signed-off-by: Steve Macenski <[email protected]> * Update nav2_behavior_tree/plugins/control/recovery_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Mypy opennav_docking (#5047) * Define attributes for nav2_msgs. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configured opennav_docking to use strict mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added opennav_docking to the mypy linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Remove unused code in BT utils (#5048) * Clean set port Signed-off-by: Alberto Tudela <[email protected]> * Remove set Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Mypy nav2 lifecycle manager (#5051) * Configured nav2_lifecycle_manager to be compatible with mypy Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_lifecycle_manager to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * fix initializing in drive on heading action node (#5053) Signed-off-by: Johannes Plapp <[email protected]> * Mypy nav2 loopback sim (#5052) * Configured nav2_loopback_sim to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_loopback_sim to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Separated packages from list for mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fix mppi bidirectional settings (#4954) * Add constraint; fix settings Signed-off-by: mini-1235 <[email protected]> * Add lower and upper bound Signed-off-by: mini-1235 <[email protected]> * Update tests Signed-off-by: mini-1235 <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2 map server (#5058) * Configured nav2_map_server to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_map_server to the mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Publishing a full time-series MPPI trajectory if desirable (#5057) * Publishing a full MPPI trajectory if desirable Signed-off-by: Steve Macenski <[email protected]> * only create publisher when needed Signed-off-by: Steve Macenski <[email protected]> * adjust topics Signed-off-by: Steve Macenski <[email protected]> * Moving for lint Signed-off-by: Steve Macenski <[email protected]> * updating topics in tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Add double spin_some in some BT nodes (#5055) * Add a double spin Signed-off-by: Alberto Tudela <[email protected]> * Add comment Signed-off-by: Alberto Tudela <[email protected]> * Move spin to constructor Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Remove duplicate test (#5062) There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <[email protected]> * Remove docking absolute topic namespaces (#5068) Signed-off-by: Steve Macenski <[email protected]> * Mypy nav2 simple commander (#5059) * Added most nav2_simple_commander files that can be trivially converted to be mypy compatible. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Modified edge cases and types for robot_navigator to pass mypy checks. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_simple_commander to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added logs and ignored type errors due to spins w/o timeout. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Make NavigateThroughPoses navigator report waypoint statuses information. (fix #4846) (#4994) * Add WaypointStatus message type & Remove MissedWaypoint message type Signed-off-by: zz990099 <[email protected]> * Add waypoint_statuses records in RemoveInCollisionGoals/RemovePassedGoals actions Signed-off-by: zz990099 <[email protected]> * Add validation tests Signed-off-by: zz990099 <[email protected]> * Make NavigateThroughPoses navigator report waypoint statuses information Signed-off-by: zz990099 <[email protected]> * Make WaypointFollower use WaypointStatus message type in action result Signed-off-by: zz990099 <[email protected]> * Split MISSED status into SKIPPED & FAILED Signed-off-by: zz990099 <[email protected]> * fix edge case handle in RemoveInCollision/RemovePassed BT actions Signed-off-by: zz990099 <[email protected]> * Add validation test cases for RemoveInCollision&RemovePassed BT actions Signed-off-by: zz990099 <[email protected]> * Update RemovePassedGoals/RemoveInCollisionGoals node in Groot XML Signed-off-by: zz990099 <[email protected]> --------- Signed-off-by: zz990099 <[email protected]> * Enable Groot2 monitoring (#5065) * Revert removing live groot monitoring from Nav2 (#2696) Signed-off-by: Alberto Tudela <[email protected]> * Update to Groot2 Signed-off-by: Alberto Tudela <[email protected]> * Added JSON conversions Signed-off-by: Alberto Tudela <[email protected]> * Fix rebase Signed-off-by: Alberto Tudela <[email protected]> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <[email protected]> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <[email protected]> * Add register to types Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> * Added Json test Signed-off-by: Alberto Tudela <[email protected]> * Fix some tests Signed-off-by: Alberto Tudela <[email protected]> * Fix flake Signed-off-by: Alberto Tudela <[email protected]> * Update package dependency Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Fix test Signed-off-by: Alberto Tudela <[email protected]> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <[email protected]> * Minor fix in tst Signed-off-by: Alberto Tudela <[email protected]> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Fix incorrect world <-> map coordinates conversions (#5049) * Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <[email protected]> --------- Signed-off-by: Dylan De Coeyer <[email protected]> * [AMCL] 50% initialisation (and reset) speed improvement (#4941) * index lookup and comparator optimisation 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]> * Add note to Asynchronous nodes (#5035) * Add warning to some of the nodes Signed-off-by: Adi Vardi <[email protected]> * remove unused includes Signed-off-by: Adi Vardi <[email protected]> * Add warning to remaining nodes using isStatusActive to initialize Signed-off-by: Adi Vardi <[email protected]> * Change to note & update phrsing Signed-off-by: Adi Vardi <[email protected]> * replace reset by re-initialize Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * [AMCL] Rebuild cspace map only when needed (#5076) * for LikelihoodFieldModel Signed-off-by: Guillaume Doisy <[email protected]> * for LikelihoodFieldModelProb Signed-off-by: Guillaume Doisy <[email protected]> * typo Signed-off-by: Guillaume Doisy <[email protected]> * init max_occ_dist in map.c and remove unnecessary condition Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Consistency in Groot 2 (#5078) Signed-off-by: Alberto Tudela <[email protected]> * Remove duplicate code (#5080) * Remove duplicate code Signed-off-by: mini-1235 <[email protected]> * Add twist validation for controller server Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Added waypointstatus to bt_utils (#5077) Signed-off-by: Alberto Tudela <[email protected]> * Lock costmap in getCostsCallback (#5075) * 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]> * lock costmap Signed-off-by: Tony Najjar <[email protected]> * improvement Signed-off-by: Tony Najjar <[email protected]> * remove spacing Signed-off-by: Tony Najjar <[email protected]> * remove unlock Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Mypy nav2 system tests (#5083) * Configured nodes of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configured launch files of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_system_tests to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configure the entire nav2 stack with mypy (#5084) * Configured tools to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added mypy as a pre-commit hook. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Simplified workflow by including all packages with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <[email protected]> * change cache version Signed-off-by: Nils-ChristianIseke <[email protected]> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <[email protected]> * xml update Signed-off-by: Guillaume Doisy <[email protected]> * rename to use_start Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * descriptions Signed-off-by: Guillaume Doisy <[email protected]> * simplify logic Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <[email protected]> * raw pointer Signed-off-by: Guillaume Doisy <[email protected]> * suggestions from review Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Merged Fix navfn_planner from humble PR #5087 (#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Docking backwards as plugin param (#5079) * Replace dock_backwards_ param with dock plugin function Signed-off-by: Alberto Tudela <[email protected]> * Deprecated dock_backwards warning Signed-off-by: Alberto Tudela <[email protected]> * Convert dockDirection from bool to enum Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve deprecated param handling Signed-off-by: Alberto Tudela <[email protected]> * Set default to forward Signed-off-by: Alberto Tudela <[email protected]> * Added tests Signed-off-by: Alberto Tudela <[email protected]> * Update nav2_docking/README.md Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Upper and others Signed-off-by: Alberto Tudela <[email protected]> * Revert declare_parameters_from_overrides Signed-off-by: Alberto Tudela <[email protected]> * Added throw on configure plugin Signed-off-by: Alberto Tudela <[email protected]> * Remove node_utils Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Update map_io library to use Eigen method for faster map loading (#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <[email protected]> * Update pre-commit config changes Signed-off-by: Vignesh T <[email protected]> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Update include header include order Signed-off-by: Vignesh T <[email protected]> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <[email protected]> * Add comments for the code understanding Signed-off-by: Vignesh T <[email protected]> * Fix else braces rule issue Signed-off-by: Vignesh T <[email protected]> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Take flip part out of if-else Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> --------- Signed-off-by: Vignesh T <[email protected]> * Fix CI builds (#5104) Signed-off-by: Steve Macenski <[email protected]> * Increase docking coverage && fix backward docking (#5097) * Add dock_database tests Signed-off-by: Alberto Tudela <[email protected]> * Add utils test Signed-off-by: Alberto Tudela <[email protected]> * Improve filter tests Signed-off-by: Alberto Tudela <[email protected]> * Added simple charging tests Signed-off-by: Alberto Tudela <[email protected]> * Improve comments Signed-off-by: Alberto Tudela <[email protected]> * Fix backward and redo main test Signed-off-by: Alberto Tudela <[email protected]> * Change test period to reduce test time Signed-off-by: Alberto Tudela <[email protected]> * Revert "Change test period to reduce test time" This reverts commit ef1555e. Signed-off-by: Alberto Tudela <[email protected]> * Delete print pose Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Run ament_uncrustify to remove linting issues Signed-off-by: coderwyvern <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Tatsuro Sakaguchi <[email protected]> Signed-off-by: Michal Sojka <[email protected]> Signed-off-by: suchetanrs <[email protected]> Signed-off-by: Michael Carlstrom <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Yancey <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Johannes Plapp <[email protected]> Signed-off-by: Rasmus Larsson <[email protected]> Signed-off-by: zz990099 <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: coderwyvern <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Tatsuro Sakaguchi <[email protected]> Co-authored-by: Michal Sojka <[email protected]> Co-authored-by: suchetanrs <[email protected]> Co-authored-by: Michael Carlstrom <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Yancey <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Johannes Plapp <[email protected]> Co-authored-by: RasmusLar <[email protected]> Co-authored-by: zz99 <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]>

…gation#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge

* Pre-Commit (#4915) * Add pre-commit Signed-off-by: Nils-ChristianIseke <[email protected]> * Add codespell workflow Signed-off-by: Nils-ChristianIseke <[email protected]> * Codespell write_changes=false. As otherwise CI does not fail. Signed-off-by: Nils-ChristianIseke <[email protected]> * Configure isort Signed-off-by: Nils-ChristianIseke <[email protected]> * add precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Introducing some issues. Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Introducing some issues." This reverts commit 5377b656361ef220dce6d6af36013060798f06de. Signed-off-by: Nils-ChristianIseke <[email protected]> * Removing pre-commit workflow. Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix formatting error Signed-off-by: Nils-ChristianIseke <[email protected]> * Merge remote-tracking branch 'origin/main' into precommit Signed-off-by: Nils-ChristianIseke <[email protected]> * Change v31 to v32 Signed-off-by: Nils-ChristianIseke <[email protected]> * Revert "Merge remote-tracking branch 'origin/main' into precommit" This reverts commit 8a7ca3983a0b93ef5a94e9517e9598de96be2fe6. Signed-off-by: Nils-ChristianIseke <[email protected]> * Rm submodule Signed-off-by: Nils-ChristianIseke <[email protected]> * pre-commit run --all after merge Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * Fix path comparison to avoid unnecessary updates (#5009) Signed-off-by: Tatsuro Sakaguchi <[email protected]> * nav2_rviz_plugins: Don't use non-existent slot (#5016) The definition of the slot was removed in commit e6f500e5 ("nav2_rviz_plugins: Remove slots without implementation (#4974)", 2025-03-10), because it had no implementation. But we forgot to remove the reference to this slot, because the compiler cannot detect it. We remove the reference now. Without this, rviz shows warnings like: QObject::connect: No such slot nav2_rviz_plugins::CostmapCostTool::updateAutoDeactivate() QObject::connect: (sender name: 'Single click') Signed-off-by: Michal Sojka <[email protected]> * * Parametrize collision checking in nav2_graceful_controller (#5006) * * Parametrize collision checking in nav2_graceful_controller Signed-off-by: suchetanrs <[email protected]> * * Fix linting errors Signed-off-by: suchetanrs <[email protected]> * * Address PR comments * Add parameter to dynamic reconfigure Signed-off-by: suchetanrs <[email protected]> * * Add test for the use_collision_detection parameter Signed-off-by: suchetanrs <[email protected]> --------- Signed-off-by: suchetanrs <[email protected]> * Update smac planner types (#4927) * Update smac planner types Signed-off-by: Michael Carlstrom <[email protected]> * Test ament_mypy Signed-off-by: Michael Carlstrom <[email protected]> * Add packages Signed-off-by: Michael Carlstrom <[email protected]> * Fix arg name Signed-off-by: Michael Carlstrom <[email protected]> * Add ** Signed-off-by: Michael Carlstrom <[email protected]> * Specific package Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> * re-run ci Signed-off-by: Michael Carlstrom <[email protected]> --------- Signed-off-by: Michael Carlstrom <[email protected]> * Declare_parameter_if_not_declared in docking navigator (#5023) Signed-off-by: Alberto Tudela <[email protected]> * Fix naming of launch file Signed-off-by: Steve Macenski <[email protected]> * Fixed naming conventions of launch file Signed-off-by: Steve Macenski <[email protected]> * navfn : fix performance issue (#4945) Signed-off-by: Yancey <[email protected]> * Configured mypy strict for nav2_smac_planner (#5022) * Configured mypy strict on nav2_smac_planner. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Modify workflow to contain mypy configuration. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dependency for type support Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Mypy nav2 common (#5031) * Configured mypy for nav2_common Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_common to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed all instances of Any. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixed unsafe fixes using ruff. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Clear costmap if reset distance exceeds costmap bounds. (#5010) * Migrate costmap bound check to clearArea for STVL override Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added unbounded map to world function. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added test for mapToWorldNoBounds Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add near collision cost and warnings for misaligned parameter settings in MPPI critics (#4996) * Add warning when settings not aligned; Add tunable option for near collision Signed-off-by: mini-1235 <[email protected]> * Linting Signed-off-by: mini-1235 <[email protected]> * Add more information for warning Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Throw controller exception instead of invalid argument Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Added pre-commit with ament ignores to the workflow. (#5029) * Added pre-commit with ament ignores to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed codespell from workflow and enabled write changes in pre-commit. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Update pull request template with a testing description section. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * feat(nav2_rotation_shim_controller): add use_path_orientations (#5034) * feat(nav2_rotation_shim_controller): add use_path_orientations Signed-off-by: Kemal Bektas <[email protected]> * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2 bringup (#5040) * Configured nav2_bringup to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_bringup to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add service introspection (#4955) * Add service introspection for client and server side, more tests to go Signed-off-by: mini-1235 <[email protected]> * Add test for service server, fix repeat declaration Signed-off-by: mini-1235 <[email protected]> * Fix cpplint Signed-off-by: mini-1235 <[email protected]> * Add test for coverage Signed-off-by: mini-1235 <[email protected]> * Declare and set the parameter in service client and server class Signed-off-by: mini-1235 <[email protected]> * Add typedef; Fix costmap cost tool and bt service Signed-off-by: mini-1235 <[email protected]> * Rebase; Add tests for coverage Signed-off-by: mini-1235 <[email protected]> * Fix costmap cost tool; Typedef Signed-off-by: mini-1235 <[email protected]> * Cleanup Signed-off-by: mini-1235 <[email protected]> * Add spin thread Signed-off-by: mini-1235 <[email protected]> * Add spin Signed-off-by: mini-1235 <[email protected]> * Change spin thread to internal executor Signed-off-by: mini-1235 <[email protected]> * Use rclcpp spin when no internal executor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> * Refactor Signed-off-by: mini-1235 <[email protected]> * Update nav2_util/include/nav2_util/service_client.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2_collision_monitor (#5043) * Configured nav2_collision_monitor to use mypy strict. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_collision_monitor to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Mypy nav2 costmap 2d (#5044) * Configured mypy to run on the costmap_2d package. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added mypy_nav2_costmap_2d to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Halt recovery action when main action succeeds to reset status (#5027) * Halt recovery action when main action succeeds to reset status Signed-off-by: Steve Macenski <[email protected]> * Update nav2_behavior_tree/plugins/control/recovery_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Mypy opennav_docking (#5047) * Define attributes for nav2_msgs. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configured opennav_docking to use strict mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added opennav_docking to the mypy linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Remove unused code in BT utils (#5048) * Clean set port Signed-off-by: Alberto Tudela <[email protected]> * Remove set Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Mypy nav2 lifecycle manager (#5051) * Configured nav2_lifecycle_manager to be compatible with mypy Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_lifecycle_manager to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * fix initializing in drive on heading action node (#5053) Signed-off-by: Johannes Plapp <[email protected]> * Mypy nav2 loopback sim (#5052) * Configured nav2_loopback_sim to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_loopback_sim to the workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Separated packages from list for mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fix mppi bidirectional settings (#4954) * Add constraint; fix settings Signed-off-by: mini-1235 <[email protected]> * Add lower and upper bound Signed-off-by: mini-1235 <[email protected]> * Update tests Signed-off-by: mini-1235 <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Mypy nav2 map server (#5058) * Configured nav2_map_server to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_map_server to the mypy workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Publishing a full time-series MPPI trajectory if desirable (#5057) * Publishing a full MPPI trajectory if desirable Signed-off-by: Steve Macenski <[email protected]> * only create publisher when needed Signed-off-by: Steve Macenski <[email protected]> * adjust topics Signed-off-by: Steve Macenski <[email protected]> * Moving for lint Signed-off-by: Steve Macenski <[email protected]> * updating topics in tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Add double spin_some in some BT nodes (#5055) * Add a double spin Signed-off-by: Alberto Tudela <[email protected]> * Add comment Signed-off-by: Alberto Tudela <[email protected]> * Move spin to constructor Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Remove duplicate test (#5062) There remained a duplicate test of test_system_launch after Groot monitoring was removed Signed-off-by: Rasmus Larsson <[email protected]> * Remove docking absolute topic namespaces (#5068) Signed-off-by: Steve Macenski <[email protected]> * Mypy nav2 simple commander (#5059) * Added most nav2_simple_commander files that can be trivially converted to be mypy compatible. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Modified edge cases and types for robot_navigator to pass mypy checks. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_simple_commander to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added logs and ignored type errors due to spins w/o timeout. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Make NavigateThroughPoses navigator report waypoint statuses information. (fix #4846) (#4994) * Add WaypointStatus message type & Remove MissedWaypoint message type Signed-off-by: zz990099 <[email protected]> * Add waypoint_statuses records in RemoveInCollisionGoals/RemovePassedGoals actions Signed-off-by: zz990099 <[email protected]> * Add validation tests Signed-off-by: zz990099 <[email protected]> * Make NavigateThroughPoses navigator report waypoint statuses information Signed-off-by: zz990099 <[email protected]> * Make WaypointFollower use WaypointStatus message type in action result Signed-off-by: zz990099 <[email protected]> * Split MISSED status into SKIPPED & FAILED Signed-off-by: zz990099 <[email protected]> * fix edge case handle in RemoveInCollision/RemovePassed BT actions Signed-off-by: zz990099 <[email protected]> * Add validation test cases for RemoveInCollision&RemovePassed BT actions Signed-off-by: zz990099 <[email protected]> * Update RemovePassedGoals/RemoveInCollisionGoals node in Groot XML Signed-off-by: zz990099 <[email protected]> --------- Signed-off-by: zz990099 <[email protected]> * Enable Groot2 monitoring (#5065) * Revert removing live groot monitoring from Nav2 (#2696) Signed-off-by: Alberto Tudela <[email protected]> * Update to Groot2 Signed-off-by: Alberto Tudela <[email protected]> * Added JSON conversions Signed-off-by: Alberto Tudela <[email protected]> * Fix rebase Signed-off-by: Alberto Tudela <[email protected]> * Update to nav_msgs::Goals Signed-off-by: Alberto Tudela <[email protected]> * Added nav_msgs to json utils Signed-off-by: Alberto Tudela <[email protected]> * Add register to types Signed-off-by: Alberto Tudela <[email protected]> * Fix null-dereference Signed-off-by: Alberto Tudela <[email protected]> * Added Json test Signed-off-by: Alberto Tudela <[email protected]> * Fix some tests Signed-off-by: Alberto Tudela <[email protected]> * Fix flake Signed-off-by: Alberto Tudela <[email protected]> * Update package dependency Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Fix test Signed-off-by: Alberto Tudela <[email protected]> * Rename groot_publisher_port parameter to groot_server_port Signed-off-by: Alberto Tudela <[email protected]> * Minor fix in tst Signed-off-by: Alberto Tudela <[email protected]> * Added JSON for waypoint_status Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Fix incorrect world <-> map coordinates conversions (#5049) * Fix incorrect world <-> map coordinates conversions The conversion between world and map continuous (!) coordinates do not require a +/-0.5. This offset is only required when converting discrete map cell indexes to the coordinates of its center. Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_smac_planner: fix smoother test when path is in collision The added pose was indeed invalid, but the it was ignored by the smoother, since considered as a cusp. Instead, let's make the end of the plan invalid as it won't be ignored. Also, let's duplicate the last pose to make the orientation estimation fail, rather than adding a new arbitrary pose. Signed-off-by: Dylan De Coeyer <[email protected]> --------- Signed-off-by: Dylan De Coeyer <[email protected]> * [AMCL] 50% initialisation (and reset) speed improvement (#4941) * index lookup and comparator optimisation 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]> * Add note to Asynchronous nodes (#5035) * Add warning to some of the nodes Signed-off-by: Adi Vardi <[email protected]> * remove unused includes Signed-off-by: Adi Vardi <[email protected]> * Add warning to remaining nodes using isStatusActive to initialize Signed-off-by: Adi Vardi <[email protected]> * Change to note & update phrsing Signed-off-by: Adi Vardi <[email protected]> * replace reset by re-initialize Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * [AMCL] Rebuild cspace map only when needed (#5076) * for LikelihoodFieldModel Signed-off-by: Guillaume Doisy <[email protected]> * for LikelihoodFieldModelProb Signed-off-by: Guillaume Doisy <[email protected]> * typo Signed-off-by: Guillaume Doisy <[email protected]> * init max_occ_dist in map.c and remove unnecessary condition Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Consistency in Groot 2 (#5078) Signed-off-by: Alberto Tudela <[email protected]> * Remove duplicate code (#5080) * Remove duplicate code Signed-off-by: mini-1235 <[email protected]> * Add twist validation for controller server Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Added waypointstatus to bt_utils (#5077) Signed-off-by: Alberto Tudela <[email protected]> * Lock costmap in getCostsCallback (#5075) * 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]> * lock costmap Signed-off-by: Tony Najjar <[email protected]> * improvement Signed-off-by: Tony Najjar <[email protected]> * remove spacing Signed-off-by: Tony Najjar <[email protected]> * remove unlock Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Mypy nav2 system tests (#5083) * Configured nodes of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configured launch files of nav2_system_tests to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added nav2_system_tests to the linting workflow. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Configure the entire nav2 stack with mypy (#5084) * Configured tools to be mypy compliant. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added mypy as a pre-commit hook. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Simplified workflow by including all packages with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <[email protected]> * change cache version Signed-off-by: Nils-ChristianIseke <[email protected]> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <[email protected]> * xml update Signed-off-by: Guillaume Doisy <[email protected]> * rename to use_start Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * descriptions Signed-off-by: Guillaume Doisy <[email protected]> * simplify logic Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <[email protected]> * raw pointer Signed-off-by: Guillaume Doisy <[email protected]> * suggestions from review Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Merged Fix navfn_planner from humble PR #5087 (#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Docking backwards as plugin param (#5079) * Replace dock_backwards_ param with dock plugin function Signed-off-by: Alberto Tudela <[email protected]> * Deprecated dock_backwards warning Signed-off-by: Alberto Tudela <[email protected]> * Convert dockDirection from bool to enum Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve deprecated param handling Signed-off-by: Alberto Tudela <[email protected]> * Set default to forward Signed-off-by: Alberto Tudela <[email protected]> * Added tests Signed-off-by: Alberto Tudela <[email protected]> * Update nav2_docking/README.md Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Upper and others Signed-off-by: Alberto Tudela <[email protected]> * Revert declare_parameters_from_overrides Signed-off-by: Alberto Tudela <[email protected]> * Added throw on configure plugin Signed-off-by: Alberto Tudela <[email protected]> * Remove node_utils Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Update map_io library to use Eigen method for faster map loading (#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <[email protected]> * Update pre-commit config changes Signed-off-by: Vignesh T <[email protected]> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Update include header include order Signed-off-by: Vignesh T <[email protected]> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <[email protected]> * Add comments for the code understanding Signed-off-by: Vignesh T <[email protected]> * Fix else braces rule issue Signed-off-by: Vignesh T <[email protected]> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Take flip part out of if-else Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> --------- Signed-off-by: Vignesh T <[email protected]> * Fix CI builds (#5104) Signed-off-by: Steve Macenski <[email protected]> * Increase docking coverage && fix backward docking (#5097) * Add dock_database tests Signed-off-by: Alberto Tudela <[email protected]> * Add utils test Signed-off-by: Alberto Tudela <[email protected]> * Improve filter tests Signed-off-by: Alberto Tudela <[email protected]> * Added simple charging tests Signed-off-by: Alberto Tudela <[email protected]> * Improve comments Signed-off-by: Alberto Tudela <[email protected]> * Fix backward and redo main test Signed-off-by: Alberto Tudela <[email protected]> * Change test period to reduce test time Signed-off-by: Alberto Tudela <[email protected]> * Revert "Change test period to reduce test time" This reverts commit ef1555ec43cb4849fd658c32377189cf414ff9b7. Signed-off-by: Alberto Tudela <[email protected]> * Delete print pose Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> * Initialize dock backwards (#5114) Signed-off-by: Steve Macenski <[email protected]> * Precompute yaw trigonometric values in smac planner (#5109) Signed-off-by: mini-1235 <[email protected]> * Nav2 Route Server (#5056) * skeleton of main server and visualization tools * adding complete Kd-tree search for initial and goal node iDs for search * initial planner complete * added path converter * fix conversion util * adding change graph service * added edge scoring to the search + pluginlib definitions + a plugin example instance * moved to src directory * linting * contextual error codes + default bringup * adding rviz default views of rgaph * adding missing exception file * fix segfault that was previously optimized out * whoops, removing duplicate plugin registration * remove nanoflann TODO * adding 2 more edge plugins, use of closed edges in the API design, and added service to modify a set of closed edges being tracked * fix indexing bug for certain request types * adding costmap scoring route plugin * readme todo list updates * readme details * adding unit test coverage * add dynamic cost adjustment by application systems * adding in operations API * minor fixes * add compute and track route action def * initial prototype compiling and basic interface working for tracking action * updates to TODO list * state management * remove divide by zero potential error * added in working mostly demog * adding rerouting service and a bunch of new tests for operations * adding new trigger event plugin + base class for service calls + test coverage to complete operations manager * conventions * adding initial (maybe working?) collision checker + added blocked ID propogation from operations to allow for rerouting with info from operations * adding in 3 new algorithms: Time Scorer, Time Marker, and Semantic Scorer * adding complete unit testing for collision monitor * adding tests for the planner on a fully connected 4x4 graph * adding rereouting with starting point to use for the initial condition when along route * sharing common shared action server code in main server * refactor, added goal intent extractor, updated necessary tests * updating todo notes * adding tests and functionoing goal intent extractor and pruning cost updates * a little cleanup * adding readme * completing unit tests * large reorg of information around the rerouting state information and output formats for practical use * Nav2 route server parser (#3398) * aws graph working * graph parser first stage * naming cleanup * remove * update graph file * added fileExists to api * moved filepath param * vect to string * parser cleanup * debug log * added tests for geojson graph parser * added logging to parser * cleanup * catch exceptions in route service * code review * undo cmake * added graph loader test * undo cmake * code review * frame convesion support * comments * fix * Parse edge and node metadata * parse operations * completed metadata parsing * added recursion for parser * code review * undo cmake * support vectors * refactor tests * fix * general cleanup * code review * added timestamp --------- Co-authored-by: Steve Macenski <[email protected]> * adding unit tests for complex handling of reentrant requests * adding demos for python3 API * adding conditions if graph is empty in routing request * working MVP tracking demos working * adding integration testing expanded TODO list before beta testers * Example graph (#3438) * added simple graph * added metadata and operations to graph * update * add space * added test for sample_graph * added to readme * testing system-wise, mostly working * update remaining TODO list * updates for pruning starting in rerouting * adding a full roster of default plugins * complete tested feature set * adding configuration guide to readme * adding plugins info * testing collapse * smaller titles * adding becnhmarking script * adding metrics to readme * adding image for architecture * resize * resize * adding design info * new image * turtlebot3 world graph (#3472) * turtlebot3 world graph * remove line * add line back * scripts for route (#3490) * tmp push for moving computers * Nav2 route server goal orientation scorer (#4866) * added goal pose and bool to check for last edge for all scorers Signed-off-by: Alexander Yuen <[email protected]> * added goal_orientation scorer Signed-off-by: Alexander Yuen <[email protected]> * added test for GoalOrientationScorer Signed-off-by: Alexander Yuen <[email protected]> * changed goal pose to a const ref, and moved score to end as implicit return Signed-off-by: Alexander Yuen <[email protected]> * changed goal arguments to const ref Signed-off-by: Alexander Yuen <[email protected]> * using const ref for goal pose, rearranged total_score to match header Signed-off-by: Alexander Yuen <[email protected]> * linting on goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <[email protected]> * using M_PI as default threshold, fixed angle wrapping by using angles library, no longer modifying cost Signed-off-by: Alexander Yuen <[email protected]> * changed arguments to use const refs, changed argument order in score function to matach header Signed-off-by: Alexander Yuen <[email protected]> * changed calling of score to match argument sequence, changed GoalOrientaitonScorer to test the opposite direction and check the return value Signed-off-by: Alexander Yuen <[email protected]> * switched cost edge pairs to imply return of cost, default orientation as M_PI / 2.0 Signed-off-by: Alexander Yuen <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> * minor updates Signed-off-by: Steve Macenski <[email protected]> * fix a few bugs, clarify a few things Signed-off-by: Steve Macenski <[email protected]> * more validation and inline comments to help readers understand complex interactions Signed-off-by: Steve Macenski <[email protected]> * CI turning over Signed-off-by: Steve Macenski <[email protected]> * adding error_msg Signed-off-by: Steve Macenski <[email protected]> * updated cmake style to be in line with repo Signed-off-by: Steve Macenski <[email protected]> * Adding afew mores features from TODO list Signed-off-by: Steve Macenski <[email protected]> * Nav2 route server start pose orientation scorer (#4950) * adding flag to identify start node, passing tf_buffer to edge scorer Signed-off-by: Alexander Yuen <[email protected]> * passing tf to route planner Signed-off-by: Alexander Yuen <[email protected]> * added null buffer to tests Signed-off-by: Alexander Yuen <[email protected]> * added null buffer to planner configure in performance bench marking test Signed-off-by: Alexander Yuen <[email protected]> * changed arguments of all old edge scorers to also take tf_buffer Signed-off-by: Alexander Yuen <[email protected]> * changed configure to take tf_buffer, added bool to identify start_edge in score method for all existing edge scorers Signed-off-by: Alexander Yuen <[email protected]> * added start_pose_orientation_scorer to CMake Signed-off-by: Alexander Yuen <[email protected]> * added StartPoseOrientationScorer as and edge scroer Signed-off-by: Alexander Yuen <[email protected]> * added tf_buffer to constructor, added start edge bool on score method, added tf_buffer as a protected variable Signed-off-by: Alexander Yuen <[email protected]> * added tf_buffer to configure method, added start_id_ member variable, added isStart method to identify initial node for route_planner.hpp Signed-off-by: Alexander Yuen <[email protected]> * modified all configures to take a tf_buffer, modified all score functions to take a start edge bool, added test for start_pose_orientation_scorer Signed-off-by: Alexander Yuen <[email protected]> * adding start_pose_orientation_scorer.cpp Signed-off-by: Alexander Yuen <[email protected]> * edge scorer modified to take in tf_buffer and pass it to scorer plugins, bool for start edge also passed down to plugins Signed-off-by: Alexander Yuen <[email protected]> * removed redundant parameter declarations, changed robot frame to base frame, year bump Signed-off-by: Alexander Yuen <[email protected]> * changed robot frame to base frame, year bump on copy right Signed-off-by: Alexander Yuen <[email protected]> * removed unnecessary tf_buffer_ from edge_scorer Signed-off-by: Alexander Yuen <[email protected]> * added EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * all edge scorer plugins changed to use EdgeType Signed-off-by: Alexander Yuen <[email protected]> * edge_scorer modified to use EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * edge_cost_function base class modified to use EdgeType enum class Signed-off-by: Alexander Yuen <[email protected]> * modified tests for new scorer signature Signed-off-by: Alexander Yuen <[email protected]> * added method to classify edge type Signed-off-by: Alexander Yuen <[email protected]> * ament_cpplinting Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * changed EdgeType to const ref Signed-off-by: Alexander Yuen <[email protected]> * added option to score orientations instead of outright rejecting start poses Signed-off-by: Alexander Yuen <[email protected]> * updated docstrings to have better description for goal pose and start pose orientation goal checker Signed-off-by: Alexander Yuen <[email protected]> * fixed merge conflict in goal_orientation_scorer.hpp Signed-off-by: Alexander Yuen <[email protected]> * fixed merge conflict in edge_cost_function.hpp Signed-off-by: Alexander Yuen <[email protected]> * removed TODO from costmap_scorer.cpp Signed-off-by: Alexander Yuen <[email protected]> * added getStart method to goal_intent_extract and start pose argument for findRoute Signed-off-by: Alexander Yuen <[email protected]> * added RouteData struct to types.hpp Signed-off-by: Alexander Yuen <[email protected]> * added start_pose to edge scorer hpp and cpp Signed-off-by: Alexander Yuen <[email protected]> * fixed type getStart return type in goal_intent_extractor.cpp Signed-off-by: Alexander Yuen <[email protected]> * added passing of start_pose down to scorer in route_planner Signed-off-by: Alexander Yuen <[email protected]> * added start pose to base edge cost function class Signed-off-by: Alexander Yuen <[email protected]> * underscore fix for goal_intent_extractor_ Signed-off-by: Alexander Yuen <[email protected]> * changed signature of all edge cost functions to take start_pose Signed-off-by: Alexander Yuen <[email protected]> * populating RouteData and passing it into findRoute Signed-off-by: Alexander Yuen <[email protected]> * passing route_data down to getTraversalCost Signed-off-by: Alexander Yuen <[email protected]> * plugins modified to take in route_data, tests updated accordingly Signed-off-by: Alexander Yuen <[email protected]> * using route data for goal_orientation_scorer and start_pose_orientation_scorer, modified tests accordingly Signed-off-by: Alexander Yuen <[email protected]> * removed route frame, robot frame, and getRobotPose from start_pose_orientation_scorer Signed-off-by: Alexander Yuen <[email protected]> * removed used of stat_pose and goal_pose as it is replaced with route data Signed-off-by: Alexander Yuen <[email protected]> * added InvalidCriticUse exception to nav2_core, goal_orientation_scorer and start_pose_orientation_scorer throws this exception if route_data.use_poses is false, route_server catches this exception, added exception test in the edge scorer tester Signed-off-by: Alexander Yuen <[email protected]> * added INVALID_CRITIC_USE error code in route actions Signed-off-by: Alexander Yuen <[email protected]> * added orientation weighting for cost as an option instead of out right rejection Signed-off-by: Alexander Yuen <[email protected]> * updated docstring for goal orientation scorer Signed-off-by: Alexander Yuen <[email protected]> * renamed Critic to EdgeScorer Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer in edge cost functions Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer, storing exception message in error msg Signed-off-by: Alexander Yuen <[email protected]> * changed Critic to EdgeScorer in edge scorer tests Signed-off-by: Alexander Yuen <[email protected]> * changed INVALID_CRITIC_USE to IVALID_EDGE_SCORER_US in actions * changed RouteData and route_data to RouteRequest and route_request respectively, added doxygen for RouteRequest struct Signed-off-by: Alexander Yuen <[email protected]> * added doxygen for EdgeType Signed-off-by: Alexander Yuen <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> * updates Signed-off-by: Steve Macenski <[email protected]> * better handle the route situation in the simple commander API Signed-off-by: Steve Macenski <[email protected]> * completed TB4 migration Signed-off-by: Steve Macenski <[email protected]> * route updates Signed-off-by: Steve Macenski <[email protected]> * updating radme Signed-off-by: Steve Macenski <[email protected]> * one last comment for the day Signed-off-by: Steve Macenski <[email protected]> * adding in BT ndoes, tests, and graphs for bringup Signed-off-by: Steve Macenski <[email protected]> * updating error code locations Signed-off-by: Steve Macenski <[email protected]> * test for route planner complete Signed-off-by: Steve Macenski <[email protected]> * Update to use service server from nav2_utils for service introspection Signed-off-by: Steve Macenski <[email protected]> * fix small error Signed-off-by: Steve Macenski <[email protected]> * adding in additional smoke tests, prototype working of tracking test to be continued Signed-off-by: Steve Macenski <[email protected]> * updates Signed-off-by: Steve Macenski <[email protected]> * completed system tests Signed-off-by: Steve Macenski <[email protected]> * reenable collision checking Signed-off-by: Steve Macenski <[email protected]> * remove unnecssary logging Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * Update package.xml Signed-off-by: Steve Macenski <[email protected]> * closing test gap Signed-off-by: Steve Macenski <[email protected]> * a few more lines Signed-off-by: Steve Macenski <[email protected]> * changing permissions Signed-off-by: Steve Macenski <[email protected]> * fix system test Signed-off-by: Steve Macenski <[email protected]> * adding in additional coverage Signed-off-by: Steve Macenski <[email protected]> * finalized test coverage Signed-off-by: Steve Macenski <[email protected]> * adding file Signed-off-by: Steve Macenski <[email protected]> * simple commander demo working Signed-off-by: Steve Macenski <[email protected]> * python happiness Signed-off-by: Steve Macenski <[email protected]> * precommit spelling happy Signed-off-by: Steve Macenski <[email protected]> * wtf pprecommit, why didn't you mention this before Signed-off-by: Steve Macenski <[email protected]> * spelling Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/README.md Signed-off-by: Steve Macenski <[email protected]> * Update route_planner.cpp Signed-off-by: Steve Macenski <[email protected]> * fix mistake in merge conflict resolution Signed-off-by: Steve Macenski <[email protected]> * type check fix Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> * more design ideas Signed-off-by: Steve Macenski <[email protected]> * Configuring nav2_route_server branch to be mypy compliant (#5081) * Added definitions for nav2_msgs actions and messages. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enabled example_route to be compatible with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added return definition for route_example_launch.py. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Ported robot_navigator.py to be compliant with mypy. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Demo 1 completed Signed-off-by: Steve Macenski <[email protected]> * second demo completed Signed-off-by: Steve Macenski <[email protected]> * final linting Signed-off-by: Steve Macenski <[email protected]> * adding route server for test to pass Signed-off-by: Steve Macenski <[email protected]> * adding smoother server Signed-off-by: Steve Macenski <[email protected]> * Configured nav2_system_tests to be mypy compliant. (#5085) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Route Tool Rviz Panel (#4775) * added route tool skeleton code and gui Signed-off-by: John Chrosniak <[email protected]> * rviz2 panel can load route graph Signed-off-by: John Chrosniak <[email protected]> * can add nodes using route tool Signed-off-by: John Chrosniak <[email protected]> * added logic for creating edges Signed-off-by: John Chrosniak <[email protected]> * graph nodes can be edited, existing edges will still connect if a node is moved Signed-off-by: John Chrosniak <[email protected]> * can edit edges Signed-off-by: John Chrosniak <[email protected]> * can delete nodes and edges Signed-off-by: John Chrosniak <[email protected]> * route graphs can be saved Signed-off-by: John Chrosniak <[email protected]> * fixed bug for loading in route graphs Signed-off-by: John Chrosniak <[email protected]> * added dynamic text to UI, created launch file and rviz configuration Signed-off-by: John Chrosniak <[email protected]> * fixed bug for deleting nodes Signed-off-by: John Chrosniak <[email protected]> * actually fixed node removal bug Signed-off-by: John Chrosniak <[email protected]> * publishing clicked point populates x and y fields Signed-off-by: John Chrosniak <[email protected]> * removed debugging log statements Signed-off-by: John Chrosniak <[email protected]> * added check to make sure node/edges exist before editing Signed-off-by: John Chrosniak <[email protected]> * bug fix Signed-off-by: John Chrosniak <[email protected]> * migrated route tool to rviz plugin Signed-off-by: John Chrosniak <[email protected]> * minor refactoring Signed-off-by: John Chrosniak <[email protected]> * added metadata and operations to graph saver so nothing should be erased Signed-off-by: John Chrosniak <[email protected]> * edited set route service to clear current route before setting new Signed-off-by: John Chrosniak <[email protected]> * Update README.md Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * documentation cleanup Signed-off-by: John Chrosniak <[email protected]> * changed copyright Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * moved copyright due to compiler error Signed-off-by: John Chrosniak <[email protected]> * revert removal of files Signed-off-by: John Chrosniak <[email protected]> * added gen ai comment Signed-off-by: John Chrosniak <[email protected]> * fixed rebasing issue Signed-off-by: John Chrosniak <[email protected]> * fix linting errors Signed-off-by: John Chrosniak <[email protected]> * added export for graph saver dependencies Signed-off-by: John Chrosniak <[email protected]> * added ui file to library Signed-off-by: John Chrosniak <[email protected]> * added nav2_route_core to link libaries Signed-off-by: John Chrosniak <[email protected]> * fixed cmake error Signed-off-by: John Chrosniak <[email protected]> * fixed build issues Signed-off-by: John Chrosniak <[email protected]> * uncrustified Signed-off-by: John Chrosniak <[email protected]> * cpplint Signed-off-by: John Chrosniak <[email protected]> * added unit tests and fixed bugs Signed-off-by: John Chrosniak <[email protected]> * increased test coverage Signed-off-by: John Chrosniak <[email protected]> * fixed linter errors Signed-off-by: John Chrosniak <[email protected]> * fixed pre-commit errors Signed-off-by: John Chrosniak <[email protected]> * fixed formatting error Signed-off-by: John Chrosniak <[email protected]> * double -> single quotes Signed-off-by: John Chrosniak <[email protected]> * added test for using default filepath Signed-off-by: John Chrosniak <[email protected]> * fixed license Signed-off-by: John Chrosniak <[email protected]> * addressed comments Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/include/nav2_route/graph_saver.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * Update nav2_route/src/plugins/graph_file_savers/geojson_graph_file_saver.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: John Chrosniak <[email protected]> * linter fix Signed-off-by: John Chrosniak <[email protected]> --------- Signed-off-by: John Chrosniak <[email protected]> Co-authored-by: Saikrishna Bairamoni <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fixing linting Signed-off-by: Steve Macenski <[email protected]> * Updating readme table Signed-off-by: Steve Macenski <[email protected]> * lint Signed-off-by: Steve Macenski <[email protected]> * adding multifloor Signed-off-by: Steve Macenski <[email protected]> * adding BFS goal intent search Signed-off-by: Steve Macenski <[email protected]> * fix bug Signed-off-by: Steve Macenski <[email protected]> * adding unit tests for goal intent search Signed-off-by: Steve Macenski <[email protected]> * fixing collision check Signed-off-by: Steve Macenski <[email protected]> * Update nav2_simple_commander/nav2_simple_commander/robot_navigator.py Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: John Chrosniak <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: alexanderjyuen <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: John Chrosniak <[email protected]> Co-authored-by: Saikrishna Bairamoni <[email protected]> * Feat/smac planner include orientation flexibility (#4127) * include functionality to allow multiple goal heading for smac planner Signed-off-by: stevedanomodolor <[email protected]> * include missing parameter inclusion Signed-off-by: stevedanomodolor <[email protected]> * increase test coverage Signed-off-by: stevedanomodolor <[email protected]> --------- Signed-off-by: stevedanomodolor <[email protected]> * Support zero value for std_wz in mppi controller (#5110) * Support zero value for std_wz in mppi controller Signed-off-by: mini-1235 <[email protected]> * Update for better readability Signed-off-by: mini-1235 <[email protected]> --------- Signed-off-by: mini-1235 <[email protected]> * Update update_ci_image.yaml to include jazzy build (#5120) Signed-off-by: Steve Macenski <[email protected]> * Update update_ci_image.yaml to add humble Signed-off-by: Steve Macenski <[email protected]> * message_filters hpp headers have been backported (#5127) * message_filters hpp headers have been backported Signed-off-by: Tim Clephas <[email protected]> * fixup! message_filters hpp headers have been backported Signed-off-by: Tim Clephas <[email protected]> --------- Signed-off-by: Tim Clephas <[email protected]> * Update PULL_REQUEST_TEMPLATE.md Signed-off-by: Steve Macenski <[email protected]> * Bibtex formatting (#5126) * Align citation text to be within the bullet points. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Align formatting to match bibtex guide. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add justified spacing for readability. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Make sure fixed curvature lookahead distance doesn't overshoot distance to cusp (#5134) Related issue: https://github.com/ros-navigation/navigation2/issues/5098 * removing the start navigation message in the paused state from rviz buttons (#5137) Signed-off-by: Pradheep <[email protected]> * Added keepout filter for depot and warehouse maps (#5125) * Added keepout region to warehouse map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Support keepout_map as a launch argument. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added a dictionary to switch between tb4 maps. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dedicated launch file for map modifiers. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added support for depot keepout filter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Updated keepout masks for depot and warehouse. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed keepout filter launch arguments to keepout zones. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed keepout map launch argument to keepout mask Signed-off-by: Leander Stephen D'Souza <[email protected]> * Renamed map_modifier.launch.py to keepout_zone_launch.py. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Preserve duplication of nodes for keepout test. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Removed padding from keepout zones from depot map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added keepout zone at the centre of the warehouse map. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added utility script to handle namespaces for keepout_filter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Used utility function to simplify namespace calls. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Moved joinWithParentNamespace to the Layer object. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fix lattice backward 180 deg issue (#5141) Signed-off-by: selazarev <[email protected]> * [lifecycle_manager] expose service_timeout (#4838) * [lifecycle_manager] expose service_timeout Signed-off-by: Guillaume Doisy <[email protected]> * restore original change_state, and detect non_default_timeout Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * spell Signed-off-by: Guillaume Doisy <[email protected]> * collapse change_state and remove non_default_timeout logic Signed-off-by: Guillaume Doisy <[email protected]> * Update nav2_util/src/lifecycle_service_client.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Update simple_action_server.hpp for description (#5150) Signed-off-by: Steve Macenski <[email protected]> * reset motion model (#5149) Signed-off-by: Adi Vardi <[email protected]> * Show error if inflation radius is smaller than circumscribed radius (#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <[email protected]> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Tatsuro Sakaguchi <[email protected]> Signed-off-by: Michal Sojka <[email protected]> Signed-off-by: suchetanrs <[email protected]> Signed-off-by: Michael Carlstrom <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Yancey <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Johannes Plapp <[email protected]> Signed-off-by: Rasmus Larsson <[email protected]> Signed-off-by: zz990099 <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: John Chrosniak <[email protected]> Signed-off-by: stevedanomodolor <[email protected]> Signed-off-by: Tim Clephas <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: selazarev <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Tatsuro Sakaguchi <[email protected]> Co-authored-by: Michal Sojka <[email protected]> Co-authored-by: Michael Carlstrom <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Yancey <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Johannes Plapp <[email protected]> Co-authored-by: RasmusLar <[email protected]> Co-authored-by: zz99 <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: alexanderjyuen <[email protected]> Co-authored-by: John Chrosniak <[email protected]> Co-authored-by: Saikrishna Bairamoni <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: moooeeeep <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Semyon <[email protected]>

* merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge

* Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <[email protected]> * change cache version Signed-off-by: Nils-ChristianIseke <[email protected]> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <[email protected]> * xml update Signed-off-by: Guillaume Doisy <[email protected]> * rename to use_start Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> * descriptions Signed-off-by: Guillaume Doisy <[email protected]> * simplify logic Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <[email protected]> * raw pointer Signed-off-by: Guillaume Doisy <[email protected]> * suggestions from review Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Merged Fix navfn_planner from humble PR #5087 (#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <[email protected]> * Update pre-commit config changes Signed-off-by: Vignesh T <[email protected]> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Update include header include order Signed-off-by: Vignesh T <[email protected]> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <[email protected]> * Add comments for the code understanding Signed-off-by: Vignesh T <[email protected]> * Fix else braces rule issue Signed-off-by: Vignesh T <[email protected]> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> * Take flip part out of if-else Signed-off-by: Vignesh T <[email protected]> * Update pre-commit changes Signed-off-by: Vignesh T <[email protected]> --------- Signed-off-by: Vignesh T <[email protected]> * Precompute yaw trigonometric values in smac planner (#5109) Signed-off-by: mini-1235 <[email protected]> * removing the start navigation message in the paused state from rviz buttons (#5137) Signed-off-by: Pradheep <[email protected]> * Show error if inflation radius is smaller than circumscribed radius (#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <[email protected]> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Prevent MPPI controller from resetting speed limits upon goal execution. (#5165) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Fixing docking server when already docked at the requeste ddock (#5171) Signed-off-by: Steve Macenski <[email protected]> * Adding parameter util to node utils (#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <[email protected]> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <[email protected]> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <[email protected]> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <[email protected]> * Fixing codecove test Signed-off-by: Marco Bassa <[email protected]> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <[email protected]> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * added config for laserscan in lb-sim (#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <[email protected]> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <[email protected]> * review: use_inf is default:true and added parameters on readme #4992 Signed-off-by: RamanaBotta <[email protected]> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <[email protected]> --------- Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Publish planned footprints after smoothing (#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <[email protected]> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <[email protected]> * address PR comments Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix build error Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * fixing deprecation warning (#5182) Signed-off-by: Steve Macenski <[email protected]> * Adding missing dep to loopback sim (#5204) * Adding missing dep Signed-off-by: Steve Macenski <[email protected]> * typo Signed-off-by: Steve Macenski <[email protected]> * updating fix Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <[email protected]> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <[email protected]> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Vignesh T <[email protected]> Signed-off-by: mini-1235 <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Sandeep Dutta <[email protected]> Co-authored-by: Vignesh T <[email protected]> Co-authored-by: mini-1235 <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]>

sandeepdutta added 13 commits September 14, 2024 11:00

added disengage_threshold

3dd2ec6

added global costmap clearing once it reaches goal

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merged with origin

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fixed merge error in rotaton_shim_controller

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Merge branch 'humble' of https://github.com/ros-navigation/navigation2 …

f70f61d

…into humble

fixed pose header frame_id in nav2_navfn_planner

e7d1556

SteveMacenski requested changes Apr 15, 2025

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reverted change to nav2_bt_navigator/behavior_trees/navigate_to_pose_…

0dda7d4

…w_replanning_and_recovery.xml

SteveMacenski approved these changes Apr 16, 2025

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one more spot for the header update

ed1c560

SteveMacenski merged commit c270b40 into ros-navigation:humble Apr 17, 2025
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Humble: nav2_navfn_planner poses created had uninitialized header #5087

Humble: nav2_navfn_planner poses created had uninitialized header #5087

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sandeepdutta commented Apr 14, 2025

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SteveMacenski commented Apr 16, 2025

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sandeepdutta commented Apr 16, 2025

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sandeepdutta commented Apr 17, 2025

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Humble: nav2_navfn_planner poses created had uninitialized header #5087

Humble: nav2_navfn_planner poses created had uninitialized header #5087

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sandeepdutta commented Apr 14, 2025

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SteveMacenski commented Apr 16, 2025

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