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SteveMacenskialyquantillionanaelle-swasarazinaosmw
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Jazzy sync 3: Nov 8, 2024 (#4747)
* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627) * adding non-charging dock support to docking server Signed-off-by: Steve Macenski <[email protected]> * docs and linting * adding unit tests Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Publish optimal trajectory as a Path message (#4640) * Publish optimal trajectory as a Path message Signed-off-by: Alyssa Agnissan <[email protected]> * move publish_optimal_path to TrajectoryVisualizer + minor refactoring Signed-off-by: Alyssa Agnissan <[email protected]> * tests added for optimal path publication Signed-off-by: Alyssa Agnissan <[email protected]> * populate optimal path message in add() Signed-off-by: Alyssa Agnissan <[email protected]> * move path population in add_marker Signed-off-by: Alyssa Agnissan <[email protected]> --------- Signed-off-by: Alyssa Agnissan <[email protected]> * [collision monitor] Select the observation sources used with each polygon (#4227) * Collision monitor: select specific observation sources for polygon Signed-off-by: asarazin <[email protected]> * optimization Signed-off-by: asarazin <[email protected]> * add tests Signed-off-by: asarazin <[email protected]> --------- Signed-off-by: asarazin <[email protected]> Co-authored-by: asarazin <[email protected]> * Restore exported BT test utils header files after cmake revamp (#4652) (#4654) Signed-off-by: Mike Wake <[email protected]> * fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649) Signed-off-by: Alan Xue <[email protected]> * PoseStamped vector specialization (#4607) * PoseStamped vector specialization Signed-off-by: Tony Najjar <[email protected]> * merge master Signed-off-by: Tony Najjar <[email protected]> * add path Signed-off-by: Tony Najjar <[email protected]> * fix size check Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> * Revert "fix test" This reverts commit 51f54eb. * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * [DWB] Option to limit velocity commands in trajectory generator (#4663) * Option to limit vel cmd through traj generator Signed-off-by: huiyulhy <[email protected]> * Cleanup Signed-off-by: huiyulhy <[email protected]> * fix linting Signed-off-by: huiyulhy <[email protected]> * Update linting Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> * uncrustify Signed-off-by: huiyulhy <[email protected]> --------- Signed-off-by: huiyulhy <[email protected]> * Adding planner server timeout for costmap waiting (#4673) * Adding planner server timeout for costmap waiting Signed-off-by: Steve Macenski <[email protected]> * Adding controller server's costmap timeout as well Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * fixing path longer on approach (#4622) * fixing path longer on approach Signed-off-by: Pradheep <[email protected]> * removing the short circuit Signed-off-by: Pradheep <[email protected]> * adding additional layer of check Signed-off-by: Pradheep <[email protected]> --------- Signed-off-by: Pradheep <[email protected]> * fix to bt action server logging before bt execution result being ready (#4677) Signed-off-by: DreamWest <[email protected]> * Correct paper name for graceful controller Signed-off-by: Steve Macenski <[email protected]> * Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698) * fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> * fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node Signed-off-by: Tiwa Ojo <[email protected]> --------- Signed-off-by: Tiwa Ojo <[email protected]> * Fixing SGF in MPPI and Smoother (#4669) Signed-off-by: Steve Macenski <[email protected]> * fix: handle transition failures in all servers (#4708) * fix: handle transition failures in planner/controller/smoother servers Signed-off-by: Kemal Bektas <[email protected]> * adding support for rest of servers + review comments Signed-off-by: Steve Macenski <[email protected]> * Replacing throws with error and failed lifecycle transitions Signed-off-by: Steve Macenski <[email protected]> * fix vel smoother unit tests Signed-off-by: Steve Macenski <[email protected]> * fixing docking server unit testing Signed-off-by: Steve Macenski <[email protected]> * fixing last bits 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]> * [RotationShimController] fix: rotate on short paths (#4716) Add header data to goal for short paths. Commit d8ae3c1 added the possibility to the rotation shim controller to rotate towards the goal when the goal was closer that the `forward_sampling_distance`. This feature was not fully working as the goal was missing proper header data, causing the rotation shim to give back control to the main controller. Co-authored-by: agennart <[email protected]> * Added parameter `rotate_to_heading_once` (#4721) Signed-off-by: Daniil Khaninaev <[email protected]> * [RotationShimController] fix: rotate to goal heading (#4724) Add frame_id to goal when rotating towards goal heading, otherwise the transform would fail. This bug was introduced in 30e2cde by not setting the frame_id. Signed-off-by: agennart <[email protected]> Co-authored-by: agennart <[email protected]> * [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726) * Publish /clock from loopback sim Signed-off-by: Adi Vardi <[email protected]> * [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t. This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data. In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS) Signed-off-by: Adi Vardi <[email protected]> * [nav2_smac_planner] fix typos Signed-off-by: Adi Vardi <[email protected]> * Use single quotes Signed-off-by: Adi Vardi <[email protected]> --------- Signed-off-by: Adi Vardi <[email protected]> * Fix incorrect doxygen comment (#4741) Signed-off-by: Ryan Friedman <[email protected]> * Updating error logging in Smac collision detector object (#4743) * Updating error logging in Smac configs Signed-off-by: Steve Macenski <[email protected]> * linting Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * [map_io] Replace std logs by rclcpp logs (#4720) * replace std logs by rclcpp logs Signed-off-by: Guillaume Doisy <[email protected]> * RCLCPP_DEBUG to RCLCPP_INFO for visibility Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * manual backport to Jazzy of 6b2e244 Signed-off-by: Steve Macenski <[email protected]> * bump to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * fixing backport issue Signed-off-by: Steve Macenski <[email protected]> * fixing backport of docking linking changes Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Alyssa Agnissan <[email protected]> Signed-off-by: asarazin <[email protected]> Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Alan Xue <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: huiyulhy <[email protected]> Signed-off-by: Pradheep <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Tiwa Ojo <[email protected]> Signed-off-by: Kemal Bektas <[email protected]> Signed-off-by: Daniil Khaninaev <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Adi Vardi <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: alyquantillion <[email protected]> Co-authored-by: anaelle-sw <[email protected]> Co-authored-by: asarazin <[email protected]> Co-authored-by: aosmw <[email protected]> Co-authored-by: Alan <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Tiwa Ojo <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Daniil Khaninaev <[email protected]> Co-authored-by: Adi Vardi <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]>
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‎nav2_amcl/package.xml‎

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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_amcl</name>
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<version>1.3.2</version>
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<version>1.3.3</version>
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<description>
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<p>
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amcl is a probabilistic localization system for a robot moving in

‎nav2_behavior_tree/CMakeLists.txt‎

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@@ -246,6 +246,10 @@ install(DIRECTORY test/utils/
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DESTINATION include/${PROJECT_NAME}/utils/
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)
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install(DIRECTORY test/utils/
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DESTINATION include/${PROJECT_NAME}/nav2_behavior_tree/test/utils
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)
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install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
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install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
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‎nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp‎

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@@ -58,9 +58,7 @@ class BtActionNode : public BT::ActionNodeBase
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// Get the required items from the blackboard
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auto bt_loop_duration =
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config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
61-
server_timeout_ =
62-
config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
63-
getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
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getInputOrBlackboard("server_timeout", server_timeout_);
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wait_for_service_timeout_ =
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config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
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‎nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp‎

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@@ -310,18 +310,18 @@ void BtActionServer<ActionT>::executeCallback()
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switch (rc) {
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case nav2_behavior_tree::BtStatus::SUCCEEDED:
313-
RCLCPP_INFO(logger_, "Goal succeeded");
314313
action_server_->succeeded_current(result);
314+
RCLCPP_INFO(logger_, "Goal succeeded");
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break;
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317317
case nav2_behavior_tree::BtStatus::FAILED:
318-
RCLCPP_ERROR(logger_, "Goal failed");
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action_server_->terminate_current(result);
319+
RCLCPP_ERROR(logger_, "Goal failed");
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break;
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322322
case nav2_behavior_tree::BtStatus::CANCELED:
323-
RCLCPP_INFO(logger_, "Goal canceled");
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action_server_->terminate_all(result);
324+
RCLCPP_INFO(logger_, "Goal canceled");
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break;
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}
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‎nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp‎

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@@ -56,9 +56,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
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callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
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// Get the required items from the blackboard
59-
server_timeout_ =
60-
config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
61-
getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
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getInputOrBlackboard("server_timeout", server_timeout_);
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wait_for_service_timeout_ =
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config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
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‎nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp‎

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@@ -59,9 +59,7 @@ class BtServiceNode : public BT::ActionNodeBase
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// Get the required items from the blackboard
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auto bt_loop_duration =
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config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
62-
server_timeout_ =
63-
config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
64-
getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
62+
getInputOrBlackboard("server_timeout", server_timeout_);
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wait_for_service_timeout_ =
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config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
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‎nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp‎

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#include <string>
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#include <set>
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#include <vector>
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2122
#include "rclcpp/time.hpp"
2223
#include "rclcpp/node.hpp"
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#include "behaviortree_cpp/behavior_tree.h"
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#include "geometry_msgs/msg/point.hpp"
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#include "geometry_msgs/msg/quaternion.hpp"
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#include "geometry_msgs/msg/pose_stamped.hpp"
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#include "nav_msgs/msg/path.hpp"
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namespace BT
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{
@@ -102,6 +104,70 @@ inline geometry_msgs::msg::PoseStamped convertFromString(const StringView key)
102104
}
103105
}
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107+
/**
108+
* @brief Parse XML string to std::vector<geometry_msgs::msg::PoseStamped>
109+
* @param key XML string
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* @return std::vector<geometry_msgs::msg::PoseStamped>
111+
*/
112+
template<>
113+
inline std::vector<geometry_msgs::msg::PoseStamped> convertFromString(const StringView key)
114+
{
115+
// 9 real numbers separated by semicolons
116+
auto parts = BT::splitString(key, ';');
117+
if (parts.size() % 9 != 0) {
118+
throw std::runtime_error("invalid number of fields for std::vector<PoseStamped> attribute)");
119+
} else {
120+
std::vector<geometry_msgs::msg::PoseStamped> poses;
121+
for (size_t i = 0; i < parts.size(); i += 9) {
122+
geometry_msgs::msg::PoseStamped pose_stamped;
123+
pose_stamped.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
124+
pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
125+
pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
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pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
127+
pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
128+
pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
129+
pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
130+
pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
131+
pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
132+
poses.push_back(pose_stamped);
133+
}
134+
return poses;
135+
}
136+
}
137+
138+
/**
139+
* @brief Parse XML string to nav_msgs::msg::Path
140+
* @param key XML string
141+
* @return nav_msgs::msg::Path
142+
*/
143+
template<>
144+
inline nav_msgs::msg::Path convertFromString(const StringView key)
145+
{
146+
// 9 real numbers separated by semicolons
147+
auto parts = BT::splitString(key, ';');
148+
if ((parts.size() - 2) % 9 != 0) {
149+
throw std::runtime_error("invalid number of fields for Path attribute)");
150+
} else {
151+
nav_msgs::msg::Path path;
152+
path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[0]));
153+
path.header.frame_id = BT::convertFromString<std::string>(parts[1]);
154+
for (size_t i = 2; i < parts.size(); i += 9) {
155+
geometry_msgs::msg::PoseStamped pose_stamped;
156+
path.header.stamp = rclcpp::Time(BT::convertFromString<int64_t>(parts[i]));
157+
pose_stamped.header.frame_id = BT::convertFromString<std::string>(parts[i + 1]);
158+
pose_stamped.pose.position.x = BT::convertFromString<double>(parts[i + 2]);
159+
pose_stamped.pose.position.y = BT::convertFromString<double>(parts[i + 3]);
160+
pose_stamped.pose.position.z = BT::convertFromString<double>(parts[i + 4]);
161+
pose_stamped.pose.orientation.x = BT::convertFromString<double>(parts[i + 5]);
162+
pose_stamped.pose.orientation.y = BT::convertFromString<double>(parts[i + 6]);
163+
pose_stamped.pose.orientation.z = BT::convertFromString<double>(parts[i + 7]);
164+
pose_stamped.pose.orientation.w = BT::convertFromString<double>(parts[i + 8]);
165+
path.poses.push_back(pose_stamped);
166+
}
167+
return path;
168+
}
169+
}
170+
105171
/**
106172
* @brief Parse XML string to std::chrono::milliseconds
107173
* @param key XML string

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp‎

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#include "nav2_util/geometry_utils.hpp"
2424
#include "nav2_util/robot_utils.hpp"
2525
#include "behaviortree_cpp/action_node.h"
26+
#include "nav2_behavior_tree/bt_utils.hpp"
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namespace nav2_behavior_tree
2829
{

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp‎

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@@ -24,6 +24,7 @@
2424
#include "rclcpp/rclcpp.hpp"
2525
#include "geometry_msgs/msg/pose_stamped.hpp"
2626
#include "tf2_ros/buffer.h"
27+
#include "nav2_behavior_tree/bt_utils.hpp"
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namespace nav2_behavior_tree
2930
{

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp‎

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2323
#include "behaviortree_cpp/condition_node.h"
2424
#include "geometry_msgs/msg/pose_stamped.hpp"
25+
#include "nav2_behavior_tree/bt_utils.hpp"
2526

2627

2728
namespace nav2_behavior_tree

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