Skip to content

Commit 6cee761

Browse files
SteveMacenskipepisgWiktor-99perchessGoesM
authored
Humble release 11: May 23, 2024 (#4365)
* Scale cost critic's weight when dynamically updated (#4246) * Scale cost critic's weight when dynamically updated Signed-off-by: pepisg <[email protected]> * sign off Signed-off-by: pepisg <[email protected]> --------- Signed-off-by: pepisg <[email protected]> * Add expanding the ~/ to the full home dir of user in the path to the map yaml. (#4258) * Add user home expander of home sequence Signed-off-by: Wiktor Bajor <[email protected]> * Add passing home dir as string instead of const char* Signed-off-by: Wiktor Bajor <[email protected]> * Add docs Signed-off-by: Wiktor Bajor <[email protected]> * Fix function declaration Signed-off-by: Wiktor Bajor <[email protected]> * Fix linter issues Signed-off-by: Wiktor Bajor <[email protected]> * Uncrustify linter Signed-off-by: Wiktor Bajor <[email protected]> * Uncrustify linter Signed-off-by: Wiktor Bajor <[email protected]> * Uncrustify linter: remove remove whitespace Signed-off-by: Wiktor Bajor <[email protected]> --------- Signed-off-by: Wiktor Bajor <[email protected]> * Implement Critic for Velocity Deadband Hardware Constraints (#4256) * Adding new velocity deadband critic. - add some tests - cast double to float - add new features from "main" branch - fix formating - add cost test - fix linting issue - add README Signed-off-by: Denis Sokolov <[email protected]> * Remove velocity deadband critic from defaults Signed-off-by: Denis Sokolov <[email protected]> * remove old weight Signed-off-by: Denis Sokolov <[email protected]> * fix velocity deadband critic tests Signed-off-by: Denis Sokolov <[email protected]> --------- Signed-off-by: Denis Sokolov <[email protected]> * removing clearable layer param (unused) (#4280) * provide message validation check API (#4276) * provide validation_message.hpp Signed-off-by: goes <[email protected]> * fix typo Signed-off-by: goes <[email protected]> * add test_validation_messages.cpp Signed-off-by: goes <[email protected]> * change include-order Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> --------- Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]> * Add footprint clearing for static layer (#4282) * Add footprint clearing for static layer Signed-off-by: Tony Najjar <[email protected]> * fix flckering --------- Signed-off-by: Tony Najjar <[email protected]> * Fix #4268 (#4296) Signed-off-by: Steve Macenski <[email protected]> * Update README.md of nav2_bt_navigator (#4309) Update link to docs Signed-off-by: João Britto <[email protected]> * Fix undefined symbols in `libpf_lib.so` (#4312) When I build `nav2_amcl` with `-Wl,--no-undefined` I noticed `libpf_lib.so` has undefined symbols. This PR correctly links `libpf_lib.so` to `libm` so all symbols can be found. You can verify this by executing the following command: ``` ldd -r ./build/nav2_amcl/src/pf/libpf_lib.so linux-vdso.so.1 (0x00007ffd1f8c0000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000074e909a00000) /lib64/ld-linux-x86-64.so.2 (0x000074e909e60000) undefined symbol: ceil (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: atan2 (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sin (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: hypot (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: cos (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: log (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: sqrt (./build/nav2_amcl/src/pf/libpf_lib.so) undefined symbol: floor (./build/nav2_amcl/src/pf/libpf_lib.so) ``` Signed-off-by: Ramon Wijnands <[email protected]> * msg validation check for `/initialpose` in `nav2_amcl` (#4301) * add validation check for PoseWithCovarianceStamped Signed-off-by: goes <[email protected]> * remove rebundant check before Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * typo fixed Signed-off-by: goes <[email protected]> * change the type-name Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> * reformat Signed-off-by: goes <[email protected]> * . Signed-off-by: goes <[email protected]> * add comment Signed-off-by: goes <[email protected]> * update comment Signed-off-by: goes <[email protected]> * change header Signed-off-by: goes <[email protected]> * update test Signed-off-by: goes <[email protected]> * typo fixed Signed-off-by: goes <[email protected]> --------- Signed-off-by: goes <[email protected]> Co-authored-by: goes <[email protected]> * 4320: Changed precision of calculations of the HybridNode MotionTable::getClosestAngularBin. (#4324) Signed-off-by: Krzysztof Pawełczyk <[email protected]> Co-authored-by: Krzysztof Pawełczyk <[email protected]> * [LifecycleNode] add bond_heartbeat_period (#4342) * add bond_heartbeat_period Signed-off-by: Guillaume Doisy <[email protected]> * lint Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Update path_longer_on_approach.cpp (#4344) Fix the bug that isPathUpdated function will return false for the reason that it compare the timestaped between new path and old path's last pose Signed-off-by: StetroF <[email protected]> * [LifecycleManagerClient] clean set_initial_pose and navigate_to_pose (#4346) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Move projectState after getPointsInside (#4356) * Modify test to check fix Signed-off-by: Brice <[email protected]> * Add static polygon check before simulation Signed-off-by: Brice <[email protected]> --------- Signed-off-by: Brice <[email protected]> * adding final pose in analytic expansion to check (#4353) * fix sync merge conflicts * bump humble to 1.1.15 for release * Revert "[LifecycleNode] add bond_heartbeat_period (#4342)" This reverts commit 6e44178. --------- Signed-off-by: pepisg <[email protected]> Signed-off-by: Wiktor Bajor <[email protected]> Signed-off-by: Denis Sokolov <[email protected]> Signed-off-by: goes <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: João Britto <[email protected]> Signed-off-by: Ramon Wijnands <[email protected]> Signed-off-by: Krzysztof Pawełczyk <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: StetroF <[email protected]> Signed-off-by: Brice <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Wiktor Bajor <[email protected]> Co-authored-by: Sokolov Denis <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: goes <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: João Britto <[email protected]> Co-authored-by: Ramon Wijnands <[email protected]> Co-authored-by: AzaelCicero <[email protected]> Co-authored-by: Krzysztof Pawełczyk <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: StetroF <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]>
1 parent 8f097af commit 6cee761

File tree

68 files changed

+969
-78
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

68 files changed

+969
-78
lines changed

‎nav2_amcl/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_amcl</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>
77
<p>
88
amcl is a probabilistic localization system for a robot moving in

‎nav2_amcl/src/amcl_node.cpp‎

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@
4949
#pragma GCC diagnostic pop
5050

5151
#include "nav2_amcl/portable_utils.hpp"
52+
#include "nav2_util/validate_messages.hpp"
5253

5354
using namespace std::placeholders;
5455
using rcl_interfaces::msg::ParameterType;
@@ -523,11 +524,8 @@ AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::Sha
523524

524525
RCLCPP_INFO(get_logger(), "initialPoseReceived");
525526

526-
if (msg->header.frame_id == "") {
527-
// This should be removed at some point
528-
RCLCPP_WARN(
529-
get_logger(),
530-
"Received initial pose with empty frame_id. You should always supply a frame_id.");
527+
if (!nav2_util::validateMsg(*msg)) {
528+
RCLCPP_ERROR(get_logger(), "Received initialpose message is malformed. Rejecting.");
531529
return;
532530
}
533531
if (nav2_util::strip_leading_slash(msg->header.frame_id) != global_frame_id_) {
@@ -1381,6 +1379,10 @@ void
13811379
AmclNode::mapReceived(const nav_msgs::msg::OccupancyGrid::SharedPtr msg)
13821380
{
13831381
RCLCPP_DEBUG(get_logger(), "AmclNode: A new map was received.");
1382+
if (!nav2_util::validateMsg(*msg)) {
1383+
RCLCPP_ERROR(get_logger(), "Received map message is malformed. Rejecting.");
1384+
return;
1385+
}
13841386
if (first_map_only_ && first_map_received_) {
13851387
return;
13861388
}

‎nav2_amcl/src/pf/CMakeLists.txt‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,7 @@ target_include_directories(pf_lib PRIVATE ../include)
1515
if(HAVE_DRAND48)
1616
target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
1717
endif()
18+
target_link_libraries(pf_lib m)
1819

1920
install(TARGETS
2021
pf_lib

‎nav2_behavior_tree/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_behavior_tree</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>TODO</description>
77
<maintainer email="[email protected]">Michael Jeronimo</maintainer>
88
<maintainer email="[email protected]">Carlos Orduno</maintainer>

‎nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ bool PathLongerOnApproach::isPathUpdated(
3636
{
3737
return new_path != old_path && old_path.poses.size() != 0 &&
3838
new_path.poses.size() != 0 &&
39-
old_path.poses.back() == new_path.poses.back();
39+
old_path.poses.back().pose == new_path.poses.back().pose;
4040
}
4141

4242
bool PathLongerOnApproach::isRobotInGoalProximity(

‎nav2_behaviors/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_behaviors</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>TODO</description>
77
<maintainer email="[email protected]">Carlos Orduno</maintainer>
88
<maintainer email="[email protected]">Steve Macenski</maintainer>

‎nav2_bringup/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_bringup</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>Bringup scripts and configurations for the Nav2 stack</description>
77
<maintainer email="[email protected]">Michael Jeronimo</maintainer>
88
<maintainer email="[email protected]">Steve Macenski</maintainer>

‎nav2_bt_navigator/README.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22

33
The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose and NavigateThroughPoses task interfaces. It is a [Behavior Tree](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/docs/BT_basics.md)-based implementation of navigation that is intended to allow for flexibility in the navigation task and provide a way to easily specify complex robot behaviors.
44

5-
See its [Configuration Guide Page](https://navigation.ros.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://navigation.ros.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
5+
See its [Configuration Guide Page](https://docs.nav2.org/configuration/packages/configuring-bt-navigator.html) for additional parameter descriptions, as well as the [Nav2 Behavior Tree Explanation](https://docs.nav2.org/behavior_trees/index.html) pages explaining more context on the default behavior trees and examples provided in this package.
66

77
## Overview
88

‎nav2_bt_navigator/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_bt_navigator</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>TODO</description>
77
<maintainer email="[email protected]">Michael Jeronimo</maintainer>
88
<license>Apache-2.0</license>

‎nav2_collision_monitor/package.xml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>nav2_collision_monitor</name>
5-
<version>1.1.14</version>
5+
<version>1.1.15</version>
66
<description>Collision Monitor</description>
77
<maintainer email="[email protected]">Alexey Merzlyakov</maintainer>
88
<maintainer email="[email protected]">Steve Macenski</maintainer>

0 commit comments

Comments
 (0)