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SteveMacenskiredvinaaDylanDeCoeyer-Quimesisalexanderjyuen
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Jazzy Sync 4: Dec 13, 2024 (#4797)
* Pass IDLE to on_tick, use that for initialize condition (#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <[email protected]> * Fix battery sub creation bug Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> * nav2_costmap_2d: add missing default_value_ copy in Costmap2D operator= (#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <[email protected]> * nav2_costmap_2d plugin container layer (#4781) * updated CMakeLists.txt to include plugin_container_layer Signed-off-by: alexander <[email protected]> * added plugin container layer to costmap_plugins.xml Signed-off-by: alexander <[email protected]> * initial commit of plugin container layer Signed-off-by: alexander <[email protected]> * fixed plugin namespace Signed-off-by: alexander <[email protected]> * fixed message_filter Signed-off-by: alexander <[email protected]> * linting Signed-off-by: alexander <[email protected]> * modified addPlugin method to also take layer name Signed-off-by: alexander <[email protected]> * reverted default plugins to be empty, free costmap_ during layer destruction, changed addPlugin to take layer name as an argument Signed-off-by: alexander <[email protected]> * CMake changes to test plugin container layer Signed-off-by: alexander <[email protected]> * added helper method to add plugin container layer Signed-off-by: alexander <[email protected]> * added initial implementation of plugin container tests Signed-off-by: alexander <[email protected]> * added enable to dynamic params, removed unecessary comments, removed unecessary members Signed-off-by: alexander <[email protected]> * cleaned up and added additional tests Signed-off-by: alexander <[email protected]> * added Apache copyrights Signed-off-by: alexander <[email protected]> * linting for ament_cpplint Signed-off-by: alexander <[email protected]> * added example file for plugin_container_layer to nav2_bringup Signed-off-by: alexander <[email protected]> * removed unused rolling_window_ member variable Signed-off-by: alexander <[email protected]> * removed default plugins and plugin types Signed-off-by: alexander <[email protected]> * switched to using CombinationMethod enum, added updateWithMaxWithoutUnknownOverwrite case Signed-off-by: alexander <[email protected]> * removed combined_costmap_ Signed-off-by: alexander <[email protected]> * fixed layer naming and accomodating tests Signed-off-by: alexander <[email protected]> * removed nav2_params_plugin_container_layer.yaml Signed-off-by: alexander <[email protected]> * added more comprehensive checks for checking if layers are clearable Signed-off-by: alexander <[email protected]> * added dynamics parameter handling, fixed current_ setting, increased test coverage Signed-off-by: alexander <[email protected]> * removed unnecessary locks, added default value Signed-off-by: alexander <[email protected]> * removed unecessary resetMap Signed-off-by: alexander <[email protected]> * added layer resetting when reset method is called Signed-off-by: alexander <[email protected]> * swapped logic for isClearable Signed-off-by: alexander <[email protected]> * fixed breaking tests, removed unnecessary combined_costmap_ Signed-off-by: alexander <[email protected]> * consolidated initialization for loops Signed-off-by: alexander <[email protected]> * switched default_value_ to NO_INFORMATION Signed-off-by: alexander <[email protected]> * added clearArea function Signed-off-by: alexander <[email protected]> * added clearArea test Signed-off-by: alexander <[email protected]> * removed TODO message Signed-off-by: alexander <[email protected]> * removed constructor and destructors since they do nothing Signed-off-by: alexander <[email protected]> * added check on costmap layer to see if it is clearable first Signed-off-by: alexander <[email protected]> * fixed tests for clearing functionality Signed-off-by: alexander <[email protected]> * added try catch around initialization of plugins Signed-off-by: alexander <[email protected]> * fixed indents Signed-off-by: alexander <[email protected]> --------- Signed-off-by: alexander <[email protected]> * bumping to 1.3.3 for jazzy sync Signed-off-by: Steve Macenski <[email protected]> * Fix backporting error: renamed header files Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: alexander <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Vince Reda <[email protected]> Co-authored-by: DylanDeCoeyer-Quimesis <[email protected]> Co-authored-by: alexanderjyuen <[email protected]>
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‎nav2_amcl/package.xml‎

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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>1.3.3</version>
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<version>1.3.4</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/include/nav2_behavior_tree/bt_action_node.hpp‎

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@@ -191,15 +191,15 @@ class BtActionNode : public BT::ActionNodeBase
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{
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// first step to be done only at the beginning of the Action
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if (!BT::isStatusActive(status())) {
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// setting the status to RUNNING to notify the BT Loggers (if any)
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setStatus(BT::NodeStatus::RUNNING);
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// reset the flag to send the goal or not, allowing the user the option to set it in on_tick
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should_send_goal_ = true;
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// user defined callback, may modify "should_send_goal_".
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on_tick();
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// setting the status to RUNNING to notify the BT Loggers (if any)
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setStatus(BT::NodeStatus::RUNNING);
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if (!should_send_goal_) {
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return BT::NodeStatus::FAILURE;
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}

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp‎

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@@ -86,7 +86,6 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
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private:
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bool is_recovery_;
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp‎

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@@ -84,9 +84,6 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
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"error_code_id", "The back up behavior server error code")
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});
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}
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private:
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

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

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@@ -61,7 +61,6 @@ class RemovePassedGoals : public BT::ActionNodeBase
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double transform_tolerance_;
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std::shared_ptr<tf2_ros::Buffer> tf_;
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std::string robot_base_frame_;
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp‎

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@@ -86,7 +86,6 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
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private:
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bool is_recovery_;
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp‎

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@@ -61,9 +61,6 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
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BT::InputPort<double>("wait_duration", 1.0, "Wait time")
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});
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}
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private:
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

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

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@@ -80,7 +80,6 @@ class DistanceTraveledCondition : public BT::ConditionNode
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double distance_;
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double transform_tolerance_;
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std::string global_frame_, robot_base_frame_;
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_reached_condition.hpp‎

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rclcpp::Node::SharedPtr node_;
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std::shared_ptr<tf2_ros::Buffer> tf_;
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bool initialized_;
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double goal_reached_tol_;
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double transform_tolerance_;
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std::string robot_base_frame_;

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp‎

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double min_battery_;
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bool is_voltage_;
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bool is_battery_low_;
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bool initialized_;
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};
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} // namespace nav2_behavior_tree

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