This reverts commit 7a14c46.

This reverts commit 10445f1.

…avigation#3021)

* adding timeout for action client initialization

Signed-off-by: Vinny Ruia <[email protected]>

* adding constant 1s timeout, catching exception

Signed-off-by: Vinny Ruia <[email protected]>

ros-navigation#3036)

* - Modified findVelocitySignChange method to transform cusp into robot frame before returning distance_to_cusp

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

* - Previous commit had incorrect usage of method transformPose based on different nav2 branch.
- Now a placeholder pose, input pose and desired frame id is passed.

Signed-off-by: Steven Brills <[email protected]>

* Failed lint check due to stray blank line.  Removed the blank line

* - Modified findVelocitySignChange function to take the transformed plan in robot's frame
- Removed need to pass pose to the findVelocitySignChange function

* - Modified the test file to reflect change in new parameters that findVelocitySignChange expects.

Signed-off-by: Steven Brills <[email protected]>

* - Corrected call to transformGlobalPoseWrapper method of BasicAPIRPP object.

Signed-off-by: Steven Brills <[email protected]>

* - transformGlobalPlanWrapper call bug fix

Signed-off-by: Steven Brills <[email protected]>

* - Updated tests now require frame_id and time_stamp for conversion since transformed plan is to be used.

Signed-off-by: Steven Brills <[email protected]>

* - Missing ; in test method

Signed-off-by: Steven Brills <[email protected]>

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

* -Modified findVelocitySignChange tests in test_regulated_pp to use transformed_plan instead

Signed-off-by: Steven Brills <[email protected]>

Co-authored-by: Steven Brills <[email protected]>

* cleanup warnings

* removed referenc

* first draft for goal updated controller

Signed-off-by: relffok <[email protected]>

* added goal_updated_controller to all yamls

* added GoalUpdatedController API

* added GoaUpdatedController to default plugins

* removed first_time param

* added test for GoalUpdatedController

* linter fix

)

Co-authored-by: Srijanee Biswas <[email protected]>

* accepting empty yaml_filename if no initial map is available

* invalid load_map-request does not invalidate existing map, added Testcase

* style

* finish PR 2929

* finish linting

* removing change

* removing change

* Update test_map_server_node.cpp

* Update test_map_server_node.cpp

Co-authored-by: Nikolas Engelhard <[email protected]>

* forward porting ros-navigation#3053

* adding TF warning suggestion

…name of action for BT action nodes (ros-navigation#3071)

* adding looping timeout for lifecycle service clients + adding string name of action for BT action nodes

* fix linting

* remove inline comment

* adding goal updated controller node to test

* removing 4-connected option from smac; fixing 2D heuristic and traversal function from other planner's changes

* fix name of variable since no longer a neighborhood

* partial test updates

* ported unit tests fully

* revert to no costmap downsampling

* Add Collision Monitor node

* Meet review items

* Fix next review items

* Code cleanup

* Support dynamic footprint. More optimizations.

* Switch to multiple footprints. Move variables.
Remove odom subscriber. Add 0-velocity optimization

* Update nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/params/collision_monitor_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* Meet smaller review items

* Add fixes found during unit test development

* Fix uncrustify issues

* Add unit tests

* Fix number of polygons points

* Move tests

* Add kinematics unit test

* Minor tests fixes

* Remove commented line

* Add edge case checking testcase and references

* Update comment

* Add README.md

* Fixed table

* Minor changes in README.md

* Fix README.md for documentation pages

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Update nav2_collision_monitor/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Meet review items

* Meet review items (part 2)

* Update polygons picture for README

* Change simulation_time_step to 0.1

* Fix bounding boxes to fit the demo from README.md

* Terminology fixes

Co-authored-by: Steve Macenski <[email protected]>

)

* Fix for ros-navigation#3078, fix image path in YAML

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* Update map_io.cpp

* do not depend on velocity for approach scaling

* add approach_velocity_scaling_dist to README

* do not pass references to shared ptr

* fixup! do not pass references to shared ptr

* fix approach velocity scaling compile issues

* default approach_velocity_scaling_dist based on costmap size

* change default approach_velocity_scaling_dist to 0.6 to match previous behavior

* update tests for approach velocity scaling

* remove use_approach_linear_velocity_scaling from readme

* smooth approach velocity scaling

…os-navigation#3093)

Signed-off-by: Aaron Chong <[email protected]>

Signed-off-by: Aaron Chong <[email protected]>

* Fix Costmap Filters system tests

* Update map_io.cpp

Co-authored-by: Alexey Merzlyakov <[email protected]>

…ation#3130)

…or cancelled (ros-navigation#3114)

* set empty path on black on failure

* docs

* switched to correct message type

* set empty path for compute_path_through_poses

)

Co-authored-by: kevin <[email protected]>

* added log level for navigation launch

* localization log level

* slam log level

* revert use_comp

* added log level to components

* start is now added to the path

* lint fix

Current example doesn't work with the updates.

…ch (ros-navigation#3123)

* Update nav2_params.yaml

* Update nav2_params.yaml

* Update nav2_params.yaml

* initial commit

* fix

* fixes

* revert

* fix

* linting

* fixes

* fix format

* fixing pycodestyle

* revert typo

* add use_sim_time to costmap

* add parameter description

* fix defaults

* fix formatting

* standalone assisted teleop

* added in action message

* code review

* moved to behavior server

* added assisted teleop bt node

* revert

* added bt node for assisted teleop

* lint fix

* added cancel assisted teleop node

* code review

* working

* cleanup

* updated feeback

* code review

* update compute velocity

* cleanup

* lint fixes

* cleanup

* test fix

* starting to add tests for assisted teleop

* fixed tests

* undo

* fixed test

* is_recovery

* adjust abort result based on recovery or not

* code review

* added preempt velocity

* working preempt assisted teleop test

* completed assisted teleop tests

* code review

* undo

* code review

* remove sleep

* topic rename

* missing comma

* added comma :(

* added comma

Co-authored-by: Steve Macenski <[email protected]>

…#3099)

* Support range sensors in Collision Monitor

* Adjust README.md

* Meet review fixes

…os-navigation#3153)

* Change deprecated function

* Update smoother_cost_function.hpp

…ion#3162)

…os-navigation#3145)

* bugfix (ros-navigation#3109) deadlock when costmap receives new map

Signed-off-by: Daisuke Sato <[email protected]>

* introduce map_received_in_update_bounds_ flag to make sure processMap will not be called between updateBounds and updateCosts

Signed-off-by: Daisuke Sato <[email protected]>

Signed-off-by: Daisuke Sato <[email protected]>

* initial commit costmap_2d template

Signed-off-by: Stevedan Omodolor <[email protected]>

* finish task A and tested

* lint

* Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py

Co-authored-by: Steve Macenski <[email protected]>

* fix trailing underscores

Signed-off-by: Stevedan Omodolor <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

* fixed start

* return true

* fix tests

…3177)

* Fix velocities comparison for rotation at place case

* Meet review item

* Remove unnecessary header

* Change the comment

* set a empty path on halt

* fixed issues

* remove path reset

* fixing

* reverting

* revert

* revert

* fixed lint

* test fix

* uncrusify fix

* * add aditional function to costmap_2d.py

Signed-off-by: Stevedan Omodolor <[email protected]>

Updated-by: Jaehun Kim <[email protected]>

* finish task B

* Update nav2_simple_commander/nav2_simple_commander/costmap_2d.py

* Update method docs

* Remove underscores at parameters and split getCost into getCostXY and getCostIdx

* Update method docstrings

* lint code & update docstring, remove default value of getCostXY

* lint code with pep257 & flake8

* check if a node exists before creating

* invert logic to group like with like

* Update a_star.cpp

…-navigation#3201)

* adding robin_hood unordered_map

* using robin_hood node map

* ignore robin_hood file

* linting

* linting cont. for triple pointers

* linting cont. for uncrustify

…tion#3204)

* [RPP] Add parameter to enable/disable collision detection

* [RPP] Update README

…r plugin (ros-navigation#3211)

This allows considering full range observations, specified by the
  <data source>.min_obstacle_height
and
  <data source>.max_obstacle_height
especially used for the raytracing, but to still be able to specify a
minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points
slightly towards the ground, sometimes detecting obstacles, that should be
cleared once the ground reappears behind the obstacle when it has moved
away: we don't want to detect the ground as an obstacle, but still want it
to be used in the raytracing to clear the previously detected obstacle.

…on#3217)

* removing hypotf

* swapping to node2d sqrt

To ensure await asyncio prints [Processing: %s]' every 30s as expected

…I additions to get CI turning over again (ros-navigation#3223)

* fix majority of python linting errors

* finish linting

* Add new constructor

* fix plugins

* Use new constructor

* add assisted teleop to python api

* cleanup

* assisted teleop demo

* rename

* lint

* code review

* trigger build

* flake8 fix

* break cashe

* moved all v11 to v12

* lint fix

* remove package dep

* change default time allowance

* added result codes for global planner

* code review

* code review

* cleanup

* cleanup

* update smac lattice planner

* update planner instances

* cleanup

* updates

* renaming

* fixes

* cpplint

* uncrusitfy

* code review

* navfn exceptions

* theta_star_planner

* fix code review

* wrote timeout exception

* consistent exception throwing across planners

* code review

* remove

* uncrusitfy

* uncrusify

* catch exception

* expect throw

* update string of exceptions

* throw with coords

* removed start == goal error code

* code review

* code review

* uncrustify

* code review

* message order

* remove remarks

* update xml

* update xml

* Update nav2_behavior_tree/nav2_tree_nodes.xml

Co-authored-by: Steve Macenski <[email protected]>

* Fix RMW deprecation warnings

* Deprecated OpenCV header

* Add enabling service to costmap filters

* Add service testcase

* Fix comment

* Use toggle_filter service name

* Add binary flip costmap filter

* Move transformPose, worldToMask, getMaskData to CostmapFilter

* Added default parametrized binary filter state

* Switched to std_msgs/msg/Bool.msg

* Use arbitrary filter values

…os-navigation#3237)

This reverts commit 7be609e.

…ion (ros-navigation#3238)

* odom alpha restriction

* odom alpha code style

* odom alpha code style

* odom alpha code style

* added result codes for global planner

* code review

* code review

* cleanup

* cleanup

* update smac lattice planner

* update planner instances

* cleanup

* updates

* renaming

* fixes

* cpplint

* uncrusitfy

* code review

* navfn exceptions

* theta_star_planner

* fix code review

* wrote timeout exception

* consistent exception throwing across planners

* code review

* remove

* uncrusitfy

* uncrusify

* catch exception

* expect throw

* update string of exceptions

* throw with coords

* removed start == goal error code

* code review

* code review

* uncrustify

* code review

* message order

* remove remarks

* update xml

* update xml

* Update nav2_behavior_tree/nav2_tree_nodes.xml

* fix

Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Joshua Wallace <josho.wallace.com>

* [FIX] Update controller server goal checker

* [FIX] Autoformat code

* [FIX] Misplaced tabs.

Co-authored-by: Pedro Alejandro González <[email protected]>

…configuration (ros-navigation#3242)

* odom alpha restriction

* odom alpha code style

* odom alpha code style

* odom alpha code style

* map-size restriction

* map-size code style

* map-size rejection

* map-size codestyle

* map-size return false

* Add Path Smoothers Benchmarking suite

* Meet review items

* Update tools/smoother_benchmarking/README.md

Co-authored-by: Steve Macenski <[email protected]>

* Move optional performance patch to the end of README

* Fix README

Co-authored-by: Steve Macenski <[email protected]>

* added result codes for global planner

* code review

* code review

* cleanup

* cleanup

* update smac lattice planner

* update planner instances

* cleanup

* added controller exception

* renaming

* follow path updates

* rename exceptions

* updated regulated pure pursuit

* completed pure pursuit

* completed dwb

* linting fixes

* cleanup

* revert planner server

* revert planner server

* revert planner server

* revert planner server

* code review

* code review

* cleanup

* cleanup

* bug fix

* final cleanup

* set follow path error on bt

* update groot

* code review

Co-authored-by: Joshua Wallace <josho.wallace.com>

…3250)

* CostmapLayer::matchSize() add a mutex

* initial prototype of the Savitzky Golay Filter Path Smoother

* fixed indexing issue - tested working

* updates for filter

* adding unit tests for SG-filter smoother

* adding lifecycle transitions

…n#3265)

* refactor for RPP on way to ROSCon

* fixing header

* fixing header

* fixing header

* fix edge cases test samplings

* linting

* exceptions for compute path through poses

* lint fix

* code review

* code review

Co-authored-by: Joshua Wallace <josho.wallace.com>

…⚔️⚔️⚔️ (ros-navigation#3266)

* test waypoint follower with composition off for logging

* adding no composition to all system tests

* Added Line Iterator

* Updated Line Iterator to a new iteration method

* Added the resolution as a parameter/ fixed linting

* Added the resolution as a parameter/ fixed linting

* Added unittests for the line iterator

* Added unittests based on "unittest" package

* Fixed __init__.py and rephrased some docstrings

* Fixed linting errors

* Fixed Linting Errors

* Added some unittests and removed some methods

* Dummy commit for CircleCI Issue

Co-authored-by: Afif Swaidan <[email protected]>

…os-navigation#3174)

* implement launch priority for the mapserver parameter yaml_filename

minor fix

fix commit

reincluded rewritten function

comment remaining lines for yaml_filename

removed default_value

issue with composable node

alternative soltion to the condition param not working in composable node

remove unused import

remove comments and reorder composablenode execution

fixing commit

fixing format

fixing lint

Update nav2_bringup/params/nav2_params.yaml

Co-authored-by: Steve Macenski <[email protected]>

* state new ros-rolling release changes and deprecation

Co-authored-by: Steve Macenski <[email protected]>

…overflow crash. (ros-navigation#3276)

* Update amcl_node.cpp

* fit the code style

* fit code style