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add getRobotRadius() in costmap_2d_ros #2896

Merged
merged 1 commit into from
Apr 7, 2022
Merged

add getRobotRadius() in costmap_2d_ros #2896

merged 1 commit into from
Apr 7, 2022

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doisyg
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@doisyg doisyg commented Apr 7, 2022

Basic Info

Info Please fill out this column
Ticket(s) this addresses none
Primary OS tested on Ubuntu 20.04
Robotic platform tested on Wyca Elodie

Description of contribution in a few bullet points

Added getRobotRadius() to costmap_2d_ros in a similar fashion to getUseRadius() (and to complete it).
This was missing if one needed to accurately get the footprint when it is defined as a circle (for instance to be able to manipulate it, think inflation). When it is defined as a circle, a polygonial footprint is interpolated, hence the loss of precision (but the information that it was generated from a circle was already there).

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in navigation.ros.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

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mergify bot commented Apr 7, 2022

@doisyg, please properly fill in PR template in the future. @SteveMacenski, use this instead.

  • Check that any new parameters added are updated in navigation.ros.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

@SteveMacenski SteveMacenski merged commit 89bceb7 into ros-navigation:main Apr 7, 2022
SteveMacenski pushed a commit that referenced this pull request May 6, 2022
@doisyg @SteveMacenski
add getRobotRadius() in costmap_2d_ros (#2896)
b154456
SteveMacenski added a commit that referenced this pull request May 6, 2022
@SteveMacenski @doisyg
@ErikOrjehag @Ekanshh @jwallace42 @janx8r @AlexeyMerzlyakov @andriimaistruk @alsora @guilyx @HosseinSheikhi @DLu @charlielito @roncapat @m2-farzan @mrmara
Galactic sync 6 (#2940)
f405c85 
* fix invert logic (#2772)

* Bugfix tf lookup of goal pose in nav2_controller (#2780)

Signed-off-by: Erik Örjehag <[email protected]>

* Feature to call controller action server to follow path (#2789)

* Added call to controller action server with a path to follow
++ Added a new function  in robot_navigator,py
++ Added a launch script to test  function
++ Updated setup.py to include demo_follow_path.py

* Code refactoring

* Code refactoring

* Code refactoring for consistency

* Updated README.md

* Resolved executable conflict in setup.py for example_follow_path.py

* Code refactoring with  ament_flake8

* Add recoveries to simple commander (#2792)

* fix Typo

* add recoveries

* add docs

* added demo using backup and spin

* rename isNavigationComplete to isTaskComplete

* rename cancelNav to cancelTask

* add prints

* fix premature exit

* rename NavResult to TaskResult

* fix readme order

* fix import order

* renaming

* renaming

* added planner_id (#2806)

* Fixing the issue #2781: raytraceLine with same start and end point (#2784)

* Fixing the issue #2781: raytraceLine with same start and end point no longer causes segmentation fault

* Some whitespace modifications to make the code pass release_test

* Add testcase for raytraceLine the same point

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

* Add optional node names to wait (#2811)

* add option to specify navigator and localizer to wait for

* add docs for waituntilNav2Active

* wait for pose only for amcl

* revert order

* remove resizing on update message callback (#2818)

* restrict test_msgs to test_dependency (#2827)

Signed-off-by: Alberto Soragna <[email protected]>

* remove unused odometry smoother in bt navigator (#2829)

* remove unused odometry smoother in bt navigator

Signed-off-by: Alberto Soragna <[email protected]>

* reorganize bt navigator to shared odom_smoother object with servers

Signed-off-by: Alberto Soragna <[email protected]>

* Add all action options (#2834)

* added options

* update docs

* Adding theta* to the main packages list

* Fix: bt_navigator crashes on lc transitions (#2848)

* fix empty address access on halt all actions

* fix unsafe declaration of parameters

* restore odom smoother

* fix styling issues

* add missing semicolumn

* fix-collision checker must capture lethal before unknow (#2854)

* Removing old unused function and comment (#2863)

* Better Costmap Error Message (#2884)

* Better Costmap Error Message

* PR Feedback

* add getRobotRadius() in costmap_2d_ros (#2896)

* Add clock time to costmaps (#2899)

* update goal checker plugin to plugins (#2909)

* Allow usage of std::string in searchAndGetParam() (#2918)

* Allow usage of std::string in searchAndGetParam()

Removed also old TODO related to legacy ROS API

* Fix

* Clean up action clients in nav2_simple_commander (#2924)

* Clean up action clients in nav2_simple_commander

* Add camelCase version

* Add docs

* Added mutex to prevent SEGFAULT on map change in AMCL (#2933)

* Added mutex to prevent SEGFAULT on map change

* Removing redundant mutex

Co-authored-by: Antonio Marangi <[email protected]>

Co-authored-by: G.Doisy <[email protected]>
Co-authored-by: Erik Örjehag <[email protected]>
Co-authored-by: Ekansh Sharma <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: janx8r <[email protected]>
Co-authored-by: Alexey Merzlyakov <[email protected]>
Co-authored-by: Andrii Maistruk <[email protected]>
Co-authored-by: Alberto Soragna <[email protected]>
Co-authored-by: Erwin Lejeune <[email protected]>
Co-authored-by: Hossein Sheikhi Darani <[email protected]>
Co-authored-by: David V. Lu!! <[email protected]>
Co-authored-by: Carlos Andrés Álvarez Restrepo <[email protected]>
Co-authored-by: Patrick Roncagliolo <[email protected]>
Co-authored-by: M. Mostafa Farzan <[email protected]>
Co-authored-by: mrmara <[email protected]>
Co-authored-by: Antonio Marangi <[email protected]>
redvinaa pushed a commit to EnjoyRobotics/navigation2 that referenced this pull request Jun 30, 2022
@doisyg @redvinaa
add getRobotRadius() in costmap_2d_ros (ros-navigation#2896)
283ad88
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@doisyg @SteveMacenski