Implemented smoother selector bt node #3283

owen7900 · 2022-11-14T21:28:39Z

Signed-off-by: Owen Hooper [email protected]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3270
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of Tally

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Added a smoother selector node that is a copy of the controller selector bt node
Added tests for above selector node

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

Signed-off-by: Owen Hooper <[email protected]>

mergify · 2022-11-14T21:29:14Z

@owen7900, 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

codecov · 2022-11-14T22:08:38Z

Codecov Report

Base: 89.12% // Head: 88.79% // Decreases project coverage by -0.33% ⚠️

Coverage data is based on head (61ca7e4) compared to base (90ae5cc).
Patch coverage: 92.85% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3283      +/-   ##
==========================================
- Coverage   89.12%   88.79%   -0.34%     
==========================================
  Files         351      353       +2     
  Lines       15666    15694      +28     
==========================================
- Hits        13962    13935      -27     
- Misses       1704     1759      +55

Impacted Files	Coverage Δ
...ior_tree/plugins/action/smoother_selector_node.cpp	`91.30% <91.30%> (ø)`
...ior_tree/plugins/action/smoother_selector_node.hpp	`100.00% <100.00%> (ø)`
...av2_dwb_controller/dwb_critics/src/oscillation.cpp	`72.00% <0.00%> (-24.00%)`	⬇️
...2_core/include/nav2_core/controller_exceptions.hpp	`70.00% <0.00%> (-20.00%)`	⬇️
...ehaviors/include/nav2_behaviors/timed_behavior.hpp	`84.93% <0.00%> (-6.85%)`	⬇️
nav2_behaviors/plugins/spin.cpp	`85.71% <0.00%> (-3.90%)`	⬇️
nav2_controller/src/controller_server.cpp	`85.39% <0.00%> (-3.81%)`	⬇️
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	`94.80% <0.00%> (-2.60%)`	⬇️
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`85.55% <0.00%> (-2.23%)`	⬇️
..._dwb_controller/dwb_core/src/dwb_local_planner.cpp	`90.45% <0.00%> (-1.66%)`	⬇️
... and 3 more

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SteveMacenski

LGTM!

SteveMacenski · 2022-11-14T22:31:32Z

nav2_behavior_tree/plugins/action/smoother_selector_node.cpp

+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<nav2_behavior_tree::SmootherSelector>("SmootherSelector");


Add this to the BT plugins list in the BT Navigator + in the yaml parameters

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp

jwallace42 · 2022-11-15T17:58:25Z

Would it be worth (maybe future pr) to create a abstract selector node? We currently
planner_selector, controller_selector, smoother_selector which largely use the same code.

Signed-off-by: Owen Hooper <[email protected]>

SteveMacenski · 2022-11-15T20:36:06Z

Yeah, we could do that. I haven't worried about it since its a very small amount of code that would be saved, but that's totally sensible.

@owen7900 just need updates to those small things I mentioned in my review and we can merge!

SteveMacenski · 2022-11-17T20:51:39Z

@owen7900 any update on the documentation PR? 😄

owen7900 · 2022-11-17T23:53:16Z

@SteveMacenski this week got unexpectedly busy. I'll submit that PR tomorrow morning.

SteveMacenski · 2022-11-18T18:47:21Z

@owen7900 I know we we're talking in a thread somewhere (email? slack? linkedin? I can't seem to find it now) but would you be interested in another project? You did this perfectly, thanks much!

This would be a nice project as well: #3150 a little less self-contained but I think the discussion in the issue gives some clear design options and problem description if you wanted something with a little more meat!

owen7900 · 2022-11-19T00:11:39Z

@SteveMacenski, I don't think we've been talking anywhere (I'm not sure the slack link is still working, it wouldn't let me use my pre-existing email), but I would happily take that on. If you want to reach out further I would be happy to communicate over slack if I had access. I'll update early next week with progress as Saturday and Monday are my "extra-curricular" days.

SteveMacenski · 2022-11-19T00:18:51Z

Try this: https://join.slack.com/t/navigation2/shared_invite/zt-uj428p0x-jKx8U7OzK1IOWp5TnDS2rA

Oops sorry 😆

* Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (#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 (#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (#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]> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (#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 (#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (#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]> * adding reconfigure test to thetastar (#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (#3290) * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#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 (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (ros-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]> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#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 (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (ros-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]> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]>

* remove exec_depend on behaviortree_cpp_v3 (#3279) * BT Service Node to throw if service was not available in time (#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * Remove duplicate of nav2_back_up_cancel_bt_node (#3332) * Remove unused velocity scaling config from example xml (#3330) Signed-off-by: Borong Yuan <[email protected]> Signed-off-by: Borong Yuan <[email protected]> * Make mapUpdateLoop() indicator variables to be thread-safe (#3308) * Ensure that plugin initialization to be called before updating routines (#3307) * Solve bug when CostmapInfoServer is reactivated (#3292) * Solve bug when CostmapInfoServer is reactivated * Implemented smoother selector bt node (#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Add allow_unknown parameter to theta star planner (#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * bump to 1.1.3 for humble sync 3 Signed-off-by: Borong Yuan <[email protected]> Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Sven Langner <[email protected]> Co-authored-by: Borong Yuan <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: MartiBolet <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]>

* Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#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 (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (ros-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]> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* publish layers of costmap * lint fix * lint round 2 :) * code review * remove isPublishable * lint * test running * rough structure complete * completed test * lint * code review * CI * CI * linting * completed pub test * CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250) * CostmapLayer::matchSize() add a mutex * Fix typo (ros-navigation#3262) * Adding new Nav2 Smoother: Savitzky-Golay Smoother (ros-navigation#3264) * 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 * refactoring RPP a bit for cleanliness on way to ROSCon (ros-navigation#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 (ros-navigation#3248) * exceptions for compute path through poses * lint fix * code review * code review Co-authored-by: Joshua Wallace <josho.wallace.com> * Reclaim Our CI Coverage from the Lords of Painful Subtle Regressions ⚔️⚔️⚔️ (ros-navigation#3266) * test waypoint follower with composition off for logging * adding no composition to all system tests * Added Line Iterator (ros-navigation#3197) * 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]> * Use SetParameter Launch API to set the yaml filename for map_server (ros-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]> * adding reconfigure test to thetastar (ros-navigation#3275) * Check for range_max of laserscan in updateFilter to avoid a implicit overflow crash. (ros-navigation#3276) * Update amcl_node.cpp * fit the code style * fit code style * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * add parameterized refinement recursion numbers in Smac Planner Smoother and Simple Smoother (ros-navigation#3284) * add parameterized refinement recursion numbers * fix tests * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * Include test cases waypoint follwer (ros-navigation#3288) * WIP * included missed_waypoing check * finished inclding test * fix format * return default sleep value * Dynamically changing polygons support (ros-navigation#3245) * Add Collision Monitor polygon topics subscription * Add the support of polygons published in different frame * Internal review * Fix working with polygons visualization * Update nav2_collision_monitor/README.md Co-authored-by: Steve Macenski <[email protected]> * Move getTransform to nav2_util * Fix misprint * Meet remaining review items: * Update polygon params handling logic * Warn if polygon shape was not set * Publish with ownership movement * Correct polygons_test.cpp parameters handling logic * Adjust README for dynamic polygons logic update Co-authored-by: Steve Macenski <[email protected]> * adding getCostScalingFactor (ros-navigation#3290) * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Pipe error codes (ros-navigation#3251) * issue with finding key * passed up codes to bt_navigator * lint fix * updates * adding error_code_id back in * error codes names in params * bump error codes * lint * spelling * test fix * update behavior trees * cleanup * Update bt_action_server_impl.hpp * code review * lint * code review * log fix * error code for waypoint follower * clean up * remove waypoint error test, too flaky on CI * lint and code review * rough imp for waypoint changes * lint * code review * build fix * clean up * revert * space * remove * try to make github happ * stop gap * loading in param file * working tests :) * lint * fixed cmake * lint * lint * trigger build * added invalid plugin error * added test for piping up error codes * clean up * test waypoint follower * only launch what is needed * waypoint test * revert lines for robot navigator * fix test * waypoint test * switched to uint16 * clean up * code review * todo to note * lint * remove comment * Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Co-authored-by: Steve Macenski <[email protected]> * rename error_codes * error code for navigate to pose * error codes for navigate through poses. * error codes for navigate through poses * message update for waypoint follower * rename to error code * update node xml Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Steve Macenski <[email protected]> * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Smoothness metrics update (ros-navigation#3294) * Update metrics for path smoothness * Support Savitzky-Golay smoother * preempt/cancel test for time behavior, spin pluguin (ros-navigation#3301) * include preempt/cancel test for time behavior, spin pluguin * linting * fix bug in code * lint fix * clean up test * lint * cleaned up test * update * revert Cmake * fixed error code test * half time * bump build * revert * lint error Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Joshua Wallace <josho.wallace.com> Co-authored-by: Hao-Xuan Song <[email protected]> Co-authored-by: jaeminSHIN <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Afif Swaidan <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Pradheep Krishna <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: MartiBolet <[email protected]>

* remove exec_depend on behaviortree_cpp_v3 (ros-navigation#3279) * BT Service Node to throw if service was not available in time (ros-navigation#3256) * throw if service server wasn't available in time mimic the behavior of the bt action node constructor * throw if action unavailable in bt cancel action * use chrono literals namespace * fix linting errors * fix code style divergence * Remove duplicate of nav2_back_up_cancel_bt_node (ros-navigation#3332) * Remove unused velocity scaling config from example xml (ros-navigation#3330) Signed-off-by: Borong Yuan <[email protected]> Signed-off-by: Borong Yuan <[email protected]> * Make mapUpdateLoop() indicator variables to be thread-safe (ros-navigation#3308) * Ensure that plugin initialization to be called before updating routines (ros-navigation#3307) * Solve bug when CostmapInfoServer is reactivated (ros-navigation#3292) * Solve bug when CostmapInfoServer is reactivated * Implemented smoother selector bt node (ros-navigation#3283) * Implemented smoother selector bt node Signed-off-by: Owen Hooper <[email protected]> * updated copyright in modified file Signed-off-by: Owen Hooper <[email protected]> Signed-off-by: Owen Hooper <[email protected]> * Add allow_unknown parameter to theta star planner (ros-navigation#3286) * Add allow unknown parameter to theta star planner * Add allow unknown parameter to tests * missing comma * Change cost of unknown tiles * Uncrustify * bump to 1.1.3 for humble sync 3 Signed-off-by: Borong Yuan <[email protected]> Signed-off-by: Owen Hooper <[email protected]> Co-authored-by: Adam Aposhian <[email protected]> Co-authored-by: Erwin Lejeune <[email protected]> Co-authored-by: Sven Langner <[email protected]> Co-authored-by: Borong Yuan <[email protected]> Co-authored-by: Alexey Merzlyakov <[email protected]> Co-authored-by: MartiBolet <[email protected]> Co-authored-by: Owen Hooper <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]>

Implemented smoother selector bt node

1d3fdb9

Signed-off-by: Owen Hooper <[email protected]>

SteveMacenski approved these changes Nov 14, 2022

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SteveMacenski linked an issue Nov 14, 2022 that may be closed by this pull request

Smoother Selector BT Node #3270

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jwallace42 reviewed Nov 15, 2022

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nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp Show resolved Hide resolved

updated copyright in modified file

61ca7e4

Signed-off-by: Owen Hooper <[email protected]>

owen7900 mentioned this pull request Nov 18, 2022

Added documentation for SmootherSelector ros-navigation/docs.nav2.org#374

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SteveMacenski merged commit 73d5b3f into ros-navigation:main Nov 18, 2022

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Implemented smoother selector bt node #3283

Implemented smoother selector bt node #3283

owen7900 commented Nov 14, 2022

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SteveMacenski Nov 14, 2022

jwallace42 commented Nov 15, 2022

SteveMacenski commented Nov 15, 2022 •

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SteveMacenski commented Nov 17, 2022

owen7900 commented Nov 17, 2022

SteveMacenski commented Nov 18, 2022

owen7900 commented Nov 19, 2022

SteveMacenski commented Nov 19, 2022

Implemented smoother selector bt node #3283

Implemented smoother selector bt node #3283

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owen7900 commented Nov 14, 2022

Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

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jwallace42 commented Nov 15, 2022

SteveMacenski commented Nov 15, 2022 • edited Loading

SteveMacenski commented Nov 17, 2022

owen7900 commented Nov 17, 2022

SteveMacenski commented Nov 18, 2022

owen7900 commented Nov 19, 2022

SteveMacenski commented Nov 19, 2022

codecov bot commented Nov 14, 2022 •

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SteveMacenski commented Nov 15, 2022 •

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