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Fix compilation with clang #4131

Merged
merged 1 commit into from
Feb 21, 2024
Merged

Fix compilation with clang #4131

merged 1 commit into from
Feb 21, 2024

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Rayman
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@Rayman Rayman commented Feb 21, 2024

Basic Info

Info Please fill out this column
Ticket(s) this addresses
Primary OS tested on Ubuntu
Robotic platform tested on Untested
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

I fixed a few small issues while trying to compile this project with clang++.

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

@Rayman
Fix compilation with clang
548441b 
Signed-off-by: Ramon Wijnands <[email protected]>
@SteveMacenski SteveMacenski merged commit 55c952d into ros-navigation:main Feb 21, 2024
9 of 11 checks passed
@Rayman Rayman deleted the fix/clang branch February 22, 2024 09:39
ajtudela pushed a commit to grupo-avispa/navigation2 that referenced this pull request Mar 7, 2024
@Rayman @ajtudela
Fix compilation with clang (ros-navigation#4131)
27e4f62 
Signed-off-by: Ramon Wijnands <[email protected]>
stevedanomodolor pushed a commit to stevedanomodolor/navigation2 that referenced this pull request Mar 25, 2024
@Rayman @stevedanomodolor
Fix compilation with clang (ros-navigation#4131)
cc5fec5 
Signed-off-by: Ramon Wijnands <[email protected]>
Signed-off-by: stevedan <[email protected]>
stevedanomodolor added a commit to stevedanomodolor/navigation2 that referenced this pull request Mar 25, 2024
@stevedanomodolor
Include goal heading mode to allow bidirectional and all direction goals
e1b1f24 
Signed-off-by: stevedan <[email protected]>

New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090)

* Share code

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

* Update inflation_cost_critic.hpp

- copyright
- ifndef

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

* fix lint cpp

- extra space

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

* Fix Smac Planner confined collision checker  (ros-navigation#4055)

* Update collision_checker.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Fix tests

Signed-off-by: Steve Macenski <[email protected]>

* Update test_a_star.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

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

* Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962)

* a potential solution to smac shortcutting

* costmap reoslution

* some fixes

* completed prototype

* some fixes for collision detection and performance

* completing shortcutting fix

* updating tests

* adding readme

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070)

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Signed-off-by: Brice <[email protected]>

* [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067)

* prototype to test SE2 footprint H improvements

* some fixes

* fixed

* invert logic

* Working final prototype to be tested

* complete unit test conversions

* Update inflation_layer.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Adding new Smac paper to readme

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Update README.md

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074)

* don't repeat yourself: templates in tests

Signed-off-by: Davide Faconti <[email protected]>

* misse change

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: Brice <[email protected]>

* Allow path end pose deviation revive (ros-navigation#4065)

* Support stitching paths in compute path to poses

* Update nav2_planner/src/planner_server.cpp

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

* Rename parameter to allow_path_through_poses_goal_deviation

* Fix description

* restore nav2_params

* missing whitespace

* lint fix

* removed parameter

Signed-off-by: gg <[email protected]>

* Update planner_server.hpp

* Update planner_server.cpp

---------

Signed-off-by: gg <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Signed-off-by: Brice <[email protected]>

* Updated code to use getInflationLayer() method (ros-navigation#4076)

* updated code to use getInflationLayer method

Signed-off-by: Jose Faria <[email protected]>

* Fix linting

Signed-off-by: Jose Faria <[email protected]>

---------

Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Brice <[email protected]>

* 1594 twist stamped publisher (ros-navigation#4077)

* Add TwistStamped to controller_server via TwistPublisher util

* Add a new util class for publishing either Twist or TwistStamped
* Add a new parameter for selecting to stamp the twist data
* Consume TwistPublisher in nav2_controller

Signed-off-by: Ryan Friedman <[email protected]>

* Fix small issues

* Unused variable
* Incorrect doxygen

Signed-off-by: Ryan Friedman <[email protected]>

* Remove stored node and assert

Signed-off-by: Ryan Friedman <[email protected]>

* Add tests for node

* Facing timeout even though it does the same thing as velocity smoother test

Signed-off-by: Ryan Friedman <[email protected]>

* Add missing spin call to solve timeout

Signed-off-by: Ryan Friedman <[email protected]>

* Fix copyright (me instead of intel)

Signed-off-by: Ryan Friedman <[email protected]>

* Add full test coverage with subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused rclcpp fixture

* Can't use it due to needing to join the pub thread after rclcpp shuts down

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in nav2_behaviors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistStamped in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistStamped readme updates to velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Add TwistSubscriber implementation

Signed-off-by: Ryan Friedman <[email protected]>

* Fix syntax errors

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in test_velocity_smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in assisted_teleop

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in collision monitor node

Signed-off-by: Ryan Friedman <[email protected]>

* Use TwistSubscriber in velocity smoother

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused code

Signed-off-by: Ryan Friedman <[email protected]>

* add timestamp and frame_id to TwistStamped message

* Add missing utility include

Signed-off-by: Ryan Friedman <[email protected]>

* Document TwistPublisher and TwistSubscriber usage

Signed-off-by: Ryan Friedman <[email protected]>

* Use pass-by-reference

* Instead of std::move(std::unique_ptr<TwistStamped>)

Signed-off-by: Ryan Friedman <[email protected]>

* Finish twist subscriber tests

Signed-off-by: Ryan Friedman <[email protected]>

* Add other constructor and docs

Signed-off-by: Ryan Friedman <[email protected]>

* Fix linter issues

Signed-off-by: Ryan Friedman <[email protected]>

* Manually fix paren alignment

Signed-off-by: Ryan Friedman <[email protected]>

* Remove GSoC reference

Signed-off-by: Ryan Friedman <[email protected]>

* Document twist bool param in README

Signed-off-by: Ryan Friedman <[email protected]>

* Handle twistPublisher in collision monitor

* Implement behavior in the stamped callback
* Unstamped callback calls the stamped callback
* Switch to unique pointer for publisher

Signed-off-by: Ryan Friedman <[email protected]>

* Convert to using TwistStamped interally

* Use incoming twistStamped timestamp if available
* Convert all internal representations to use TwistStamped

Signed-off-by: Ryan Friedman <[email protected]>

* Remove nav2_util usage instructions

Signed-off-by: Ryan Friedman <[email protected]>

* Remove unused Twist only subscriber

Signed-off-by: Ryan Friedman <[email protected]>

* More linter fixes

Signed-off-by: Ryan Friedman <[email protected]>

* Prefer working with unique_ptr for cmd_vel

* This makes it easier to switch to std::move instead of dereference on
  publish

Signed-off-by: Ryan Friedman <[email protected]>

* Completing twist stamped migration

* shared to unique ptr

Signed-off-by: Steve Macenski <[email protected]>

* twist add stamps and properly propogated

* nav2_util: fix for compiling with clang

- Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move]

Signed-off-by: Rhys Mainwaring <[email protected]>

---------

Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Brice <[email protected]>

* Change costmap_queue to shared library (ros-navigation#4072)

Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice <[email protected]>

* fix include of hpp

Signed-off-by: Brice Renaudeau <[email protected]>

* inflation cost optmiizations and cleanu

* rename, add defaults, and docs

* smoke test addition

* lintg

* normalize weight

* update readme

* increment cache

* Update cost_critic.hpp

Signed-off-by: Steve Macenski <[email protected]>

* Update cost_critic.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Brice <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: GoesM <[email protected]>
Signed-off-by: Davide Faconti <[email protected]>
Signed-off-by: gg <[email protected]>
Signed-off-by: Jose Faria <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: cybaol <[email protected]>
Signed-off-by: Brice Renaudeau <[email protected]>
Co-authored-by: BriceRenaudeau <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>
Co-authored-by: Davide Faconti <[email protected]>
Co-authored-by: Joshua Wallace <[email protected]>
Co-authored-by: pepisg <[email protected]>
Co-authored-by: Pedro Alejandro González <[email protected]>
Co-authored-by: jncfa <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: pedro-fuoco <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>
Co-authored-by: Kino <[email protected]>

[behavior_tree] support both ports and blackboard (ros-navigation#4060)

* check result of blackboard->get and use halTree

Signed-off-by: Davide Faconti <[email protected]>

* remove unused header

Signed-off-by: Davide Faconti <[email protected]>

* BT: add port inputs when missing and use getInputPortOrBlackboard

Signed-off-by: Davide Faconti <[email protected]>

* add description

Signed-off-by: Davide Faconti <[email protected]>

* change return value of getInputPortOrBlackboard

Signed-off-by: Davide Faconti <[email protected]>

* updated tree XML

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>

Use ament_export_targets for all targets (ros-navigation#4112)

* Matches new internal ALIAS targets
* Use ALIAS targets for all internal linkage
* Remove unnecessary calls to ament_target_dependencies in test code
* Export includes in proper folders for overlays in colcon

Signed-off-by: Ryan Friedman <[email protected]>

adding new Friends of Nav2 Sponsors!

Update README.md (ros-navigation#4114)

Signed-off-by: Steve Macenski <[email protected]>

CI green P3 (ros-navigation#4117)

Refactors `possible_inscribed_cost` to `possible_circumscribed_cost` in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118)

* Utilizes circumscribed radius to assess potential collision points on the robot.
* Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage.
Signed-off-by: Alan Xue <[email protected]>

Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123)

* Added cast to float to getClosestAngularBin return for behavior consistency.

Signed-off-by: Hunter Song <[email protected]>

* Revised test name

Signed-off-by: Hunter Song <[email protected]>

---------

Signed-off-by: Hunter Song <[email protected]>

Adding context to MPPI readme

Signed-off-by: Steve Macenski <[email protected]>

[behavior_tree] Add generate_nav2_tree_nodes_xml (ros-navigation#4073)

* Add generate_nav2_tree_nodes_xml

Signed-off-by: Davide Faconti <[email protected]>

* behavior_tree: removed list of plugins from yaml

Signed-off-by: Davide Faconti <[email protected]>

* check result of get_parameter(plugin_lib_names)

Signed-off-by: Davide Faconti <[email protected]>

* fix previous commit (uncrustify)

Signed-off-by: Davide Faconti <[email protected]>

* revert change

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>

Fix compilation with clang (ros-navigation#4131)

Signed-off-by: Ramon Wijnands <[email protected]>

code improvement based on feedback. Name changes and minor code improvement

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

Fix goal handle was not freed correctly (ros-navigation#4137)

* Fix goal handle was not freed correctly

* Update nav2_util/include/nav2_util/simple_action_server.hpp

Signed-off-by: Steve Macenski <[email protected]>

---------

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

Adding Nvidia as Gold Sponsor! (ros-navigation#4144)

Prevent a possible segmentation fault (ros-navigation#4141) (ros-navigation#4147)

* Prevent a possible segmentation fault

Signed-off-by: Joni Pöllänen <[email protected]>

* Cleanup

Signed-off-by: Joni Pöllänen <[email protected]>

---------

Signed-off-by: Joni Pöllänen <[email protected]>

Updating stereolabs logo (ros-navigation#4158)

Update README.md

Signed-off-by: Steve Macenski <[email protected]>

behavior_tree: migration to BT.CPP 4.5.x (ros-navigation#4128)

* behavior_tree: migration to BT.CPP 4.5.x

Signed-off-by: Davide Faconti <[email protected]>

* fix formatting

Signed-off-by: Davide Faconti <[email protected]>

* fix lint warning

Signed-off-by: Davide Faconti <[email protected]>

* remove setStatus(BT::NodeStatus::IDLE)

Signed-off-by: Davide Faconti <[email protected]>

* handle SKIPPED state

Signed-off-by: Davide Faconti <[email protected]>

* fix SequenceStar

Signed-off-by: Davide Faconti <[email protected]>

* add tests

Signed-off-by: Davide Faconti <[email protected]>

* fix

Signed-off-by: Davide Faconti <[email protected]>

* fix unit tests

Signed-off-by: Davide Faconti <[email protected]>

* add emitWakeUpSignal()

Signed-off-by: Davide Faconti <[email protected]>

* fit test

Signed-off-by: Davide Faconti <[email protected]>

* fix

Signed-off-by: Davide Faconti <[email protected]>

* remove SequenceStar

Signed-off-by: Davide Faconti <[email protected]>

* remove SequenceStar

Signed-off-by: Davide Faconti <[email protected]>

* keep resetStatus() in action_node

Signed-off-by: Davide Faconti <[email protected]>

* add suggestions from peer reviewer

Signed-off-by: Davide Faconti <[email protected]>

* fix compilation

Signed-off-by: Davide Faconti <[email protected]>

---------

Signed-off-by: Davide Faconti <[email protected]>

bug fix (ros-navigation#4160)

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

Stop planner if the goal is cancelled (ros-navigation#4148)

* Add support for stopping planners when the action is cancelled

Signed-off-by: Kemal Bektas <[email protected]>

* Support cancel in Smac planner

Signed-off-by: Kemal Bektas <[email protected]>

* Support cancel in Theta* planner

Signed-off-by: Kemal Bektas <[email protected]>

* Support cancel in Navfn planner

Signed-off-by: Kemal Bektas <[email protected]>

* Update nav2_system_tests to use cancel checker

Signed-off-by: Kemal Bektas <[email protected]>

* Add terminal_checking_interval parameter

Signed-off-by: Kemal Bektas <[email protected]>

* Handle timeout and cancel check on the same branch and default to 5000 iterations

Signed-off-by: Kemal Bektas <[email protected]>

* Add system tests for cancel

Signed-off-by: Kemal Bektas <[email protected]>

---------

Signed-off-by: Kemal Bektas <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>

Improvement on the wat the distance heuristic is calculated

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

Fix BT.CPP import (ros-navigation#4165)

Signed-off-by: Tony Najjar <[email protected]>

Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170)

Signed-off-by: Steve Macenski <[email protected]>

nav2_controller: add loop rate log (ros-navigation#4171)

* update smac_planner README

Signed-off-by: ARK3r <[email protected]>

* added current controller loop rate logging

Signed-off-by: ARK3r <[email protected]>

* linting

Signed-off-by: ARK3r <[email protected]>

* uncrustify lint

Signed-off-by: ARK3r <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_controller/src/controller_server.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: ARK3r <[email protected]>
Signed-off-by: Steve Macenski <[email protected]>
Co-authored-by: Steve Macenski <[email protected]>

improvement based on feedback

Signed-off-by: stevedan <[email protected]>
enricosutera pushed a commit to enricosutera/navigation2 that referenced this pull request May 19, 2024
@Rayman @enricosutera
Fix compilation with clang (ros-navigation#4131)
d668743 
Signed-off-by: Ramon Wijnands <[email protected]>
Signed-off-by: enricosutera <[email protected]>
Marc-Morcos pushed a commit to Marc-Morcos/navigation2 that referenced this pull request Jul 4, 2024
@Rayman @Marc-Morcos
Fix compilation with clang (ros-navigation#4131)
1e12335 
Signed-off-by: Ramon Wijnands <[email protected]>
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