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Publish optimal trajectory as a Path message #4640

Merged

SteveMacenski merged 5 commits into ros-navigation:main from alyquantillion:feature/publish_optimal_traj_as_path_msg

Aug 27, 2024

Contributor

alyquantillion commented Aug 22, 2024

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo simulation of a custom robot
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

I publish the optimal trajectory as a nav_msgs::msg::Path message. Needed if we want to calculate the velocity commands ourselves.

Description of documentation updates required from your changes

None

Future work that may be required in bullet points

None

For Maintainers:

Check that any new parameters added are updated in docs.nav2.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

alyquantillion force-pushed the feature/publish_optimal_traj_as_path_msg branch 3 times, most recently from 51f66b4 to 1c56c7a Compare

August 22, 2024 10:36

Contributor

mergify bot commented Aug 22, 2024

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

SteveMacenski requested changes

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Member

SteveMacenski commented Aug 22, 2024

This also requires test coverage

alyquantillion force-pushed the feature/publish_optimal_traj_as_path_msg branch from ec7c72d to 42190da Compare

August 23, 2024 12:34

Contributor

mergify bot commented Aug 23, 2024

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

alyquantillion force-pushed the feature/publish_optimal_traj_as_path_msg branch from 42190da to 1cd120f Compare

August 23, 2024 12:54

Contributor

mergify bot commented Aug 23, 2024

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

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SteveMacenski left a comment

LGTM, though its not compiling (that needs to be fixed, obviously!). One more change for making it consistent with the existing code and then we're good to go

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mergify bot commented Aug 24, 2024

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Member

SteveMacenski commented Aug 26, 2024

@alyquantillion please rebase or pull in main so that CI turns over. There was an API update in an upstream library that needs to be propagated here to build

SteveMacenski reviewed

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mergify bot commented Aug 27, 2024

@alyquantillion, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

alyquantillion added 5 commits

August 27, 2024 11:29


          Publish optimal trajectory as a Path message

4011de5

Signed-off-by: Alyssa Agnissan <[email protected]>


          move publish_optimal_path to TrajectoryVisualizer + minor refactoring

256f1be

Signed-off-by: Alyssa Agnissan <[email protected]>


          tests added for optimal path publication

85e4d5a

Signed-off-by: Alyssa Agnissan <[email protected]>


          populate optimal path message in add()

a98d3f1

Signed-off-by: Alyssa Agnissan <[email protected]>


          move path population in add_marker

676a083

Signed-off-by: Alyssa Agnissan <[email protected]>

alyquantillion force-pushed the feature/publish_optimal_traj_as_path_msg branch from 075513e to 676a083 Compare

August 27, 2024 09:30

codecov bot commented Aug 27, 2024 •

edited

Loading

Codecov Report

All modified and coverable lines are covered by tests ✅

Files	Coverage Δ
...roller/include/nav2_mppi_controller/controller.hpp	`100.00% <ø> (ø)`
...v2_mppi_controller/tools/trajectory_visualizer.hpp	`100.00% <ø> (ø)`
nav2_mppi_controller/src/controller.cpp	`100.00% <100.00%> (ø)`
nav2_mppi_controller/src/trajectory_visualizer.cpp	`100.00% <100.00%> (ø)`

... and 1 file with indirect coverage changes

SteveMacenski approved these changes

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SteveMacenski merged commit 836d37c into ros-navigation:main

11 checks passed

Member

SteveMacenski commented Aug 27, 2024

Thanks for iterating, looks perfect to me!

alyquantillion deleted the feature/publish_optimal_traj_as_path_msg branch

August 27, 2024 19:13

masf7g pushed a commit to quasi-robotics/navigation2 that referenced this pull request


          Publish optimal trajectory as a Path message (ros-navigation#4640)

4d5e3b0

* Publish optimal trajectory as a Path message

Signed-off-by: Alyssa Agnissan <[email protected]>

* move publish_optimal_path to TrajectoryVisualizer + minor refactoring

Signed-off-by: Alyssa Agnissan <[email protected]>

* tests added for optimal path publication

Signed-off-by: Alyssa Agnissan <[email protected]>

* populate optimal path message in add()

Signed-off-by: Alyssa Agnissan <[email protected]>

* move path population in add_marker

Signed-off-by: Alyssa Agnissan <[email protected]>

---------

Signed-off-by: Alyssa Agnissan <[email protected]>

SteveMacenski pushed a commit that referenced this pull request


          Publish optimal trajectory as a Path message (#4640)

0217df4

* Publish optimal trajectory as a Path message

Signed-off-by: Alyssa Agnissan <[email protected]>

* move publish_optimal_path to TrajectoryVisualizer + minor refactoring

Signed-off-by: Alyssa Agnissan <[email protected]>

* tests added for optimal path publication

Signed-off-by: Alyssa Agnissan <[email protected]>

* populate optimal path message in add()

Signed-off-by: Alyssa Agnissan <[email protected]>

* move path population in add_marker

Signed-off-by: Alyssa Agnissan <[email protected]>

---------

Signed-off-by: Alyssa Agnissan <[email protected]>

SteveMacenski added a commit that referenced this pull request


          Jazzy sync 3: Nov 8, 2024 (#4747)

3140a6a

* Adding non-charging dock support to docking server (for conveyers, pallots, etc) (#4627)

* adding non-charging dock support to docking server

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

* docs and linting

* adding unit tests

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

---------

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

* Publish optimal trajectory as a Path message (#4640)

* Publish optimal trajectory as a Path message

Signed-off-by: Alyssa Agnissan <[email protected]>

* move publish_optimal_path to TrajectoryVisualizer + minor refactoring

Signed-off-by: Alyssa Agnissan <[email protected]>

* tests added for optimal path publication

Signed-off-by: Alyssa Agnissan <[email protected]>

* populate optimal path message in add()

Signed-off-by: Alyssa Agnissan <[email protected]>

* move path population in add_marker

Signed-off-by: Alyssa Agnissan <[email protected]>

---------

Signed-off-by: Alyssa Agnissan <[email protected]>

* [collision monitor] Select the observation sources used with each polygon (#4227)

* Collision monitor: select specific observation sources for polygon

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

* optimization

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

* add tests

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

---------

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

* Restore exported BT test utils header files after cmake revamp (#4652) (#4654)

Signed-off-by: Mike Wake <[email protected]>

* fix(bt_nodes): Correct default `server_timeout` behavior by using `getInputPortOrBlackboard()` (#4649)

Signed-off-by: Alan Xue <[email protected]>

* PoseStamped vector specialization (#4607)

* PoseStamped vector specialization

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

* merge master

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

* add path

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

* fix size check

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

* fix test

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

* Revert "fix test"

This reverts commit 51f54eb.

* fix test

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

---------

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

* [DWB] Option to limit velocity commands in trajectory generator (#4663)

* Option to limit vel cmd through traj generator

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

* Cleanup

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

* fix linting

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

* Update linting

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

* uncrustify

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

* uncrustify

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

---------

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

* Adding planner server timeout for costmap waiting (#4673)

* Adding planner server timeout for costmap waiting

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

* Adding controller server's costmap timeout as well

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

---------

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

* fixing path longer on approach (#4622)

* fixing path longer on approach

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

* removing the short circuit

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

* adding additional layer of check

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

---------

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

* fix to bt action server logging before bt execution result being ready (#4677)

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

* Correct paper name for graceful controller

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

* Added missing action clients in robot_navigator(BasicNavigator) to destroy_node (#4698)

* fix: added assisted_teleop_client to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <[email protected]>

* fix: added other missing action clients to robot_navigator(BasicNavigator) destroy_node

Signed-off-by: Tiwa Ojo <[email protected]>

---------

Signed-off-by: Tiwa Ojo <[email protected]>

* Fixing SGF in MPPI and Smoother (#4669)

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

* fix: handle transition failures in all servers (#4708)

* fix: handle transition failures in planner/controller/smoother servers

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

* adding support for rest of servers + review comments

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

* Replacing throws with error and failed lifecycle transitions

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

* fix vel smoother unit tests

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

* fixing docking server unit testing

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

* fixing last bits

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

---------

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

* [RotationShimController] fix: rotate on short paths (#4716)

Add header data to goal for short paths.

Commit d8ae3c1 added the possibility to
the rotation shim controller to rotate towards the goal when the goal
was closer that the `forward_sampling_distance`. This feature was not
fully working as the goal was missing proper header data, causing the
rotation shim to give back control to the main controller.

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

* Added parameter `rotate_to_heading_once` (#4721)

Signed-off-by: Daniil Khaninaev <[email protected]>

* [RotationShimController] fix: rotate to goal heading (#4724)

Add frame_id to goal when rotating towards goal heading, otherwise the
transform would fail. This bug was introduced in 30e2cde by not setting
the frame_id.

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

* [loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos (#4726)

* Publish /clock from loopback sim

Signed-off-by: Adi Vardi <[email protected]>

* [nav2_costmap_2d] Fix obstacle_layer trying to use RELIABLE QoS

Use QoS profile from rclcpp::SensorDataQoS() instead of rmw_qos_profile_t.
This solves an issue where the subscriber uses RELIABLE setting even when initialized from rmw_qos_profile_sensor_data.
In addition the Subscriber(..., rmw_qos_profile_t) constructor is deprecated in favor of Subscriber(..., rclcpp::QoS)

Signed-off-by: Adi Vardi <[email protected]>

* [nav2_smac_planner] fix typos

Signed-off-by: Adi Vardi <[email protected]>

* Use single quotes

Signed-off-by: Adi Vardi <[email protected]>

---------

Signed-off-by: Adi Vardi <[email protected]>

* Fix incorrect doxygen comment (#4741)

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

* Updating error logging in Smac collision detector object (#4743)

* Updating error logging in Smac configs

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

* linting

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

---------

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

* [map_io] Replace std logs by rclcpp logs (#4720)

* replace std logs by rclcpp logs

Signed-off-by: Guillaume Doisy <[email protected]>

* RCLCPP_DEBUG to RCLCPP_INFO for visibility

Signed-off-by: Guillaume Doisy <[email protected]>

---------

Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

* manual backport to Jazzy of 6b2e244

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

* bump to 1.3.3 for jazzy sync

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

* fixing backport issue

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

* fixing backport of docking linking changes

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

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Alyssa Agnissan <[email protected]>
Signed-off-by: asarazin <[email protected]>
Signed-off-by: Mike Wake <[email protected]>
Signed-off-by: Alan Xue <[email protected]>
Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: huiyulhy <[email protected]>
Signed-off-by: Pradheep <[email protected]>
Signed-off-by: DreamWest <[email protected]>
Signed-off-by: Tiwa Ojo <[email protected]>
Signed-off-by: Kemal Bektas <[email protected]>
Signed-off-by: Daniil Khaninaev <[email protected]>
Signed-off-by: agennart <[email protected]>
Signed-off-by: Adi Vardi <[email protected]>
Signed-off-by: Ryan Friedman <[email protected]>
Signed-off-by: Guillaume Doisy <[email protected]>
Co-authored-by: alyquantillion <[email protected]>
Co-authored-by: anaelle-sw <[email protected]>
Co-authored-by: asarazin <[email protected]>
Co-authored-by: aosmw <[email protected]>
Co-authored-by: Alan <[email protected]>
Co-authored-by: Tony Najjar <[email protected]>
Co-authored-by: Huiyu Leong <[email protected]>
Co-authored-by: Pradheep Krishna <[email protected]>
Co-authored-by: DreamWest <[email protected]>
Co-authored-by: Tiwa Ojo <[email protected]>
Co-authored-by: Kemal Bektas <[email protected]>
Co-authored-by: Saitama <[email protected]>
Co-authored-by: agennart <[email protected]>
Co-authored-by: Daniil Khaninaev <[email protected]>
Co-authored-by: Adi Vardi <[email protected]>
Co-authored-by: Ryan <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>
Co-authored-by: Guillaume Doisy <[email protected]>

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