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Adding planner server timeout for costmap waiting #4673

Merged
merged 2 commits into from
Sep 12, 2024
Merged

Adding planner server timeout for costmap waiting #4673

merged 2 commits into from
Sep 12, 2024

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SteveMacenski
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Closes #4672

@SteveMacenski SteveMacenski mentioned this pull request Sep 11, 2024
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codecov bot commented Sep 12, 2024 •
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Codecov Report

Attention: Patch coverage is 57.14286% with 9 lines in your changes missing coverage. Please review.

Files with missing lines Patch % Lines
nav2_controller/src/controller_server.cpp 53.84% 6 Missing ⚠️
nav2_planner/src/planner_server.cpp 71.42% 2 Missing ⚠️
...2_core/include/nav2_core/controller_exceptions.hpp 0.00% 1 Missing ⚠️
Files with missing lines Coverage Δ
...ller/include/nav2_controller/controller_server.hpp 100.00% <ø> (ø)
...2_core/include/nav2_core/controller_exceptions.hpp 58.33% <0.00%> (-5.31%) ⬇️
nav2_planner/src/planner_server.cpp 91.56% <71.42%> (-0.46%) ⬇️
nav2_controller/src/controller_server.cpp 84.29% <53.84%> (-1.12%) ⬇️

... and 3 files with indirect coverage changes

tgreier
tgreier approved these changes Sep 12, 2024
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Timeout check looks great. Thank you!

@SteveMacenski SteveMacenski merged commit b71cccd into main Sep 12, 2024
10 of 11 checks passed
masf7g pushed a commit to quasi-robotics/navigation2 that referenced this pull request Oct 23, 2024
@SteveMacenski @masf7g
Adding planner server timeout for costmap waiting (ros-navigation#4673)
677814f 
* 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]>
SteveMacenski added a commit that referenced this pull request Nov 8, 2024
@SteveMacenski
Adding planner server timeout for costmap waiting (#4673)
5e719cb 
* 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]>
SteveMacenski added a commit that referenced this pull request Nov 8, 2024
@SteveMacenski @alyquantillion
@anaelle-sw @aosmw @alanxuefei @tonynajjar @huiyulhy @padhupradheep @DreamWest @tiwaojo @gennartan @ikhann @adivardi @Ryanf55 @doisyg
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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Potential endless loop if a costmap layer does not update.
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@SteveMacenski @tgreier