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

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merged 2 commits into from
Oct 1, 2024
Merged

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

merged 2 commits into from
Oct 1, 2024

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tiwaojo
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@tiwaojo tiwaojo commented Oct 1, 2024

Basic Info

Info Please fill out this column
Ticket(s) this addresses (add tickets here #4696 )
Primary OS tested on Ubuntu-24.04 (via Devcontainer Docker)
Robotic platform tested on
Does this PR contain AI generated software? No

Description of contribution in a few bullet points

  • Added action clients to the destroy_node function that were preventing the BasicNavigator node from completely releasing its resources

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 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

@tiwaojo tiwaojo mentioned this pull request Oct 1, 2024
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SteveMacenski
SteveMacenski approved these changes Oct 1, 2024
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Great, thank you!

@SteveMacenski SteveMacenski merged commit 3233c84 into ros-navigation:main Oct 1, 2024
11 checks passed
masf7g pushed a commit to quasi-robotics/navigation2 that referenced this pull request Oct 23, 2024
@tiwaojo @masf7g
Added missing action clients in robot_navigator(BasicNavigator) to de…
f54ee17 
…stroy_node (ros-navigation#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]>
SteveMacenski pushed a commit that referenced this pull request Nov 8, 2024
@tiwaojo @SteveMacenski
Added missing action clients in robot_navigator(BasicNavigator) to de…
e3e8781 
…stroy_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]>
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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