fix(nav2_theta_star_planner): Planner Server Crashing When Planning Outside Map Bounds with Theta* on Humble #4706
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SteveMacenski
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* Adding disengagement threshold to rotation shim controller (backport ros-navigation#4699) (ros-navigation#4702) * Adding disengagement threshold to rotation shim controller (ros-navigation#4699) * adding disengagement threshold to rotation shim controller Signed-off-by: Steve Macenski <[email protected]> * change default to 22.5 deg Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> (cherry picked from commit fc7e086) * Update nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * fix(nav2_theta_star_planner) Fix crash on Humble when goal is outside map bounds (ros-navigation#4706) * Humble sync 13: Nov 8, 2024 (ros-navigation#4748) * [DWB] Option to limit velocity commands in trajectory generator (ros-navigation#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]> * fix to bt action server logging before bt execution result being ready (ros-navigation#4677) Signed-off-by: DreamWest <[email protected]> * fix(simple-action-server): info log instead of warn on cancel (ros-navigation#4684) Cancelling a goal is nominal behavior and therefore it should not log warning. Signed-off-by: Rein Appeldoorn <[email protected]> * [RotationShimController] fix: rotate to goal heading (ros-navigation#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]> * Fix incorrect doxygen comment (ros-navigation#4741) Signed-off-by: Ryan Friedman <[email protected]> * [map_io] Replace std logs by rclcpp logs (ros-navigation#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]> * bump to 1.1.17 for humble sync Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: huiyulhy <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Rein Appeldoorn <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: huiyulhy <[email protected]> Signed-off-by: DreamWest <[email protected]> Signed-off-by: Rein Appeldoorn <[email protected]> Signed-off-by: agennart <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: brayanpa <[email protected]> Co-authored-by: Huiyu Leong <[email protected]> Co-authored-by: DreamWest <[email protected]> Co-authored-by: Rein Appeldoorn <[email protected]> Co-authored-by: Saitama <[email protected]> Co-authored-by: agennart <[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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This PR resolves the issue discussed in: #4694
The planner server was crashing when attempting to plan paths outside the map bounds using the Theta* planner on Humble.
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