Backward docking without sensors #4749
Open
+125
−9
Commits on Nov 22, 2024
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Updating error logging in Smac collision detector object (ros-navigat…
…ion#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]> Signed-off-by: Jakubach <[email protected]>
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[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]> Signed-off-by: Jakubach <[email protected]>
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Added an option for docking backward without back sensors and fixed b…
…ackward docking issues Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Update of initial rotation condition
Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Build fixes (forgot std::move)
Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Added atan2 correction, removed initial_rotation parameter, added tes…
…ts for backward docking, fixed dynamic params Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Used a condition instead of math conversion of boolean value to int
Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Reversed changes of calculateRegularVelocity method
Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Correction of initial rotation
Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Correction of initial rotation
Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Initial rotation taken from rotation shim controller
Signed-off-by: Jakubach <[email protected]> Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Refactor of backward projection
Signed-off-by: jakubach <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Added backward_rotation_tolerance to dynamic parameters
Signed-off-by: Jakubach <[email protected]>
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Pass IDLE to on_tick, use that for initialize condition (ros-navigati…
…on#4744) * Pass IDLE to on_tick, use that for initialize condition Signed-off-by: redvinaa <[email protected]> * Fix battery sub creation bug Signed-off-by: redvinaa <[email protected]> --------- Signed-off-by: redvinaa <[email protected]> Signed-off-by: Jakubach <[email protected]>
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nav2_costmap_2d: add missing default_value_ copy in Costmap2D operato…
…r= (ros-navigation#4753) default_value_ is an attribute of the Costmap2D class and should be copied along with the other attributes. Signed-off-by: Dylan De Coeyer <[email protected]> Signed-off-by: Jakubach <[email protected]>
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mppi parameters_handler: Improve verbose handling (ros-navigation#4704)…
… (ros-navigation#4711) * mppi parameters_handler: Improve verbose handling (ros-navigation#4704) The "verbose" parameter of the parameters_handler is a special case that needs registration before the dynamic parameter handler callback is registered. In verbose mode make the parameter handler info/warn/debug messages more expressive. Signed-off-by: Mike Wake <[email protected]> * Address review comments. (ros-navigation#4704) * remove comments. * Use RCLCPP_DEBUG instead of INFO for low level messages. * Add test for trying to access parameters that are not declared. Signed-off-by: Mike Wake <[email protected]> * mppi parameters_handler: Improve static/dynamic/not defined logging (ros-navigation#4704) Attempts to change undefined parameters will not be successful and will log an error. Attempts to change static parameters will be ignored, a debug message is logged if a change in parameters is attempted. Signed-off-by: Mike Wake <[email protected]> * mppi parameters_handler: populate SetParametersResult (ros-navigation#4704) Provide a mechanism to populate an rcl_interfaces::msg::SetParametersResult with the reasons for unsuccessful parameter setting, so that it may be propogated back to a set parameter client. The mechanism provides feedback when attempting to set undefined parameters, static parameters and could be used to validate dynamic parameters and provide a reason for rejection. NOTE: This changes public interface of ParametersHandler class. s/setDynamicParamCallback/setParamCallback s/addDynamicParamCallback/addParamCallback which takes a callback function that is able to populate a rcl_interfaces::msg::SetParametersResult. In order to indicate an unsuccessful parameter change and the reason, callback functions should append a "\n" to the reason before appending to if it is not empty. Signed-off-by: Mike Wake <[email protected]> * mppi parameters_handler: fix reason handling and improve tests Signed-off-by: Mike Wake <[email protected]> --------- Signed-off-by: Mike Wake <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Added collision detection for docking (ros-navigation#4752)
* Added collision detection for docking Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Improve collision while undocking and test Signed-off-by: Alberto Tudela <[email protected]> * Fix smoke testing Signed-off-by: Alberto Tudela <[email protected]> * Rename dock_collision_threshold Signed-off-by: Alberto Tudela <[email protected]> * Added docs and params Signed-off-by: Alberto Tudela <[email protected]> * Minor changes in README Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: Jakubach <[email protected]>
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Fixes after merging Signed-off-by: Jakub Chudziński <[email protected]>
Signed-off-by: Jakubach <[email protected]>
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Fixes after merging Signed-off-by: Jakub Chudziński <[email protected]>
Signed-off-by: Jakubach <[email protected]>
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Merge branch 'main' into backward-docking-without-sensors
Signed-off-by: Jakubach <[email protected]>
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