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SteveMacenskijonipolgennartanGoesMgoes
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Humble release 12: August 23 (#4644)
* Add configure and cleanup transitions to lifecycle manager and client (#4371) Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> * [RotationShimController] Rotate to goal heading (#4332) When arriving in the goal xy tolerance, the rotation shim controller takes back the control to command the robot to rotate in the goal heading orientation. The initial goal of the rotationShimController was to rotate the robot at the beginning of a navigation towards the paths orientation because some controllers are not good at performing in place rotations. For the same reason, the rotationShimController should be able to rotate the robot towards the goal heading. Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> * [RotationShimController] Fix test for rotate to goal heading (#4289) (#4391) * Fix rotate to goal heading tests Signed-off-by: Antoine Gennart <gennartan@disroot.org> * reset laser_scan_filter before reinit (#4397) Signed-off-by: goes <GoesM@buaa.edu.cn> Co-authored-by: goes <GoesM@buaa.edu.cn> * Warn if inflation_radius_ < inscribed_radius_ (#4423) * Warn if inflation_radius_ < inscribed_radius_ Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * convert to error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * chore: cleanup ros1 leftovers (#4446) Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> * precomputeDistanceHeuristic is now computed once (#4451) Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> * shutdown services in destructor of `ClearCostmapService` (#4495) Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Co-authored-by: GoesM_server <GoesM@buaa.edu.cn> * fix(nav2_costmap_2d): make obstacle layer not current on enabled toggle (#4507) Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> * min_turning_r_ getting param fix (#4510) * min_turning_r_ getting param fix Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> * Update nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> --------- Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Return out of map update if frames mismatch. Signed-off-by Joey Yang (#4517) Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> * check nullptr in smoothPlan() (#4544) * check nullptr in smoothPlan() Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn> * bump to 1.1.15 Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Revert "Add configure and cleanup transitions to lifecycle manager and client (#4371)" This reverts commit 06ec958. * fix merge conflict with humble sync * fix merge conflict with humble sync --------- Signed-off-by: Joni Pöllänen <joni.pollanen@karelics.fi> Signed-off-by: Antoine Gennart <gennart.antoine@gmail.com> Signed-off-by: Antoine Gennart <gennartan@disroot.org> Signed-off-by: goes <GoesM@buaa.edu.cn> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Rein Appeldoorn <rein.appeldoorn@nobleo.nl> Signed-off-by: Vincent Belpois <vincent.belpois@gmail.com> Signed-off-by: GoesM_server <GoesM@buaa.edu.cn> Signed-off-by: Kemal Bektas <kemal.bektas@node-robotics.com> Signed-off-by: Ivan Radionov <i.a.radionov@gmail.com.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Joey Yang <joeyyang.ai@gmail.com> Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: Joni Pöllänen <jonipol@users.noreply.github.com> Co-authored-by: Saitama <gennartan@users.noreply.github.com> Co-authored-by: GoesM <130988564+GoesM@users.noreply.github.com> Co-authored-by: goes <GoesM@buaa.edu.cn> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Rein Appeldoorn <reinzor@gmail.com> Co-authored-by: Vincent <46542431+VincidaB@users.noreply.github.com> Co-authored-by: SiddharthaUpase <s1dupase34@gmail.com> Co-authored-by: Kemal Bektas <34746077+bektaskemal@users.noreply.github.com> Co-authored-by: Kemal Bektas <kemal.bektas@node-robotics.com> Co-authored-by: Ivan Radionov <45877502+JJRedmond@users.noreply.github.com> Co-authored-by: Ivan Radionov <i.a.radionov@gmail.com.com> Co-authored-by: Joey Yang <joeyyang.ai@gmail.com>
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‎nav2_amcl/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_amcl</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>
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<p>
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amcl is a probabilistic localization system for a robot moving in

‎nav2_amcl/src/amcl_node.cpp

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lasers_update_.clear();
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frame_to_laser_.clear();
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laser_scan_connection_.disconnect();
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laser_scan_filter_.reset();
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laser_scan_sub_.reset();
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initMessageFilters();

‎nav2_behavior_tree/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behavior_tree</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>TODO</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

‎nav2_behaviors/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behaviors</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>TODO</description>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bringup/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bringup</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>Bringup scripts and configurations for the Nav2 stack</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bt_navigator/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bt_navigator</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>TODO</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<license>Apache-2.0</license>

‎nav2_collision_monitor/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_collision_monitor</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>Collision Monitor</description>
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<maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_common/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_common</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>Common support functionality used throughout the navigation 2 stack</description>
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<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
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<license>Apache-2.0</license>

‎nav2_constrained_smoother/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_constrained_smoother</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>Ceres constrained smoother</description>
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<maintainer email="vargovcik@robotechvision.com">Matej Vargovcik</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_controller/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_controller</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>Controller action interface</description>
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<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
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<license>Apache-2.0</license>

‎nav2_core/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_core</name>
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<version>1.1.16</version>
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<description>A set of headers for plugins core to the Nav2 stack</description>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
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<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>

‎nav2_costmap_2d/cfg/Costmap2D.cfg

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‎nav2_costmap_2d/cfg/GenericPlugin.cfg

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‎nav2_costmap_2d/cfg/InflationPlugin.cfg

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‎nav2_costmap_2d/cfg/ObstaclePlugin.cfg

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‎nav2_costmap_2d/cfg/VoxelPlugin.cfg

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‎nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp

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*/
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ClearCostmapService() = delete;
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/**
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* @brief A destructor
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*/
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~ClearCostmapService();
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/**
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* @brief Clears the region outside of a user-specified area reverting to the static map
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*/

‎nav2_costmap_2d/launch/example.launch

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‎nav2_costmap_2d/launch/example_params.yaml

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‎nav2_costmap_2d/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format ="3">
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<name>nav2_costmap_2d</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>
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This package provides an implementation of a 2D costmap that takes in sensor
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data from the world, builds a 2D or 3D occupancy grid of the data (depending

‎nav2_costmap_2d/plugins/inflation_layer.cpp

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computeCaches();
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need_reinflation_ = true;
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if (inflation_radius_ < inscribed_radius_) {
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RCLCPP_ERROR(
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logger_,
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"The configured inflation radius (%.3f) is smaller than "
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"the computed inscribed radius (%.3f) of your footprint, "
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"it is highly recommended to set inflation radius to be at "
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"least as big as the inscribed radius to avoid collisions",
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inflation_radius_, inscribed_radius_);
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}
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RCLCPP_DEBUG(
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logger_, "InflationLayer::onFootprintChanged(): num footprint points: %zu,"
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" inscribed_radius_ = %.3f, inflation_radius_ = %.3f",

‎nav2_costmap_2d/plugins/obstacle_layer.cpp

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max_obstacle_height_ = parameter.as_double();
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}
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} else if (param_type == ParameterType::PARAMETER_BOOL) {
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if (param_name == name_ + "." + "enabled") {
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if (param_name == name_ + "." + "enabled" && enabled_ != parameter.as_bool()) {
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enabled_ = parameter.as_bool();
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if (enabled_) {
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current_ = false;
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}
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} else if (param_name == name_ + "." + "footprint_clearing_enabled") {
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footprint_clearing_enabled_ = parameter.as_bool();
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}

‎nav2_costmap_2d/plugins/static_layer.cpp

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"StaticLayer: Map update ignored. Current map is in frame %s "
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"but update was in frame %s",
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map_frame_.c_str(), update->header.frame_id.c_str());
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return;
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}
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unsigned int di = 0;

‎nav2_costmap_2d/src/clear_costmap_service.cpp

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std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
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}
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ClearCostmapService::~ClearCostmapService()
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{
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// make sure services shutdown.
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clear_except_service_.reset();
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clear_around_service_.reset();
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clear_entire_service_.reset();
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}
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void ClearCostmapService::clearExceptRegionCallback(
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const shared_ptr<rmw_request_id_t>/*request_header*/,
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const shared_ptr<ClearExceptRegion::Request> request,

‎nav2_dwb_controller/costmap_queue/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>costmap_queue</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>The costmap_queue package</description>
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<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
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<license>BSD-3-Clause</license>

‎nav2_dwb_controller/dwb_core/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dwb_core</name>
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<version>1.1.15</version>
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<version>1.1.16</version>
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<description>TODO</description>
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<maintainer email="carl.r.delsey@intel.com">Carl Delsey</maintainer>
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<license>BSD-3-Clause</license>

‎nav2_dwb_controller/dwb_critics/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>dwb_critics</name>
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<version>1.1.16</version>
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<description>The dwb_critics package</description>
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<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
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<license>BSD-3-Clause</license>

‎nav2_dwb_controller/dwb_msgs/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>dwb_msgs</name>
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<version>1.1.16</version>
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<description>Message/Service definitions specifically for the dwb_core</description>
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<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
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<license>BSD-3-Clause</license>

‎nav2_dwb_controller/dwb_plugins/cfg/KinematicParams.cfg

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