From 4d2dae6c079a10b8cd43553aa80c1426d84ca82b Mon Sep 17 00:00:00 2001 From: Sam Sutton Date: Tue, 15 Oct 2024 10:38:05 -0400 Subject: [PATCH] Make Navigation Precise --- .../backward_global_planner.hpp | 1 + .../backward_global_planner.cpp | 21 +- .../forward_global_planner.hpp | 1 + .../forward_global_planner.cpp | 33 +- .../forward_local_planner.cpp | 8 +- .../CHANGELOG.rst | 3844 +++++++++++++++++ .../CMakeLists.txt | 67 + .../pure_spinning_global_planner.hpp | 101 + .../pure_spinning_global_planner/package.xml | 27 + .../psgp_plugin.xml | 6 + .../pure_spinning_global_planner.cpp | 221 + .../pure_spinning_local_planner.cpp | 9 + .../undo_path_global_planner.hpp | 1 + .../undo_path_global_planner.cpp | 17 + .../client_behaviors/cb_rotate.cpp | 5 + .../planner_switcher/cp_planner_switcher.cpp | 2 +- .../params/nav2z_client/nav2_params.yaml | 2 +- 17 files changed, 4358 insertions(+), 8 deletions(-) create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CHANGELOG.rst create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CMakeLists.txt create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/include/pure_spinning_global_planner/pure_spinning_global_planner.hpp create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/package.xml create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/psgp_plugin.xml create mode 100644 smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/src/pure_spinning_global_planner/pure_spinning_global_planner.cpp diff --git a/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp b/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp index fe35e0038..28ffde5f9 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp +++ b/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/include/backward_global_planner/backward_global_planner.hpp @@ -74,6 +74,7 @@ class BackwardGlobalPlanner : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal); private: + void updateParameters(); // rclcpp::Node::SharedPtr nh_; rclcpp_lifecycle::LifecycleNode::SharedPtr nh_; diff --git a/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp index cfa05af9b..9037055d2 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp +++ b/smacc2_client_library/nav2z_client/custom_planners/backward_global_planner/src/backward_global_planner/backward_global_planner.cpp @@ -48,7 +48,7 @@ namespace backward_global_planner */ BackwardGlobalPlanner::BackwardGlobalPlanner() { - skip_straight_motion_distance_ = 0.2; + skip_straight_motion_distance_ = 0.014; puresSpinningRadStep_ = 1000; // rads } @@ -67,6 +67,8 @@ void BackwardGlobalPlanner::configure( name_ = name; tf_ = tf; transform_tolerance_ = 0.1; + skip_straight_motion_distance_ = 0.014; + puresSpinningRadStep_ = 1000; // rads // RCLCPP_INFO_NAMED(nh_->get_logger(), "Backwards", "BackwardGlobalPlanner initialize"); costmap_ros_ = costmap_ros; @@ -78,8 +80,23 @@ void BackwardGlobalPlanner::configure( nh_->create_publisher("backward_planner/markers", 1); declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_); + declareOrSet(nh_, name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); + +} + +void BackwardGlobalPlanner::updateParameters() +{ + nh_->get_parameter(name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); + nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_); + + RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.pure_spinning_rad_step: " << puresSpinningRadStep_); + RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_); + RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner.transform_tolerance: " << transform_tolerance_); } + /** ****************************************************************************************************************** * cleanup() @@ -95,6 +112,7 @@ void BackwardGlobalPlanner::cleanup() { this->cleanMarkers(); } void BackwardGlobalPlanner::activate() { RCLCPP_INFO_STREAM(nh_->get_logger(), "[BackwardGlobalPlanner] activating planner"); + this->updateParameters(); planPub_->on_activate(); markersPub_->on_activate(); } @@ -228,6 +246,7 @@ void BackwardGlobalPlanner::createDefaultBackwardPath( nav_msgs::msg::Path BackwardGlobalPlanner::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) { + this->updateParameters(); RCLCPP_INFO_STREAM( nh_->get_logger(), "[BackwardGlobalPlanner] goal frame id: " << goal.header.frame_id << " pose: " << goal.pose.position); diff --git a/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp b/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp index 77ebf7d7b..463b64bea 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp +++ b/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/include/forward_global_planner/forward_global_planner.hpp @@ -78,6 +78,7 @@ class ForwardGlobalPlanner : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal); private: + void updateParameters(); // rclcpp::Node::SharedPtr nh_; rclcpp_lifecycle::LifecycleNode::SharedPtr nh_; diff --git a/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp index b9391d6c2..7776a8edf 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp +++ b/smacc2_client_library/nav2z_client/custom_planners/forward_global_planner/src/forward_global_planner/forward_global_planner.cpp @@ -42,7 +42,7 @@ namespace forward_global_planner ForwardGlobalPlanner::ForwardGlobalPlanner() // : nh_("~/ForwardGlobalPlanner") { - skip_straight_motion_distance_ = 0.2; // meters + skip_straight_motion_distance_ = 0.01; // 0.2; // meters puresSpinningRadStep_ = 1000; // rads } @@ -60,14 +60,33 @@ void ForwardGlobalPlanner::configure( RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] initializing"); planPub_ = nh_->create_publisher("global_plan", rclcpp::QoS(1)); - skip_straight_motion_distance_ = 0.2; // meters + skip_straight_motion_distance_ = 0.2; //0.2 // meters puresSpinningRadStep_ = 1000; // rads transform_tolerance_ = 0.1; + + declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_); + declareOrSet(nh_, name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); +} +void ForwardGlobalPlanner::updateParameters() +{ + nh_->get_parameter(name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); + nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_); + + RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.pure_spinning_rad_step: " << puresSpinningRadStep_); + RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_); + RCLCPP_INFO_STREAM(nh_->get_logger(), "[ForwardGlobalPlanner.transform_tolerance: " << transform_tolerance_); } void ForwardGlobalPlanner::cleanup() {} -void ForwardGlobalPlanner::activate() { planPub_->on_activate(); } +void ForwardGlobalPlanner::activate() +{ + RCLCPP_INFO_STREAM(nh_->get_logger(), "activating global planner ForwardGlobalPlanner"); + this->updateParameters(); + planPub_->on_activate(); + } void ForwardGlobalPlanner::deactivate() { @@ -79,6 +98,9 @@ void ForwardGlobalPlanner::deactivate() nav_msgs::msg::Path ForwardGlobalPlanner::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) { + + this->updateParameters(); + RCLCPP_INFO(nh_->get_logger(), "[Forward Global Planner] planning"); rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_); @@ -108,6 +130,11 @@ nav_msgs::msg::Path ForwardGlobalPlanner::createPlan( double length = sqrt(dx * dx + dy * dy); + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[Forward Global Planner] current plan length: " << length); + + geometry_msgs::msg::PoseStamped prevState; if (length > skip_straight_motion_distance_) { diff --git a/smacc2_client_library/nav2z_client/custom_planners/forward_local_planner/src/forward_local_planner/forward_local_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/forward_local_planner/src/forward_local_planner/forward_local_planner.cpp index 4e7c77763..8f252a8f5 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/forward_local_planner/src/forward_local_planner/forward_local_planner.cpp +++ b/smacc2_client_library/nav2z_client/custom_planners/forward_local_planner/src/forward_local_planner/forward_local_planner.cpp @@ -40,7 +40,7 @@ namespace forward_local_planner * ForwardLocalPlanner() ****************************************************************************************************************** */ -ForwardLocalPlanner::ForwardLocalPlanner() : transform_tolerance_(0.1), waitingTimeout_(2s) {} +ForwardLocalPlanner::ForwardLocalPlanner() : transform_tolerance_(0.05), waitingTimeout_(2s) {} ForwardLocalPlanner::~ForwardLocalPlanner() {} @@ -117,7 +117,7 @@ void ForwardLocalPlanner::configure( } void ForwardLocalPlanner::updateParameters() -{ +{ nh_->get_parameter(name_ + ".k_rho", k_rho_); nh_->get_parameter(name_ + ".k_alpha", k_alpha_); nh_->get_parameter(name_ + ".k_betta", k_betta_); @@ -367,6 +367,8 @@ geometry_msgs::msg::TwistStamped ForwardLocalPlanner::computeVelocityCommands( RCLCPP_DEBUG( nh_->get_logger(), "[ForwardLocalPlanner] ----- COMPUTE VELOCITY COMMAND LOCAL PLANNER ---"); + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[ForwardLocalPlanner] plan_.size:" << (int)plan_.size()); bool ok = false; while (!ok) { @@ -382,6 +384,8 @@ geometry_msgs::msg::TwistStamped ForwardLocalPlanner::computeVelocityCommands( double dx = p.x - currentPose.pose.position.x; double dy = p.y - currentPose.pose.position.y; double dist = sqrt(dx * dx + dy * dy); + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[ForwardLocalPlanner] dist:" << dist); double pangle = tf2::getYaw(q); double angle = tf2::getYaw(currentPose.pose.orientation); diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CHANGELOG.rst b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CHANGELOG.rst new file mode 100644 index 000000000..b479a05f7 --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CHANGELOG.rst @@ -0,0 +1,3844 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Mouse Brain state machine modification ignore below +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package forward_global_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.16 (2023-07-16) +------------------- +* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble +* Brettpac branch (`#518 `_) + * Attempt to fix weird issue with ros buildfarm + * More on this buildfarm issue + --------- + Co-authored-by: brettpac +* Contributors: brettpac, pabloinigoblasco + +2.3.6 (2023-03-12) +------------------ + +1.22.1 (2022-11-09) +------------------- +* pre-release +* Contributors: pabloinigoblasco + +* pre-release +* Contributors: pabloinigoblasco + +* publisher +* Revert "Ignore packages which should not be released." + This reverts commit dec14a936a877b2ef722a6a32f1bf3df09312542. +* Contributors: Denis Štogl, pabloinigoblasco + +0.3.0 (2022-04-04) +------------------ + +0.0.0 (2022-11-09) +------------------ +* publisher +* Revert "Ignore packages which should not be released." + This reverts commit dec14a936a877b2ef722a6a32f1bf3df09312542. +* Ignore packages which should not be released. +* Feature/master rolling to galactic backport (#236) + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * replanning for all our examples + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + * Foxy backport (#206) + * minor formatting fixes + * Fix trailing spaces. + * Correct codespell. + * Correct python linters warnings. + * Add galactic CI build because Navigation2 is broken in rolling. + * Add partial changes for ament_cpplint. + * Add tf2_ros as dependency to find include. + * Disable ament_cpplint. + * Disable some packages and update workflows. + * Bump ccache version. + * Ignore further packages + * Satisfy ament_lint_cmake + * Add missing licences. + * Disable cpplint and cppcheck linters. + * Correct formatters. + * branching example + * Disable disabled packages + * Update ci-build-source.yml + * Change extension + * Change extension of imports. + * Enable cppcheck + * Correct formatting of python file. + * Included necessary package and edited Threesome launch + Changed... + ros2 launch sm_three_some sm_three_some + to + ros2 launch sm_three_some sm_three_some.launch + Added: + First ensure you have the necessary package installed. + ``` + sudo apt-get install ros-rolling-ros2trace + ``` + Then run this command. + * Rename header files and correct format. + * Add workflow for checking doc build. + * Update doxygen-check-build.yml + * Create doxygen-deploy.yml + * Use manual deployment for now. + * Create workflow for testing prerelease builds + * Use docs/ as source folder for documentation + * Use docs/ as output directory. + * Rename to smacc2 and smacc2_msgs + * Correct GitHub branch reference. + * Update name of package and package.xml to pass liter. + * Execute on master update + * Reset all versions to 0.0.0 + * Ignore all packages except smacc2 and smacc2_msgs + * Update changelogs + * 0.1.0 + * Revert "Ignore all packages except smacc2 and smacc2_msgs" + This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. + * Update description table. + * Update table + * Copy initial docs + * Dockerfile w/ ROS distro as argument + use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/" + * Opened new folder for additional tracing contents + * Delete tracing directory + * Moved tracing.md to tracing directory + * added setupTracing.sh + Installs necessary packages and configures tracing group. + * Removed manual installation of ros-rolling-ros2trace + This is now automated in setupTracing.sh + location of sh file assumed if user follows README.md under "Getting started" + * Created alternative ManualTracing + * added new sm markdowns + * added a dockerfile for Rolling and Galactic + * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh + Co-authored-by: Denis Štogl + * Update tracing/ManualTracing.md + Co-authored-by: Denis Štogl + * changed wording "smacc application" to "SMACC2 library" + Co-authored-by: Denis Štogl + * Update smacc_sm_reference_library/sm_atomic/README.md + edit from html to markdown syntax + Co-authored-by: Denis Štogl + * reactivating smacc2 nav clients for rolling via submodules + * renamed tracing events after + * bug in smacc2 component + * reverted markdowns to html + * added README tutorial for Dockerfile + * additional cleanup + * cleanup + * cleanup + * edited tracing.md to reflect new tracing event names + * Enable build of missing rolling repositories. + * Enable Navigation2 for semi-binary build. + * Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + * missing + * missing sm + * updating subscriber publisher components + * progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine + * refining cp subscriber cp publisher + * Update cb_navigate_global_position.hpp + * improvements in smacc core adding more components mostly developed for autoware demo + * autoware demo + * missing + * foxy ci + * fix + * minor broken build + * Merging code from backport foxy and updates about autoware (#208) + * minor changes + * replanning for all our examples + * backport to foxy + * minor format + * minor linking errors foxy + * Foxy backport (#206) + * minor formatting fixes + * Fix trailing spaces. + * Correct codespell. + * Correct python linters warnings. + * Add galactic CI build because Navigation2 is broken in rolling. + * Add partial changes for ament_cpplint. + * Add tf2_ros as dependency to find include. + * Disable ament_cpplint. + * Disable some packages and update workflows. + * Bump ccache version. + * Ignore further packages + * Satisfy ament_lint_cmake + * Add missing licences. + * Disable cpplint and cppcheck linters. + * Correct formatters. + * branching example + * Disable disabled packages + * Update ci-build-source.yml + * Change extension + * Change extension of imports. + * Enable cppcheck + * Correct formatting of python file. + * Included necessary package and edited Threesome launch + Changed... + ros2 launch sm_three_some sm_three_some + to + ros2 launch sm_three_some sm_three_some.launch + Added: + First ensure you have the necessary package installed. + ``` + sudo apt-get install ros-rolling-ros2trace + ``` + Then run this command. + * Rename header files and correct format. + * Add workflow for checking doc build. + * Update doxygen-check-build.yml + * Create doxygen-deploy.yml + * Use manual deployment for now. + * Create workflow for testing prerelease builds + * Use docs/ as source folder for documentation + * Use docs/ as output directory. + * Rename to smacc2 and smacc2_msgs + * Correct GitHub branch reference. + * Update name of package and package.xml to pass liter. + * Execute on master update + * Reset all versions to 0.0.0 + * Ignore all packages except smacc2 and smacc2_msgs + * Update changelogs + * 0.1.0 + * Revert "Ignore all packages except smacc2 and smacc2_msgs" + This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. + * Update description table. + * Update table + * Copy initial docs + * Dockerfile w/ ROS distro as argument + use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/" + * Opened new folder for additional tracing contents + * Delete tracing directory + * Moved tracing.md to tracing directory + * added setupTracing.sh + Installs necessary packages and configures tracing group. + * Removed manual installation of ros-rolling-ros2trace + This is now automated in setupTracing.sh + location of sh file assumed if user follows README.md under "Getting started" + * Created alternative ManualTracing + * added new sm markdowns + * added a dockerfile for Rolling and Galactic + * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh + Co-authored-by: Denis Štogl + * Update tracing/ManualTracing.md + Co-authored-by: Denis Štogl + * changed wording "smacc application" to "SMACC2 library" + Co-authored-by: Denis Štogl + * Update smacc_sm_reference_library/sm_atomic/README.md + edit from html to markdown syntax + Co-authored-by: Denis Štogl + * reactivating smacc2 nav clients for rolling via submodules + * renamed tracing events after + * bug in smacc2 component + * reverted markdowns to html + * added README tutorial for Dockerfile + * additional cleanup + * cleanup + * cleanup + * edited tracing.md to reflect new tracing event names + * Enable build of missing rolling repositories. + * Enable Navigation2 for semi-binary build. + * Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + * missing + * missing sm + * updating subscriber publisher components + * progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine + * refining cp subscriber cp publisher + * improvements in smacc core adding more components mostly developed for autoware demo + * autoware demo + * missing + * foxy ci + * fix + * minor broken build + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + Co-authored-by: pabloinigoblasco + * Add mergify rules file. + * Try fixing CI for rolling. (#209) + Merging to get backport working. + * some reordering fixes + * Remove example things from Foxy CI setup. (#214) + * Add Autoware Auto Msgs into not-released dependencies. (#220) + * Fix rolling builds (#222) + * do not merge yet - Feature/odom tracker improvements and retry motion (#223) + * odom tracker improvements + * adding forward behavior retry funcionality + * minor + * docker files for different revisions, warnings removval and more testing on navigation + * fixing docker for foxy and galactic + * removing warnings (#213) + * minor changes + * replanning for all our examples + * backport to foxy + * minor format + * minor linking errors foxy + * Foxy backport (#206) + * minor formatting fixes + * Fix trailing spaces. + * Correct codespell. + * Correct python linters warnings. + * Add galactic CI build because Navigation2 is broken in rolling. + * Add partial changes for ament_cpplint. + * Add tf2_ros as dependency to find include. + * Disable ament_cpplint. + * Disable some packages and update workflows. + * Bump ccache version. + * Ignore further packages + * Satisfy ament_lint_cmake + * Add missing licences. + * Disable cpplint and cppcheck linters. + * Correct formatters. + * branching example + * Disable disabled packages + * Update ci-build-source.yml + * Change extension + * Change extension of imports. + * Enable cppcheck + * Correct formatting of python file. + * Included necessary package and edited Threesome launch + Changed... + ros2 launch sm_three_some sm_three_some + to + ros2 launch sm_three_some sm_three_some.launch + Added: + First ensure you have the necessary package installed. + ``` + sudo apt-get install ros-rolling-ros2trace + ``` + Then run this command. + * Rename header files and correct format. + * Add workflow for checking doc build. + * Update doxygen-check-build.yml + * Create doxygen-deploy.yml + * Use manual deployment for now. + * Create workflow for testing prerelease builds + * Use docs/ as source folder for documentation + * Use docs/ as output directory. + * Rename to smacc2 and smacc2_msgs + * Correct GitHub branch reference. + * Update name of package and package.xml to pass liter. + * Execute on master update + * Reset all versions to 0.0.0 + * Ignore all packages except smacc2 and smacc2_msgs + * Update changelogs + * 0.1.0 + * Revert "Ignore all packages except smacc2 and smacc2_msgs" + This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. + * Update description table. + * Update table + * Copy initial docs + * Dockerfile w/ ROS distro as argument + use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/" + * Opened new folder for additional tracing contents + * Delete tracing directory + * Moved tracing.md to tracing directory + * added setupTracing.sh + Installs necessary packages and configures tracing group. + * Removed manual installation of ros-rolling-ros2trace + This is now automated in setupTracing.sh + location of sh file assumed if user follows README.md under "Getting started" + * Created alternative ManualTracing + * added new sm markdowns + * added a dockerfile for Rolling and Galactic + * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh + Co-authored-by: Denis Štogl + * Update tracing/ManualTracing.md + Co-authored-by: Denis Štogl + * changed wording "smacc application" to "SMACC2 library" + Co-authored-by: Denis Štogl + * Update smacc_sm_reference_library/sm_atomic/README.md + edit from html to markdown syntax + Co-authored-by: Denis Štogl + * reactivating smacc2 nav clients for rolling via submodules + * renamed tracing events after + * bug in smacc2 component + * reverted markdowns to html + * added README tutorial for Dockerfile + * additional cleanup + * cleanup + * cleanup + * edited tracing.md to reflect new tracing event names + * Enable build of missing rolling repositories. + * Enable Navigation2 for semi-binary build. + * Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + * missing + * missing sm + * updating subscriber publisher components + * progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine + * refining cp subscriber cp publisher + * improvements in smacc core adding more components mostly developed for autoware demo + * autoware demo + * missing + * foxy ci + * fix + * minor broken build + * some reordering fixes + * minor + * docker files for different revisions, warnings removval and more testing on navigation + * fixing docker for foxy and galactic + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + Co-authored-by: pabloinigoblasco + * docker build files for all versions + * dockerfiles (#225) + * Fix code generators (#221) + * Fix other build issues. + * Update SM template and make example code clearly visible. + * Remove use of node in the sm performance template. + * Updated templated to use Blackboard storage. + * Update template to resolve the global data correctly. + * Update sm_name.hpp + Co-authored-by: Pablo Iñigo Blasco + * Feature/retry behavior warehouse 1 (#226) + * minor changes + * replanning for all our examples + * backport to foxy + * minor format + * minor linking errors foxy + * Foxy backport (#206) + * minor formatting fixes + * Fix trailing spaces. + * Correct codespell. + * Correct python linters warnings. + * Add galactic CI build because Navigation2 is broken in rolling. + * Add partial changes for ament_cpplint. + * Add tf2_ros as dependency to find include. + * Disable ament_cpplint. + * Disable some packages and update workflows. + * Bump ccache version. + * Ignore further packages + * Satisfy ament_lint_cmake + * Add missing licences. + * Disable cpplint and cppcheck linters. + * Correct formatters. + * branching example + * Disable disabled packages + * Update ci-build-source.yml + * Change extension + * Change extension of imports. + * Enable cppcheck + * Correct formatting of python file. + * Included necessary package and edited Threesome launch + Changed... + ros2 launch sm_three_some sm_three_some + to + ros2 launch sm_three_some sm_three_some.launch + Added: + First ensure you have the necessary package installed. + ``` + sudo apt-get install ros-rolling-ros2trace + ``` + Then run this command. + * Rename header files and correct format. + * Add workflow for checking doc build. + * Update doxygen-check-build.yml + * Create doxygen-deploy.yml + * Use manual deployment for now. + * Create workflow for testing prerelease builds + * Use docs/ as source folder for documentation + * Use docs/ as output directory. + * Rename to smacc2 and smacc2_msgs + * Correct GitHub branch reference. + * Update name of package and package.xml to pass liter. + * Execute on master update + * Reset all versions to 0.0.0 + * Ignore all packages except smacc2 and smacc2_msgs + * Update changelogs + * 0.1.0 + * Revert "Ignore all packages except smacc2 and smacc2_msgs" + This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. + * Update description table. + * Update table + * Copy initial docs + * Dockerfile w/ ROS distro as argument + use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/" + * Opened new folder for additional tracing contents + * Delete tracing directory + * Moved tracing.md to tracing directory + * added setupTracing.sh + Installs necessary packages and configures tracing group. + * Removed manual installation of ros-rolling-ros2trace + This is now automated in setupTracing.sh + location of sh file assumed if user follows README.md under "Getting started" + * Created alternative ManualTracing + * added new sm markdowns + * added a dockerfile for Rolling and Galactic + * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh + Co-authored-by: Denis Štogl + * Update tracing/ManualTracing.md + Co-authored-by: Denis Štogl + * changed wording "smacc application" to "SMACC2 library" + Co-authored-by: Denis Štogl + * Update smacc_sm_reference_library/sm_atomic/README.md + edit from html to markdown syntax + Co-authored-by: Denis Štogl + * reactivating smacc2 nav clients for rolling via submodules + * renamed tracing events after + * bug in smacc2 component + * reverted markdowns to html + * added README tutorial for Dockerfile + * additional cleanup + * cleanup + * cleanup + * edited tracing.md to reflect new tracing event names + * Enable build of missing rolling repositories. + * Enable Navigation2 for semi-binary build. + * Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + * missing + * missing sm + * updating subscriber publisher components + * progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine + * refining cp subscriber cp publisher + * improvements in smacc core adding more components mostly developed for autoware demo + * autoware demo + * missing + * foxy ci + * fix + * minor broken build + * some reordering fixes + * minor + * docker files for different revisions, warnings removval and more testing on navigation + * fixing docker for foxy and galactic + * Update file for fake hardware simulation and add file for gazebo simulation. + * docker build files for all versions + * retry behavior warehouse 1 + * missing file + * minor format fix + * other minor changes + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + Co-authored-by: pabloinigoblasco + * barrel demo + * barrel search build fix and warehouse3 + * fixing startup problems in warehouse 3 + * fix broken source build (#227) + * fixing format and minor + * minor + * progress in barrel husky + * minor + * Only rolling version should be pre-released on on master. (#230) + * barrel demo + * minor + * barrel search updates + * making models local + * red picuup + * Correct Focal-Rolling builds by fixing the version of rosdep yaml (#234) + * multiple controllable leds plugin + * progress in husky demo + * Update file for fake hardware simulation and add file for gazebo simulation. (#224) + * Update file for fake hardware simulation and add file for gazebo simulation. + * Add ignition file and update repos files. + * progressing in husky demo + * improving navigation behaviors + * Feature/improvements warehouse3 (#228) + * minor changes + * replanning for all our examples + * backport to foxy + * minor format + * minor linking errors foxy + * Foxy backport (#206) + * minor formatting fixes + * Fix trailing spaces. + * Correct codespell. + * Correct python linters warnings. + * Add galactic CI build because Navigation2 is broken in rolling. + * Add partial changes for ament_cpplint. + * Add tf2_ros as dependency to find include. + * Disable ament_cpplint. + * Disable some packages and update workflows. + * Bump ccache version. + * Ignore further packages + * Satisfy ament_lint_cmake + * Add missing licences. + * Disable cpplint and cppcheck linters. + * Correct formatters. + * branching example + * Disable disabled packages + * Update ci-build-source.yml + * Change extension + * Change extension of imports. + * Enable cppcheck + * Correct formatting of python file. + * Included necessary package and edited Threesome launch + Changed... + ros2 launch sm_three_some sm_three_some + to + ros2 launch sm_three_some sm_three_some.launch + Added: + First ensure you have the necessary package installed. + ``` + sudo apt-get install ros-rolling-ros2trace + ``` + Then run this command. + * Rename header files and correct format. + * Add workflow for checking doc build. + * Update doxygen-check-build.yml + * Create doxygen-deploy.yml + * Use manual deployment for now. + * Create workflow for testing prerelease builds + * Use docs/ as source folder for documentation + * Use docs/ as output directory. + * Rename to smacc2 and smacc2_msgs + * Correct GitHub branch reference. + * Update name of package and package.xml to pass liter. + * Execute on master update + * Reset all versions to 0.0.0 + * Ignore all packages except smacc2 and smacc2_msgs + * Update changelogs + * 0.1.0 + * Revert "Ignore all packages except smacc2 and smacc2_msgs" + This reverts commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61. + * Update description table. + * Update table + * Copy initial docs + * Dockerfile w/ ROS distro as argument + use this command "sudo docker build --build-arg ROS2_DISTRO=(desiredRosTag) (directoryHoldingDockerfile)/" + * Opened new folder for additional tracing contents + * Delete tracing directory + * Moved tracing.md to tracing directory + * added setupTracing.sh + Installs necessary packages and configures tracing group. + * Removed manual installation of ros-rolling-ros2trace + This is now automated in setupTracing.sh + location of sh file assumed if user follows README.md under "Getting started" + * Created alternative ManualTracing + * added new sm markdowns + * added a dockerfile for Rolling and Galactic + * Update smacc2_ci/docker/ros_rollingAndGalactic_ubuntu_20.04/buildGalactic.sh + Co-authored-by: Denis Štogl + * Update tracing/ManualTracing.md + Co-authored-by: Denis Štogl + * changed wording "smacc application" to "SMACC2 library" + Co-authored-by: Denis Štogl + * Update smacc_sm_reference_library/sm_atomic/README.md + edit from html to markdown syntax + Co-authored-by: Denis Štogl + * reactivating smacc2 nav clients for rolling via submodules + * renamed tracing events after + * bug in smacc2 component + * reverted markdowns to html + * added README tutorial for Dockerfile + * additional cleanup + * cleanup + * cleanup + * edited tracing.md to reflect new tracing event names + * Enable build of missing rolling repositories. + * Enable Navigation2 for semi-binary build. + * Remove galactic builds from master and kepp only rolling. Remove submodules and use .repos file + * updated mentions of SMACC/ROS to SMACC2/ROS2 + * some progress on navigation rolling + * renamed folders, deleted tracing.md, edited README.md + * added smacc2_performance_tools + * performance tests improvements + * more on performance and other issues + * sm_respira_1 format cleanup + * sm_respira_1 format cleanup pre-commit + * sm_respira_test_2 + * sm_respira_test_2 + * more changes on performance tests + * Do not execute clang-format on smacc2_sm_reference_library package. + * sm_reference_library reformatting + * Correct trailing spaces. + * sm_atomic_24hr + * sm_atomic_performance_trace_1 + * Update smacc2_rta command across readmes + * Clean up of sm_atomic_24hr + * more sm_atomic_24hr cleanup + * Optimized deps in move_base_z_planners_common. + * Renaming of event generator library + * minor formatting + * Add galactic CI setup and rename rolling files. (#58) + * Fix source CI and correct README overview. (#62) + * Update c_cpp_properties.json + * changed launch command to ros2 launch sm_respira_1 sm_respira_1.launch (#69) + also noticed a note I had made while producing these that was not removed + * update doxygen links (#70) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme Updates (#72) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More Readme (#74) + Co-authored-by: Ubuntu 20-04-02-amd64 + * created new sm from sm_respira_1 (#76) + * Feature/core and navigation fixes (#78) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * Feature/aws demo progress (#80) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * sm_advanced_recovery_1 reworked (#83) + * sm_advanced_recovery_1 reworked + * fix pre-commit + * Trying to fix Pre-Commit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_advanced_recovery_1 (#84) + Co-authored-by: Ubuntu 20-04-02-amd64 + * More sm_advanced_recovery_1 work (#85) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 round 4 (#86) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#87) + * sm_atomic_performance_test_a_2 + * sm_atomic_performance_test_a_1 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_atomic_performance_test_c_1 (#88) + Co-authored-by: Ubuntu 20-04-02-amd64 + * modifying sm_atomic_performance_test_a_2 (#89) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 (#90) + * sm_multi_stage_1 + * fixing precommit + Co-authored-by: Ubuntu 20-04-02-amd64 + * more sm_multi_stage_1 (#91) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Update README.md + updated launch command + * Wait topic message client behavior (#81) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * attempting precommit fixes + Co-authored-by: Ubuntu 20-04-02-amd64 + Co-authored-by: Denis Štogl + * Feature/wait nav2 nodes client behavior (#82) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * Correct all linters and formaters. + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * Feature/aws demo progress (#92) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * Feature/sm dance bot fixes (#93) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * Feature/sm aws warehouse (#94) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * merge and progress + * fix format + * Feature/sm dance bot fixes (#95) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * minor format + * Remove some compile warnings. (#96) + * Feature/cb pause slam (#98) + * base for the sm_aws_aarehouse navigation + * progressing in aws navigation + * minor + * several core improvements during navigation testing + * formatting improvements + * progress in aws navigation demo + * format improvements + * format improvements + * more on navigation + * new feature, cb_wait_topic_message: asynchronous client behavior that waits a topic message and optionally checks its contents to success + * formatting + * adding new client behavior add for nav2, wait nav2 nodes subscribing to the /bond topic and waiting they are alive. you optionally can select the nodes to wait + * progress in aws navigation demo + * minor format + * navigation parameters fixes on sm_dance_bot + * minor format + * minor + * formatting + * cb pause slam client behavior + * sm_dance_bot_lite (#99) + * sm_dance_bot_lite + * precommit + * Updates yaml + Co-authored-by: Ubuntu 20-04-02-amd64 + * Rename doxygen deployment workflow (#100) + * minor hotfix + * sm_dance_bot visualizing turtlebot3 (#101) + * Feature/dance bot launch gz lidar choice (#102) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * Feature/sm dance bot lite gazebo fixes (#104) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * sm_multi_stage_1 doubling (#103) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot strikes back gazebo fixes (#105) + * sm_dance_bot visualizing turtlebot3 + * cleaning and lidar show/hide option + * cleaning files and making formatting work + * more fixes + * gazebo fixes, to show the robot and the lidar + * format fixes + * gazebo fixes for sm_dance_bot_strikes_back + * precommit cleanup run (#106) + Co-authored-by: Ubuntu 20-04-02-amd64 + * aws demo (#108) + * aws demo + * format + * got sm_multi_stage_1 working (barely) (#109) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#110) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * Brettpac branch (#111) + * got sm_multi_stage_1 working (barely) + * gaining traction sm_multi_stage_1 + * more + * don't remember + * making progress + * More + * keep hammering + * two stages + * 3 part + * 4th stage + * 5th stage + Co-authored-by: Ubuntu 20-04-02-amd64 + * a3 (#113) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Remove neo_simulation2 package. (#112) + * Remove neo_simulation2 package. + * Correct formatting. + * Enable source build on PR for testing. + * Adjust build packages of source CI + * more sm_multi_stage_1 (#114) + Co-authored-by: Ubuntu 20-04-02-amd64 + * mm (#115) + Co-authored-by: Ubuntu 20-04-02-amd64 + * diverse improvements navigation and performance (#116) + * diverse improvements navigation and performance + * minor + Co-authored-by: pabloinigoblasco + * Feature/diverse improvemets navigation performance (#117) + * diverse improvements navigation and performance + * minor + * additional linting and formatting + * Remove merge markers from a python file. (#119) + * Feature/slam toggle and smacc deep history (#122) + * progress in navigation, slam toggle client behaviors and slam_toolbox components. Also smacc2::deep_history syntax + * going forward in testing sm_dance_bot introducing slam pausing/resuming funcionality + * feature/more_sm_dance_bot_fixes + * minor format + * minor (#124) + Co-authored-by: Ubuntu 20-04-02-amd64 + * more changes in sm_dance_bot (#125) + * Move method after the method it calls. Otherwise recursion could happen. (#126) + * Feature/dance bot s pattern (#128) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * noticed typo + Finnaly > Finally + * Feature/dance bot s pattern (#129) + * more changes in sm_dance_bot + * polishing sm_dance_bot and s-pattern + * more refinement in sm_dance_bot + * First working version of sm template and template generator. (#127) + * minor tweaks (#130) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm dance bot refine (#131) + * more changes in sm_dance_bot + * minor + * Feature/sm dance bot refine 2 (#132) + * more changes in sm_dance_bot + * minor + * build fix + * waypoints navigator bug (#133) + * minor tuning to mitigate overshot issue cases + * progress in the sm_dance_bot tests (#135) + * some more progress on markers cleanup + * minor format issues (#134) + * sm_dance_bot_lite (#136) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Resolve compile wanings (#137) + * Add SM core test (#138) + * minor navigation improvements (#141) + * using local action msgs (#139) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * Feature/nav2z renaming (#144) + * using local action msgs + * removing sm_dance_bot_msgs + * pending references + * navigation 2 stack renaming + * formatting + * added SVGs to READMEs of atomic, dance_bot, and others (#140) + * added remaining SVGs to READMEs (#145) + * added remaining SVGs to READMEs + * precommit cleanup + * Update package list. (#142) + * removing parameters smacc (#147) + * removing parameters smacc + * workflows update + * workflow + * Noticed launch command was incorrect in README.md + fixed launch command for sm_dance_bot_strikes_back and removed some comments I had made in the past. + * Fix CI: format fix python version (#148) + * Add SM Atomic SM generator. (#143) + * Remove node creation and create only a logger. (#149) + * Rolling Docker environment to be executed from any environment (#154) + * Feature/sm dance bot strikes back refactoring (#152) + Co-authored-by: DecDury + Co-authored-by: Denis Štogl + * slight waypoint 4 and iterations changes so robot can complete course (#155) + * Feature/migration moveit client (#151) + * initial migration to smacc2 + * fixing some errors introduced on formatting + * missing dependency + * fixing some more linting warnings + * minor + * removing test from main moveit cmake + * test ur5 + * progressing in the moveit migration testing + * updating format + * adding .reps dependencies and also fixing some build errors + * repos dependency + * adding dependency to ur5 client + * docker refactoring + * minor + * progress on move_it PR + * minor dockerfile test workaround + * improving dockerfile for building local tests + * minor + * fixing compiling issues + * update readme (#164) + * update readme + * more readme updates + * more + Co-authored-by: Ubuntu 20-04-02-amd64 + * initial state machine transition timestamp (#165) + * moved reference library SMs to smacc2_performance_tools (#166) + * moved reference library SMs to smacc2_performance_tools + * pre-commit cleanup + * Add QOS durability to SmaccPublisherClient (#163) + * feat: add qos durability to SmaccPublisherClient + * fix: add a missing colon + * refactor: remove line + * feat: add reliability qos config + * Feature/testing moveit behaviors (#167) + * more testing on moveit + * progress on moveit + * more testing on moveit behaviors + * minor configuration + * fixing pipeline error + * fixing broken master build + * sm_pubsub_1 (#169) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_pubsub_1 part 2 (#170) + * sm_pubsub_1 part 2 + * sm_pubsub_1 part 2 + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_advanced_recovery_1 renaming (#171) + Co-authored-by: Ubuntu 20-04-02-amd64 + * sm_multi_stage_1 reworking (#172) + * multistage modes + * sm_multi_stage sequences + * sm_multi_state_1 steps + * sm_multi_stage_1 sequence d + * sm_multi_stage_1 c sequence + * mode_5_sequence_b + * mode_4_sequence_b + * sm_multi_stage_1 most + * finishing touches 1 + * readme + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/aws navigation sm dance bot (#174) + * repo dependency + * husky launch file in sm_dance_bot + * Add dependencies for husky simulation. + * Fix formatting. + * Update dependencies for husky in rolling and galactic. + * minor + * progress on aws navigation and some other refactorings on navigation clients and behaviors + * more on aws demo + * fixing broken build + * minor + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + * minor changes (#175) + * warehouse2 (#177) + * Waypoint Inputs (#178) + Co-authored-by: Ubuntu 20-04-02-amd64 + * wharehouse2 progress (#179) + * format (#180) + * sm_dance_bot_warehouse_3 (#181) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/sm warehouse 2 13 dec 2 (#182) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * Brettpac branch (#184) + * sm_dance_bot_warehouse_3 + * Redoing sm_dance_bot_warehouse_3 waypoints + * More Waypoints + Co-authored-by: Ubuntu 20-04-02-amd64 + * SrConditional fixes and formatting (#168) + * fix: some formatting and templating on SrConditional + * fix: move trigger logic into headers + * fix: lint + * Feature/wharehouse2 dec 14 (#185) + * warehouse2 + * minor + * Feature/sm warehouse 2 13 dec 2 (#186) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * finetuning waypoints (#187) + Co-authored-by: Ubuntu 20-04-02-amd64 + * Feature/cb pure spinning (#188) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * Feature/cb pure spinning (#189) + * format + * more changes and headless + * merge + * headless and other fixes + * default values + * minor + * pure spinning behavior missing files + * minor changes (#190) + * Feature/planner changes 16 12 (#191) + * minor changes + * more fixes + * minor + * minor + * Feature/replanning 16 dec (#193) + * minor changes + * replanning for all our examples + * several fixes (#194) + * minor changes (#195) + * Feature/undo motion 20 12 (#196) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * tuning warehouse3 (#197) + * Feature/undo motion 20 12 (#198) + * minor changes + * replanning for all our examples + * improving undo motion navigation warehouse2 + * minor + * undo tuning and errors + * format + * Feature/sync 21 12 (#199) + * minor changes + * replanning for all our examples + * format issues + * Feature/warehouse2 22 12 (#200) + * minor changes + * replanning for all our examples + * format issues + * finishing warehouse2 + * Feature/warehouse2 23 12 (#201) + * minor changes + * replanning for all our examples + * tuning and fixes (#202) + * Feature/minor tune (#203) + * tuning and fixes + * minor tune + * fixing warehouse 3 problems, and other core improvements (#204) + * fixing warehouse 3 problems, and other core improvements to remove dead lock, also making continuous integration green + * weird moveit not downloaded repo + * added missing file from warehouse2 (#205) + * backport to foxy + * minor format + * minor linking errors foxy + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + * missing + * missing sm + * updating subscriber publisher components + * progress in autowarrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrre machine + * refining cp subscriber cp publisher + * improvements in smacc core adding more components mostly developed for autoware demo + * autoware demo + * missing + * foxy ci + * fix + * minor broken build + * some reordering fixes + * minor + * docker files for different revisions, warnings removval and more testing on navigation + * fixing docker for foxy and galactic + * docker build files for all versions + * barrel demo + * barrel search build fix and warehouse3 + * fixing startup problems in warehouse 3 + * fixing format and minor + * minor + * progress in barrel husky + * minor + * barrel demo + * progress + * fixing broken build + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: David Revay + Co-authored-by: pabloinigoblasco + * more merge + * docker improvements + * master rolling to galactic backport + * fixing build + * testing dance bot demos + * updating galactic repos + * runtime dependency + * restoring ur dependency + Co-authored-by: DecDury + Co-authored-by: reelrbtx + Co-authored-by: brettpac + Co-authored-by: Denis Štogl + Co-authored-by: Denis Štogl + Co-authored-by: Declan Dury <44791484+DecDury@users.noreply.github.com> + Co-authored-by: David Revay + Co-authored-by: pabloinigoblasco +* Contributors: Denis Štogl, Pablo Iñigo Blasco, pabloinigoblasco diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CMakeLists.txt b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CMakeLists.txt new file mode 100644 index 000000000..be94a8716 --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/CMakeLists.txt @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.5) +project(pure_spinning_global_planner) + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +find_package(nav2_core) +find_package(nav_msgs) +find_package(nav2_costmap_2d) +find_package(geometry_msgs) +find_package(tf2) +find_package(nav2z_planners_common) +find_package(pluginlib) +find_package(nav_2d_utils) + +set(dependencies + nav2_core + nav_msgs + nav2_costmap_2d + geometry_msgs + tf2 + nav2z_planners_common + pluginlib + nav_2d_utils +) + +include_directories(include) + +add_library(${PROJECT_NAME} SHARED + src/${PROJECT_NAME}/pure_spinning_global_planner.cpp) + +# prevent pluginlib from using boost +target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") +pluginlib_export_plugin_description_file(nav2_core psgp_plugin.xml) + +ament_target_dependencies(${PROJECT_NAME} + ${dependencies}) + +ament_export_include_directories(include) +ament_export_libraries(${PROJECT_NAME}) +ament_export_dependencies(${dependencies}) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +install(DIRECTORY include/ + DESTINATION include/ +) + +install(FILES + psgp_plugin.xml + DESTINATION share +) + +ament_package() diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/include/pure_spinning_global_planner/pure_spinning_global_planner.hpp b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/include/pure_spinning_global_planner/pure_spinning_global_planner.hpp new file mode 100644 index 000000000..7922c5a0c --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/include/pure_spinning_global_planner/pure_spinning_global_planner.hpp @@ -0,0 +1,101 @@ +// Copyright 2021 RobosoftAI Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/***************************************************************************************************************** + * + * Authors: Pablo Inigo Blasco, Brett Aldrich + * + ******************************************************************************************************************/ +#pragma once + +#include +#include + +#include +#include +#include + +namespace cl_nav2z +{ +namespace pure_spinning_global_planner +{ +class PureSpinningGlobalPlanner : public nav2_core::GlobalPlanner +{ +public: + using Ptr = std::shared_ptr; + + PureSpinningGlobalPlanner(); + + /** + * @brief Virtual destructor + */ + virtual ~PureSpinningGlobalPlanner(); + + /** + * @param parent pointer to user's node + * @param name The name of this planner + * @param tf A pointer to a TF buffer + * @param costmap_ros A pointer to the costmap + */ + void configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name, + const std::shared_ptr tf, + const std::shared_ptr costmap_ros) override; + + /** + * @brief Method to cleanup resources used on shutdown. + */ + virtual void cleanup(); + + /** + * @brief Method to active planner and any threads involved in execution. + */ + virtual void activate(); + + /** + * @brief Method to deactivate planner and any threads involved in execution. + */ + virtual void deactivate(); + + /** + * @brief Method create the plan from a starting and ending goal. + * @param start The starting pose of the robot + * @param goal The goal pose of the robot + * @return The sequence of poses to get from start to goal, if any + */ + virtual nav_msgs::msg::Path createPlan( + const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal); + +private: + void updateParameters(); + // rclcpp::Node::SharedPtr nh_; + rclcpp_lifecycle::LifecycleNode::SharedPtr nh_; + + std::shared_ptr> planPub_; + + /// stored but almost not used + std::shared_ptr costmap_ros_; + + double skip_straight_motion_distance_; // meters + + double puresSpinningRadStep_; // rads + + std::string name_; + + double transform_tolerance_; + + std::shared_ptr tf_; +}; +} // namespace pure_spinning_global_planner +} // namespace cl_nav2z diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/package.xml b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/package.xml new file mode 100644 index 000000000..9eeaa2216 --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/package.xml @@ -0,0 +1,27 @@ + + + + pure_spinning_global_planner + 2.3.18 + The pure_spinning_global_planner package. + + Pablo Inigo Blasco + Pablo Inigo Blasco + + BSDv3 + + ament_cmake + + geometry_msgs + nav2z_planners_common + nav_2d_utils + nav_msgs + nav2_core + nav2_costmap_2d + pluginlib + tf2 + + + ament_cmake + + diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/psgp_plugin.xml b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/psgp_plugin.xml new file mode 100644 index 000000000..a9af4abbd --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/psgp_plugin.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/src/pure_spinning_global_planner/pure_spinning_global_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/src/pure_spinning_global_planner/pure_spinning_global_planner.cpp new file mode 100644 index 000000000..a2c0376d6 --- /dev/null +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_global_planner/src/pure_spinning_global_planner/pure_spinning_global_planner.cpp @@ -0,0 +1,221 @@ +// Copyright 2021 RobosoftAI Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/***************************************************************************************************************** + * + * Authors: Pablo Inigo Blasco, Brett Aldrich + * + ******************************************************************************************************************/ +#include +#include +#include + +#include +#include +// #include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace cl_nav2z +{ +namespace pure_spinning_global_planner +{ +PureSpinningGlobalPlanner::PureSpinningGlobalPlanner() +// : nh_("~/PureSpinningGlobalPlanner") +{ + skip_straight_motion_distance_ = 0.2; // 0.2; // meters + puresSpinningRadStep_ = 0.0174; // rads +} + +PureSpinningGlobalPlanner::~PureSpinningGlobalPlanner() {} + +void PureSpinningGlobalPlanner::configure( + const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::string name, + const std::shared_ptr tf, + const std::shared_ptr costmap_ros) +{ + nh_ = parent.lock(); + tf_ = tf; + name_ = name; + costmap_ros_ = costmap_ros; + + RCLCPP_INFO(nh_->get_logger(), "[Pure Spinning Global Planner] initializing"); + planPub_ = nh_->create_publisher("global_plan", rclcpp::QoS(1)); + skip_straight_motion_distance_ = 0.2; //0.2 // meters + puresSpinningRadStep_ = 0.0174; // rads + transform_tolerance_ = 0.1; + + declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_); + declareOrSet(nh_, name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); +} + +void PureSpinningGlobalPlanner::updateParameters() +{ + nh_->get_parameter(name_ + ".pure_spinning_rad_step", puresSpinningRadStep_); + nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); + nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_); + + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[PureSpinningGlobalPlanner.pure_spinning_rad_step: " << puresSpinningRadStep_); + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[PureSpinningGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_); + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[PureSpinningGlobalPlanner.transform_tolerance: " << transform_tolerance_); +} + +void PureSpinningGlobalPlanner::cleanup() {} + +void PureSpinningGlobalPlanner::activate() +{ + RCLCPP_INFO_STREAM(nh_->get_logger(), "activating global planner PureSpinningGlobalPlanner"); + this->updateParameters(); + planPub_->on_activate(); +} + +void PureSpinningGlobalPlanner::deactivate() +{ + nav_msgs::msg::Path planMsg; + planPub_->publish(planMsg); + planPub_->on_deactivate(); +} + +nav_msgs::msg::Path PureSpinningGlobalPlanner::createPlan( + const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) +{ + this->updateParameters(); + RCLCPP_INFO(nh_->get_logger(), "[Pure Spinning Global Planner] planning"); + + rclcpp::Duration ttol = rclcpp::Duration::from_seconds(transform_tolerance_); + + RCLCPP_INFO(nh_->get_logger(), "[Pure Spinning Global Planner] getting start and goal poses"); + //--------------------------------------------------------------------- + geometry_msgs::msg::PoseStamped transformedStart; + nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), start, transformedStart, ttol); + transformedStart.header.frame_id = costmap_ros_->getGlobalFrameID(); + //--------------------------------------------------------------------- + geometry_msgs::msg::PoseStamped transformedGoal; + nav_2d_utils::transformPose(tf_, costmap_ros_->getGlobalFrameID(), goal, transformedGoal, ttol); + transformedGoal.header.frame_id = costmap_ros_->getGlobalFrameID(); + //--------------------------------------------------------------------- + + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[Pure Spinning Global Planner] Planning with transform tolerance of: " + << transform_tolerance_); + + RCLCPP_INFO(nh_->get_logger(), "[Pure Spinning Global Planner] creating plan vector"); + nav_msgs::msg::Path planMsg; + std::vector plan; + + // three stages: 1 - heading to goal position, 2 - going forward keep orientation, 3 - heading to goal orientation + + // 1 - heading to goal position + // orientation direction + + double dx = transformedGoal.pose.position.x - transformedStart.pose.position.x; + double dy = transformedGoal.pose.position.y - transformedStart.pose.position.y; + + double length = sqrt(dx * dx + dy * dy); + + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[Pure Spinning Global Planner] current plan length: " << length); + + geometry_msgs::msg::PoseStamped prevState; + if (length > skip_straight_motion_distance_) + { + // skip initial pure spinning and initial straight motion + RCLCPP_INFO(nh_->get_logger(), "1 - heading to goal position pure spinning"); + double heading_direction = atan2(dy, dx); + prevState = cl_nav2z::makePureSpinningSubPlan( + transformedStart, heading_direction, plan, puresSpinningRadStep_); + + // RCLCPP_INFO(nh_->get_logger(), "2 - going forward keep orientation pure straight"); + prevState = + cl_nav2z::makePureStraightSubPlan(prevState, transformedGoal.pose.position, length, plan); + } + else + { + prevState = transformedStart; + } + + RCLCPP_INFO(nh_->get_logger(), "3 - heading to goal orientation"); + double goalOrientation = angles::normalize_angle(tf2::getYaw(transformedGoal.pose.orientation)); + cl_nav2z::makePureSpinningSubPlan(prevState, goalOrientation, plan, puresSpinningRadStep_); + planMsg.poses = plan; + planMsg.header.stamp = this->nh_->now(); + planMsg.header.frame_id = this->costmap_ros_->getGlobalFrameID(); + + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[Pure Spinning Global Planner] generated plan size: " << plan.size()); + + // check plan rejection + bool acceptedGlobalPlan = true; + + RCLCPP_INFO( + nh_->get_logger(), "[Pure Spinning Global Planner] checking obstacles in the generated plan"); + nav2_costmap_2d::Costmap2D * costmap2d = this->costmap_ros_->getCostmap(); + for (auto & p : plan) + { + unsigned int mx, my; + costmap2d->worldToMap(p.pose.position.x, p.pose.position.y, mx, my); + auto cost = costmap2d->getCost(mx, my); + + // static const unsigned char NO_INFORMATION = 255; + // static const unsigned char LETHAL_OBSTACLE = 254; + // static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253; + // static const unsigned char FREE_SPACE = 0; + + if (cost >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE) + { + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[Pure Spinning Global Planner] pose " << p.pose.position.x << ", " + << p.pose.position.y + << " rejected, cost: " << cost); + acceptedGlobalPlan = false; + break; + } + } + + if (acceptedGlobalPlan) + { + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[Pure Spinning Global Planner] accepted plan: " << plan.size()); + planPub_->publish(planMsg); + return planMsg; + } + else + { + RCLCPP_INFO(nh_->get_logger(), "[Pure Spinning Global Planner] plan rejected"); + planMsg.poses.clear(); + planPub_->publish(planMsg); + return planMsg; + } +} + +} // namespace pure_spinning_global_planner +} // namespace cl_nav2z + +// register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS( + cl_nav2z::pure_spinning_global_planner::PureSpinningGlobalPlanner, nav2_core::GlobalPlanner) diff --git a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_local_planner/src/pure_spinning_local_planner/pure_spinning_local_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_local_planner/src/pure_spinning_local_planner/pure_spinning_local_planner.cpp index 62f55be4d..0cfa4e8c9 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_local_planner/src/pure_spinning_local_planner/pure_spinning_local_planner.cpp +++ b/smacc2_client_library/nav2z_client/custom_planners/pure_spinning_local_planner/src/pure_spinning_local_planner/pure_spinning_local_planner.cpp @@ -128,7 +128,12 @@ geometry_msgs::msg::TwistStamped PureSpinningLocalPlanner::computeVelocityComman targetYaw = tf2::getYaw(goal.pose.orientation); if (use_shortest_angular_distance_) + { + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[PureSpinningLocalPlanner] Using shortest angular distance"); angular_error = angles::shortest_angular_distance(currentYaw, targetYaw); + } else angular_error = targetYaw - currentYaw; @@ -152,6 +157,10 @@ geometry_msgs::msg::TwistStamped PureSpinningLocalPlanner::computeVelocityComman cmd_vel.twist.angular.z = std::min(std::max(omega, -fabs(max_angular_z_speed_)), fabs(max_angular_z_speed_)); + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[PureSpinningLocalPlanner] current subgoal angle: " << targetYaw*180/3.14); + RCLCPP_INFO_STREAM( nh_->get_logger(), "[PureSpinningLocalPlanner] pose index: " << currentPoseIndex_ << "/" << plan_.size()); diff --git a/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/include/undo_path_global_planner/undo_path_global_planner.hpp b/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/include/undo_path_global_planner/undo_path_global_planner.hpp index fcab455d1..0b34d1cd7 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/include/undo_path_global_planner/undo_path_global_planner.hpp +++ b/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/include/undo_path_global_planner/undo_path_global_planner.hpp @@ -74,6 +74,7 @@ class UndoPathGlobalPlanner : public nav2_core::GlobalPlanner const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal); private: + void updateParameters(); // rclcpp::Node::SharedPtr nh_; rclcpp_lifecycle::LifecycleNode::SharedPtr nh_; rclcpp::Subscription::SharedPtr forwardPathSub_; diff --git a/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/src/undo_path_global_planner/undo_path_global_planner.cpp b/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/src/undo_path_global_planner/undo_path_global_planner.cpp index 37d450362..86420067b 100644 --- a/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/src/undo_path_global_planner/undo_path_global_planner.cpp +++ b/smacc2_client_library/nav2z_client/custom_planners/undo_path_global_planner/src/undo_path_global_planner/undo_path_global_planner.cpp @@ -63,6 +63,7 @@ void UndoPathGlobalPlanner::cleanup() { this->clearGoalMarker(); } void UndoPathGlobalPlanner::activate() { RCLCPP_INFO_STREAM(nh_->get_logger(), "activating planner UndoPathGlobalPlanner"); + this->updateParameters(); planPub_->on_activate(); markersPub_->on_activate(); } @@ -103,7 +104,22 @@ void UndoPathGlobalPlanner::configure( "undo_path_planner/markers", rclcpp::QoS(1)); declareOrSet(nh_, name_ + ".transform_tolerance", transform_tolerance_); + declareOrSet(nh_, name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); } +void UndoPathGlobalPlanner::updateParameters() +{ + nh_->get_parameter(name_ + ".skip_straight_motion_distance", skip_straight_motion_distance_); + nh_->get_parameter(name_ + ".transform_tolerance", transform_tolerance_); + + RCLCPP_INFO_STREAM( + nh_->get_logger(), + "[UndoPathGlobalPlanner.skip_straight_motion_distance: " << skip_straight_motion_distance_); + RCLCPP_INFO_STREAM( + nh_->get_logger(), "[UndoPathGlobalPlanner.transform_tolerance: " << transform_tolerance_); +} + + + /** ****************************************************************************************************************** * onForwardTrailMsg() @@ -375,6 +391,7 @@ void UndoPathGlobalPlanner::createDefaultUndoPathPlan( nav_msgs::msg::Path UndoPathGlobalPlanner::createPlan( const geometry_msgs::msg::PoseStamped & start, const geometry_msgs::msg::PoseStamped & goal) { + this->updateParameters(); // -------------- BASIC CHECKS --------------------- RCLCPP_INFO_STREAM(nh_->get_logger(), "[UndoPathGlobalPlanner] Undo global plan start "); diff --git a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate.cpp b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate.cpp index f874067af..9eb205829 100644 --- a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate.cpp +++ b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_rotate.cpp @@ -21,6 +21,7 @@ #include #include +#include #include #include @@ -79,6 +80,10 @@ void CbRotate::onEntry() odomTracker->setStartPoint(stampedCurrentPoseMsg); odomTracker->setWorkingMode(odom_tracker::WorkingMode::RECORD_PATH); + auto goalCheckerSwitcher = nav2zClient_->getComponent(); + goalCheckerSwitcher->setGoalCheckerId("rotate_goal_checker"); + + RCLCPP_INFO_STREAM(getLogger(), "current pose: " << currentPoseMsg); RCLCPP_INFO_STREAM(getLogger(), "goal pose: " << goal.pose.pose); this->sendGoal(goal); diff --git a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/cp_planner_switcher.cpp b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/cp_planner_switcher.cpp index 193ac859c..37e14349d 100644 --- a/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/cp_planner_switcher.cpp +++ b/smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/planner_switcher/cp_planner_switcher.cpp @@ -82,7 +82,7 @@ void CpPlannerSwitcher::setPureSpinningPlanner(bool commit) RCLCPP_INFO( getLogger(), "[CpPlannerSwitcher] Planner Switcher: Trying to set PureSpinningPlanner"); - desired_planner_ = "ForwardGlobalPlanner"; + desired_planner_ = "PureSpinningGlobalPlanner"; desired_controller_ = "PureSpinningLocalPlanner"; if (commit) commitPublish(); diff --git a/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/params/nav2z_client/nav2_params.yaml b/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/params/nav2z_client/nav2_params.yaml index 30bc7fbcd..f9a201013 100644 --- a/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/params/nav2z_client/nav2_params.yaml +++ b/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/params/nav2z_client/nav2_params.yaml @@ -168,7 +168,7 @@ controller_server: transform_tolerance: 0.5 k_betta: 10.0 max_angular_z_speed: 0.2 - use_shortest_angular_distance: false + use_shortest_angular_distance: true controller_server_rclcpp_node: