Merge remote-tracking branch 'origin/main' into FixNamespaceCheck

Signed-off-by: Nils-Christian Iseke <nilsmailiseke@gmail.com>

Author: Nils-ChristianIseke

nav2_bringup/launch/bringup_launch.py

@@ -35,8 +35,6 @@ def generate_launch_description() -> LaunchDescription:
     namespace = LaunchConfiguration('namespace')
     slam = LaunchConfiguration('slam')
     map_yaml_file = LaunchConfiguration('map')
-    keepout_mask_yaml_file = LaunchConfiguration('keepout_mask')
-    speed_mask_yaml_file = LaunchConfiguration('speed_mask')
     graph_filepath = LaunchConfiguration('graph')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -77,16 +75,6 @@ def generate_launch_description() -> LaunchDescription:
         'map', default_value='', description='Full path to map yaml file to load'
     )
 
-    declare_keepout_mask_yaml_cmd = DeclareLaunchArgument(
-        'keepout_mask', default_value='',
-        description='Full path to keepout mask yaml file to load'
-    )
-
-    declare_speed_mask_yaml_cmd = DeclareLaunchArgument(
-        'speed_mask', default_value='',
-        description='Full path to speed mask yaml file to load'
-    )
-
     declare_graph_file_cmd = DeclareLaunchArgument(
         'graph',
         default_value='', description='Path to the graph file to load'
@@ -245,8 +233,6 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
-    ld.add_action(declare_keepout_mask_yaml_cmd)
-    ld.add_action(declare_speed_mask_yaml_cmd)
     ld.add_action(declare_graph_file_cmd)
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_params_file_cmd)

nav2_bringup/launch/tb4_simulation_launch.py

@@ -54,8 +54,6 @@ def generate_launch_description() -> LaunchDescription:
     slam = LaunchConfiguration('slam')
     namespace = LaunchConfiguration('namespace')
     map_yaml_file = LaunchConfiguration('map')
-    keepout_mask_yaml_file = LaunchConfiguration('keepout_mask')
-    speed_mask_yaml_file = LaunchConfiguration('speed_mask')
     graph_filepath = LaunchConfiguration('graph')
     use_sim_time = LaunchConfiguration('use_sim_time')
     params_file = LaunchConfiguration('params_file')
@@ -100,18 +98,6 @@ def generate_launch_description() -> LaunchDescription:
         description='Full path to map file to load',
     )
 
-    declare_keepout_mask_yaml_cmd = DeclareLaunchArgument(
-        'keepout_mask',
-        default_value=os.path.join(bringup_dir, 'maps', f'{MAP_TYPE}_keepout.yaml'),
-        description='Full path to keepout mask file to load',
-    )
-
-    declare_speed_mask_yaml_cmd = DeclareLaunchArgument(
-        'speed_mask',
-        default_value=os.path.join(bringup_dir, 'maps', f'{MAP_TYPE}_speed.yaml'),
-        description='Full path to speed mask file to load',
-    )
-
     declare_graph_file_cmd = DeclareLaunchArgument(
         'graph',
         default_value=os.path.join(bringup_dir, 'graphs', 'turtlebot4_graph.geojson'),
@@ -228,8 +214,6 @@ def generate_launch_description() -> LaunchDescription:
             'namespace': namespace,
             'slam': slam,
             'map': map_yaml_file,
-            'keepout_mask': keepout_mask_yaml_file,
-            'speed_mask': speed_mask_yaml_file,
             'graph': graph_filepath,
             'use_sim_time': use_sim_time,
             'params_file': params_file,
@@ -296,8 +280,6 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_slam_cmd)
     ld.add_action(declare_map_yaml_cmd)
-    ld.add_action(declare_keepout_mask_yaml_cmd)
-    ld.add_action(declare_speed_mask_yaml_cmd)
     ld.add_action(declare_graph_file_cmd)
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_params_file_cmd)

nav2_docking/opennav_docking/src/docking_server.cpp

@@ -66,7 +66,6 @@ DockingServer::on_configure(const rclcpp_lifecycle::State & state)
 
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
-  // Check the dock_backwards deprecated parameter
   bool dock_backwards = false;
   try {
     if (get_parameter("dock_backwards", dock_backwards)) {

nav2_docking/opennav_docking/test/CMakeLists.txt

@@ -128,9 +128,3 @@ ament_add_pytest_test(test_docking_server_backward test_docking_server.py
   NON_CHARGING_DOCK=False
   BACKWARD=True
 )
-
-ament_add_pytest_test(test_docking_server_backward_blind test_docking_server.py
-  ENV
-  NON_CHARGING_DOCK=False
-  BACKWARD_BLIND=True
-)

nav2_docking/opennav_docking/test/docking_params.yaml

@@ -9,7 +9,6 @@ docking_server:
       plugin: opennav_docking::SimpleChargingDock
       use_battery_status: True
       dock_direction: forward
-      rotate_to_dock: False
       staging_yaw_offset: 0.0
     docks: [test_dock]
     test_dock:

nav2_docking/opennav_docking/test/test_docking_server.py

@@ -67,10 +67,6 @@ def generate_test_description() -> LaunchDescription:
         param_substitutions.update({'dock_direction': 'backward'})
         param_substitutions.update({'staging_yaw_offset': '3.14'})
 
-    if os.getenv('BACKWARD_BLIND') == 'True':
-        param_substitutions.update({'dock_direction': 'backward'})
-        param_substitutions.update({'rotate_to_dock': 'True'})
-
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key='',
@@ -156,7 +152,6 @@ def publish(self) -> None:
         t.transform.rotation.z = sin(self.theta / 2.0)
         t.transform.rotation.w = cos(self.theta / 2.0)
         self.tf_broadcaster.sendTransform(t)
-        self.publish_odometry(t)
         # Publish the battery state if we are using a charging dock
         if os.getenv('NON_CHARGING_DOCK') == 'False':
             b = BatteryState()
@@ -166,17 +161,6 @@ def publish(self) -> None:
                 b.current = -1.0
             self.battery_state_pub.publish(b)
 
-    def publish_odometry(self, odom_to_base_link: TransformStamped) -> None:
-        odom = Odometry()
-        odom.header.stamp = self.node.get_clock().now().to_msg()
-        odom.header.frame_id = 'odom'
-        odom.child_frame_id = 'base_link'
-        odom.pose.pose.position.x = odom_to_base_link.transform.translation.x
-        odom.pose.pose.position.y = odom_to_base_link.transform.translation.y
-        odom.pose.pose.orientation = odom_to_base_link.transform.rotation
-        odom.twist.twist = self.command
-        self.odom_pub.publish(odom)
-
     def action_feedback_callback(self, msg: DockRobot.Feedback) -> None:
         # Force the docking action to run a full recovery loop and then
         # make contact with the dock (based on pose of robot) before