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SteveMacenskiNils-ChristianIsekedoisygGuillaume Doisysandeepdutta
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Jazzy Sync 7: May 29 2025 (#5211)
* Dynamic param patterns (#4971) * redesign dynamic param patterns Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * change cache version Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * check that parameter of type double are >=0.0 Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> * [nav2_behavior_tree] Add force_use_current_pose to ComputePathToPoseAction (#4925) * Add force_use_current_pose Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * xml update Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * rename to use_start Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * lint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * descriptions Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * simplify logic Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * [CostmapTopicCollisionChecker] Alternative constructor with footprint string (#4926) * [CostmapTopicCollisionChecker] Alternative constructor with footprint Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * raw pointer Signed-off-by: Guillaume Doisy <guillaume@dexory.com> * suggestions from review Signed-off-by: Guillaume Doisy <guillaume@dexory.com> --------- Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> * Merged Fix navfn_planner from humble PR #5087 (#5092) * merged changes from humble for goal.header fix * reverted back, error in merge * ported goal.header fix in navfn_planner.cpp from humble * reverted to navfn_planner.cpp to origin/main * merged navfn_planner.cpp from humble * fixed the merge * Update map_io library to use Eigen method for faster map loading (#5071) * Update map_io library to use opencv method for faster map loading Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit config changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Use Eigen approach instead of OpenCV Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update include header include order Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Remove intermediary alpha matrix Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Add comments for the code understanding Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Fix else braces rule issue Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Create and use alpha_matrix when applying mask Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Take flip part out of if-else Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Update pre-commit changes Signed-off-by: Vignesh T <vignesh.t@kabam.ai> --------- Signed-off-by: Vignesh T <vignesh.t@kabam.ai> * Precompute yaw trigonometric values in smac planner (#5109) Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * removing the start navigation message in the paused state from rviz buttons (#5137) Signed-off-by: Pradheep <padhupradheep@gmail.com> * Show error if inflation radius is smaller than circumscribed radius (#5148) * Warn if inflation radius is smaller than circumscribed radius Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Update nav2_mppi_controller/src/critics/cost_critic.cpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> * Update nav2_smac_planner/include/nav2_smac_planner/utils.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Prevent MPPI controller from resetting speed limits upon goal execution. (#5165) Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> * Fixing docking server when already docked at the requeste ddock (#5171) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter util to node utils (#5154) * Adding declare_or_get_param util to node utils Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding test for declare_or_get_param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding declare_or_get_parameter function by type, using explicit variable names, disabling param warnings by default Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Update nav2_util/test/test_node_utils.cpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing codecove test Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Catching possible exception in declare_or_get_by_type Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Templating return type of declare parameter by value Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * added config for laserscan in lb-sim (#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * review: use_inf is default:true and added parameters on readme #4992 Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> --------- Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com> * Publish planned footprints after smoothing (#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix formatting Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * address PR comments Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixes Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fix build error Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> --------- Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> * fixing deprecation warning (#5182) Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding missing dep to loopback sim (#5204) * Adding missing dep Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * typo Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * updating fix Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Adding parameter warn_when_defaulting_parameters to control default parameter warnings (#5189) * Adding a parameter warn_when_defaulting_parameters to control default parameter warnings instead of using a flag Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> --------- Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> * bumping to 1.3.7 for release Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Nils-ChristianIseke <nilsmailiseke@gmail.com> Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: Vignesh T <vignesh.t@kabam.ai> Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Pradheep <padhupradheep@gmail.com> Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com> Signed-off-by: Tony Najjar <t03578624@gmail.com> Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Signed-off-by: Marco Bassa <marco.bassa@idealworks.com> Signed-off-by: RamanaBotta <ramanab@bosonmotors.com> Co-authored-by: Nils-Christian Iseke <48475933+Nils-ChristianIseke@users.noreply.github.com> Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Sandeep Dutta <quark01@gmail.com> Co-authored-by: Vignesh T <vignesh.t@kabam.ai> Co-authored-by: mini-1235 <mauricepurnawan@gmail.com> Co-authored-by: Pradheep Krishna <padhupradheep@gmail.com> Co-authored-by: Tony Najjar <tony.najjar.1997@gmail.com> Co-authored-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com> Co-authored-by: Marco Bassa <101661130+MarcoMatteoBassa@users.noreply.github.com> Co-authored-by: Raman <52356167+RamanRobotics@users.noreply.github.com> Co-authored-by: RamanaBotta <ramanab@bosonmotors.com>
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‎nav2_amcl/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_amcl</name>
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<version>1.3.6</version>
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<version>1.3.7</version>
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<description>
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<p>
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amcl is a probabilistic localization system for a robot moving in

‎nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp‎

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@@ -79,7 +79,11 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
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{
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BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
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BT::InputPort<geometry_msgs::msg::PoseStamped>(
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"start", "Start pose of the path if overriding current robot pose"),
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"start",
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"Used as the planner start pose instead of the current robot pose, if use_start is"
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" not false (i.e. not provided or set to true)"),
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BT::InputPort<bool>(
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"use_start", "For using or not using (i.e. ignoring) the provided start pose"),
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BT::InputPort<std::string>(
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"planner_id", "",
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"Mapped name to the planner plugin type to use"),

‎nav2_behavior_tree/nav2_tree_nodes.xml‎

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<Action ID="ComputePathToPose">
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<input_port name="goal">Destination to plan to</input_port>
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<input_port name="start">Start pose of the path if overriding current robot pose</input_port>
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<input_port name="start">Use as the planner start pose instead of the current robot pose, if use_start is not false (i.e. not provided or set to true)</input_port>
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<input_port name="use_start">For using or not using (i.e. ignoring) the provided start pose</input_port>
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<input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
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<input_port name="server_name">Server name</input_port>
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<input_port name="server_timeout">Server timeout</input_port>

‎nav2_behavior_tree/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behavior_tree</name>
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<version>1.3.6</version>
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<version>1.3.7</version>
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<description>Nav2 behavior tree wrappers, nodes, and utilities</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>

‎nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp‎

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@@ -32,8 +32,25 @@ void ComputePathToPoseAction::on_tick()
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{
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getInput("goal", goal_.goal);
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getInput("planner_id", goal_.planner_id);
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if (getInput("start", goal_.start)) {
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goal_.use_start = true;
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// if "use_start" is provided try to enforce it (true or false), but we cannot enforce true if
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// start is not provided
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goal_.use_start = false;
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if (getInput("use_start", goal_.use_start)) {
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if (goal_.use_start && !getInput("start", goal_.start)) {
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// in case we don't have a "start" pose
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goal_.use_start = false;
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RCLCPP_ERROR(
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node_->get_logger(),
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"use_start is set to true but no start pose was provided, falling back to default "
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"behavior, i.e. using the current robot pose");
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}
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} else {
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// else if "use_start" is not provided, but "start" is, then use it in order to not change
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// the legacy behavior
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if (getInput("start", goal_.start)) {
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goal_.use_start = true;
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}
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}
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}
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‎nav2_behaviors/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_behaviors</name>
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<version>1.3.6</version>
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<version>1.3.7</version>
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<description>Nav2 behavior server</description>
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<maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bringup/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bringup</name>
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<version>1.3.6</version>
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<version>1.3.7</version>
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<description>Bringup scripts and configurations for the Nav2 stack</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

‎nav2_bringup/params/nav2_params.yaml‎

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map_frame_id: "map"
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scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
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update_duration: 0.02
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scan_range_min: 0.05
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scan_range_max: 30.0
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scan_angle_min: -3.1415
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scan_angle_max: 3.1415
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scan_angle_increment: 0.02617
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scan_use_inf: true

‎nav2_bt_navigator/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_bt_navigator</name>
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<version>1.3.6</version>
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<version>1.3.7</version>
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<description>Nav2 BT Navigator Server</description>
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<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
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<license>Apache-2.0</license>

‎nav2_collision_monitor/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_collision_monitor</name>
5-
<version>1.3.6</version>
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<version>1.3.7</version>
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<description>Collision Monitor</description>
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<maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
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<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>

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