Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions #5207

SteveMacenski · 2025-05-29T00:26:41Z

Resolves #5192

Signed-off-by: Steve Macenski <[email protected]>

SteveMacenski · 2025-05-29T00:39:04Z

@codecov-ai-reviewer test

codecov-ai · 2025-05-29T00:39:10Z

On it! Codecov is generating unit tests for this PR.

Copilot

Pull Request Overview

This PR implements a prototype solution for Issue #5192 by refining the Reeds‐Shepp reverse expansion logic. Key changes include updating the AnalyticExpansion API to use a new structure with a “nodes” member and direction change tracking, modifying test assertions accordingly, and adding new launch parameters for simulation.

Reviewed Changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
nav2_smac_planner/test/test_a_star.cpp	Updated the test assertion to reference the new “nodes” member in AnalyticExpansionNodes.
nav2_smac_planner/src/analytic_expansion.cpp	Refactored container accesses to use the “nodes” member, added the countDirectionChanges routine,
	and updated the refineAnalyticPath logic to account for directional changes in path scoring.
nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp	Updated the header to declare the new AnalyticExpansionNodes struct and countDirectionChanges method.
nav2_bringup/launch/tb3_simulation_launch.py and	Added two new simulation parameters (‘use_keepout_zones’ and ‘use_speed_zones’) to the launch scripts.
nav2_bringup/launch/tb3_loopback_simulation_launch.py

Comments suppressed due to low confidence (4)

nav2_smac_planner/test/test_a_star.cpp:150

The test assertion now correctly references the 'nodes' member of AnalyticExpansionNodes. Please confirm that all test expectations have been updated consistently across the codebase.

EXPECT_EQ(expected_nodes.nodes.size(), 0);

nav2_smac_planner/src/analytic_expansion.cpp:327

The update to check 'nodes.empty()' and the subsequent new condition comparing direction_changes improves the path selection logic. Ensure that these changes are thoroughly covered by tests to validate the intended behavior.

if (refined_analytic_nodes.nodes.empty()) {

nav2_bringup/launch/tb3_simulation_launch.py:198

The new launch parameter values are set as strings; confirm whether these should be booleans for consistency with other parameters and expected types.

'use_keepout_zones': 'False',

nav2_bringup/launch/tb3_loopback_simulation_launch.py:147

Similarly, verify that using string values for 'use_keepout_zones' (and 'use_speed_zones') aligns with the intended parameter type and processing in the launch configuration.

'use_keepout_zones': 'False',

mergify · 2025-05-29T00:45:49Z

@SteveMacenski, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

codecov · 2025-05-29T02:20:00Z

Codecov Report

Attention: Patch coverage is 77.77778% with 8 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_smac_planner/src/analytic_expansion.cpp	80.00%	6 Missing ⚠️
...r/include/nav2_smac_planner/analytic_expansion.hpp	66.66%	2 Missing ⚠️

Files with missing lines	Coverage Δ
...r/include/nav2_smac_planner/analytic_expansion.hpp	`81.81% <66.66%> (-18.19%)`	⬇️
nav2_smac_planner/src/analytic_expansion.cpp	`88.55% <80.00%> (-2.36%)`	⬇️

... and 5 files with indirect coverage changes

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❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

wang-fire · 2025-05-30T16:04:07Z

Hi @SteveMacenski

I tested the nav2_smac_planner package using the Hybrid A* method, and the issue described in #5192 no longer appears.

But I noticed some very similar behavior near the end of the path (though it doesn't happen very frequently, it might happen once every 20 runs or so,). It looks like the robot is reversing, and the path segments are very short, usually concentrated in the last one or two nodes. I'm not sure if this is expected behavior, or if it might be caused by a high reverse penalty I set in the parameters (reverse_penalty: 300.0).

SteveMacenski · 2025-06-01T20:30:11Z

As I mentioned in #5192 (comment) this is expected and correct behavior. We want to be able to do this (that is the point of reeds shepp paths)! That is the shortest path to the goal.

The goal of this PR to make it less likely that we have those trivial reversal changes by not allowing refinements to create more of them -- and if a refinement can create less, we prioritize that. But sometimes that may legitimately be necessary as in the cases you show in the requested orientation.

…ansions (#5207) * prototype solving 5192 issue 2 Signed-off-by: Steve Macenski <[email protected]> * Removing unnecessary variable Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> (cherry picked from commit c32873d)

…ansions (#5207) (#5216) * prototype solving 5192 issue 2 * Removing unnecessary variable --------- (cherry picked from commit c32873d) Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]>

…ll reverse expansions (ros-navigation#5207) * prototype solving 5192 issue 2 Signed-off-by: Steve Macenski <[email protected]> * Removing unnecessary variable Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]>

…erse expansions (#5207)" This reverts commit c32873d.

* Revert "Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions (#5207)" This reverts commit c32873d. * Revert "include bug fix for nav2_smac_planner (#5198)" This reverts commit 6a74ba6. * Revert "Feat/smac planner include orientation flexibility (#4127)" This reverts commit f5543c3.

…n#5207)

…ansions (#5207) * prototype solving 5192 issue 2 Signed-off-by: Steve Macenski <[email protected]> * Removing unnecessary variable Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]>

* Revert "Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions (#5207)" This reverts commit c32873d. * Revert "include bug fix for nav2_smac_planner (#5198)" This reverts commit 6a74ba6. * Revert "Feat/smac planner include orientation flexibility (#4127)" This reverts commit f5543c3.

* Add speed filter zones to depot and warehouse maps. (#5146) * Added keepout prefix to keepout zone related params. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Add namespace support for speed filter zones. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added speed filter zones to depot and warehouse maps. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Added dedicated launch file for speed zone support. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Updated rviz2 config to include speed zone filter. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Preserve initial nature of costmap filters tests. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable namespace for the speed limit topic. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Update speed filter zones in depot and warehouse maps Signed-off-by: Leander Stephen D'Souza <[email protected]> * Readjust speed filter zones in depot and warehouse maps. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable namespace support for speed limit topic. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Reduced central speed zone in warehouse map. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * suppress rviz logging to warnings and above (#5163) * suppress rviz to warnings and above Signed-off-by: Steve Macenski <[email protected]> * Update nav2_bringup/launch/rviz_launch.py Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Adding Jazzy build job on Main PRs to automatically test Jazzy compatiblity long term (Kilted to come shortly) (#5164) * Adding jazzy testing job Signed-off-by: Steve Macenski <[email protected]> * on PR not push Signed-off-by: Steve Macenski <[email protected]> * move dir Signed-off-by: Steve Macenski <[email protected]> * more Signed-off-by: Steve Macenski <[email protected]> * moar Signed-off-by: Steve Macenski <[email protected]> * moar Signed-off-by: Steve Macenski <[email protected]> * more Signed-off-by: Steve Macenski <[email protected]> * fin Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Prevent MPPI controller from resetting speed limits upon goal execution. (#5165) Signed-off-by: Leander Stephen D'Souza <[email protected]> * Backward docking without sensors (#5153) * Merge remote-tracking branch 'jakub/backward-docking-without-sensors' into docking_backward Signed-off-by: Jakubach <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes and update controller test Signed-off-by: Alberto Tudela <[email protected]> * Add more tests Signed-off-by: Alberto Tudela <[email protected]> * Move backward_plugin param to plugin Signed-off-by: Alberto Tudela <[email protected]> * Fixed rotateToDock and tests Signed-off-by: Alberto Tudela <[email protected]> * Update readme Signed-off-by: Alberto Tudela <[email protected]> * Added rotate_to_dock_timeout Signed-off-by: Alberto Tudela <[email protected]> * Use angular acceleration te acelerate / decelerate Signed-off-by: Alberto Tudela <[email protected]> * Added mutex Signed-off-by: Alberto Tudela <[email protected]> * Fix exception Signed-off-by: Alberto Tudela <[email protected]> * Revert "Added mutex" This reverts commit 29ff010. Signed-off-by: Alberto Tudela <[email protected]> * Rename rotate_to_dock Signed-off-by: Alberto Tudela <[email protected]> * Rotate after undock and fixes Signed-off-by: Alberto Tudela <[email protected]> * Minor fixes Signed-off-by: Alberto Tudela <[email protected]> * Log after rotation Signed-off-by: Alberto Tudela <[email protected]> --------- Signed-off-by: Jakubach <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> * Speed up CI builds for released distros (#5168) Signed-off-by: Steve Macenski <[email protected]> * Save 2 minutes in Main-Jazzy build times to align with other CI job lengths (#5169) * Save 2 minutes in Main-Jazzy build times to align with other CI job lengths Signed-off-by: Steve Macenski <[email protected]> * Update build_main_against_distros.yml Signed-off-by: Steve Macenski <[email protected]> * Update build_main_against_distros.yml Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Fixing docking server when already docked at the requeste ddock (#5171) Signed-off-by: Steve Macenski <[email protected]> * Update mergify.yml Signed-off-by: Steve Macenski <[email protected]> * fix MPPI goal critic inversion (#5088) (#5105) * fix MPPI goal critic inversion (#5088) Signed-off-by: brayanpa <[email protected]> * Support path inversion in all critics (#5088) Signed-off-by: brayanpa <[email protected]> * Fix code style issues and formatting Signed-off-by: brayanpa <[email protected]> * Remove trailing whitespaces Signed-off-by: brayanpa <[email protected]> * Fix goalAngleCritic tests Signed-off-by: brayanpa <[email protected]> * Normalize code formatting Signed-off-by: brayanpa <[email protected]> * Add getLastPathPose test Signed-off-by: brayanpa <[email protected]> * Abstract getCriticGoal in nav2_mppi critics Signed-off-by: brayanpa <[email protected]> * Fix whitespace issues Signed-off-by: brayanpa <[email protected]> * Fix getCriticGoal test Signed-off-by: brayanpa <[email protected]> --------- Signed-off-by: brayanpa <[email protected]> Signed-off-by: Brayan Pallares <[email protected]> * Add stateful to regulated pure pursuit controller (#5167) * add_stateful_to_regulated_pure_pursuit_controller Signed-off-by: Jad haj mustafa <[email protected]> * fix naming Signed-off-by: Jad haj mustafa <[email protected]> * fix naming left over Signed-off-by: Jad haj mustafa <[email protected]> * resolve comments Signed-off-by: Jad haj mustafa <[email protected]> * typo Signed-off-by: Jad haj mustafa <[email protected]> * add unit test for both cases stateful and not stateful Signed-off-by: Jad haj mustafa <[email protected]> --------- Signed-off-by: Jad haj mustafa <[email protected]> * tf2 uses hpp headers in rolling (and is backported) (#5180) Signed-off-by: Tim Clephas <[email protected]> * added config for laserscan in lb-sim (#5174) * added config for laserscan in lb-sim Signed-off-by: RamanaBotta <[email protected]> * fixing ament_flake8 errors Signed-off-by: RamanaBotta <[email protected]> * review: use_inf is default:true and added parameters on readme #4992 Signed-off-by: RamanaBotta <[email protected]> * refactor: meaningfull value for scan_angle_increment Signed-off-by: RamanaBotta <[email protected]> --------- Signed-off-by: RamanaBotta <[email protected]> Co-authored-by: RamanaBotta <[email protected]> * Publish planned footprints after smoothing (#5155) * Publish planned footprints after smoothing Signed-off-by: Tony Najjar <[email protected]> * Revert "Publish planned footprints after smoothing" This reverts commit c9b349a. * Add smoothed footprints publishing Signed-off-by: Tony Najjar <[email protected]> * fix formatting Signed-off-by: Tony Najjar <[email protected]> * Fix indentation for publisher creation in SmacPlannerHybrid and SmacPlannerLattice Signed-off-by: Tony Najjar <[email protected]> * address PR comments Signed-off-by: Tony Najjar <[email protected]> * fixes Signed-off-by: Tony Najjar <[email protected]> * fix build error Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * fixing deprecation warning (#5182) Signed-off-by: Steve Macenski <[email protected]> * Removing action server timeout duration after fixes to ROS 2, Reverts 3787 (#5183) * Removing action server timeout duration after fixes to ROS 2 Signed-off-by: Steve Macenski <[email protected]> * fix build warning Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * action timeout in BT client edits error code and string (#5184) Signed-off-by: Steve Macenski <[email protected]> * Dynamic Parameters Only validating params that are part of the plugin (#5106) * Only validating params that are part of the plugin Signed-off-by: Nils-ChristianIseke <[email protected]> * review Signed-off-by: Nils-Christian Iseke <[email protected]> * Refactoring type with param_type and name with param_name to get more consistency. Signed-off-by: Nils-Christian Iseke <[email protected]> * Check if plugin_name is part of param_name Signed-off-by: Nils-Christian Iseke <[email protected]> * Check if param_name contains name_ Signed-off-by: Nils-Christian Iseke <[email protected]> * Uncrustify Signed-off-by: Nils-Christian Iseke <[email protected]> * Add check param name in dynamic parameter upate. Signed-off-by: Nils-Christian Iseke <[email protected]> * fix Signed-off-by: Nils-Christian Iseke <[email protected]> * Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck Signed-off-by: Nils-Christian Iseke <[email protected]> * Remove controller_frequency as dynamic parameter Signed-off-by: Nils-Christian Iseke <[email protected]> * Revert "Merge remote-tracking branch 'origin/main' into FixNamespaceCheck" This reverts commit 7632e41, reversing changes made to 19afc9e. Signed-off-by: Nils-Christian Iseke <[email protected]> * Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck Signed-off-by: Nils-Christian Iseke <[email protected]> * Fix merge errors. Signed-off-by: Nils-Christian Iseke <[email protected]> * Add missing check to simple_goal_checker Signed-off-by: Nils-Christian Iseke <[email protected]> * Handel param_name resolution for smac_planner_hybrid Signed-off-by: Nils-Christian Iseke <[email protected]> * fix typo Signed-off-by: Nils-Christian Iseke <[email protected]> * uncrustify Signed-off-by: Nils-Christian Iseke <[email protected]> * fix Signed-off-by: Nils-Christian Iseke <[email protected]> * Revert "uncrustify" This reverts commit 43749c2. Signed-off-by: Nils-Christian Iseke <[email protected]> * uncrustify Signed-off-by: Nils-Christian Iseke <[email protected]> * Revert "uncrustify" This reverts commit e18f704. Signed-off-by: Nils-Christian Iseke <[email protected]> * Revert "fix" This reverts commit a0a7892. Signed-off-by: Nils-Christian Iseke <[email protected]> * Merge remote-tracking branch 'upstream/main' into FixNamespaceCheck Signed-off-by: Nils-Christian Iseke <[email protected]> * MPPI Check Namespace. Signed-off-by: Nils-Christian Iseke <[email protected]> * fixing parameter_handler tests. Signed-off-by: Nils-Christian Iseke <[email protected]> * Fix optimizer Signed-off-by: Nils-Christian Iseke <[email protected]> * Fix indentation Signed-off-by: Nils-Christian Iseke <[email protected]> * mppi param handler only execute post_callbacks if a param of mppi was updated. Signed-off-by: Nils-Christian Iseke <[email protected]> * Update nav2_rotation_shim_controller.hpp Signed-off-by: Nils-Christian Iseke <[email protected]> * Review Signed-off-by: Nils-Christian Iseke <[email protected]> * Update nav2_mppi_controller/src/parameters_handler.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/src/parameters_handler.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_mppi_controller/src/parameters_handler.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Increase Readability of testing. (#5190) Signed-off-by: Nils-Christian Iseke <[email protected]> * Add value rewrites to RewrittenYaml (#5191) * Added context manager for safe file closing and prevent warnings. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Implement value_rewrites to ReWrittenYaml. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Use placeholders for costmap filters using the new value rewrite feature. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Enable system tests to use value rewrites. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Define remappings for costmap filters instead of inline substitution. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> * Updates for Kilted Branch off (#5199) * Adding kilted build to main branch workflow Signed-off-by: Steve Macenski <[email protected]> * Updating kilted for ci image build Signed-off-by: Steve Macenski <[email protected]> * Bumping to 1.4.0 for kilted release Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Removing underlay workspace from Main (#5200) Signed-off-by: Steve Macenski <[email protected]> * Adding missing dep to loopback sim (#5204) * Adding missing dep Signed-off-by: Steve Macenski <[email protected]> * typo Signed-off-by: Steve Macenski <[email protected]> * updating fix Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * 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 <[email protected]> * Adding parameter strict_param_loading for optionally throwing an exception if parameter overrides are missing Signed-off-by: Marco Bassa <[email protected]> * Using default false declaration instead of declare_or_get in param util Signed-off-by: Marco Bassa <[email protected]> --------- Signed-off-by: Marco Bassa <[email protected]> * Update mergify.yml Signed-off-by: Steve Macenski <[email protected]> * include bug fix for nav2_smac_planner (#5198) Signed-off-by: Stevedan Omodolor <[email protected]> * Revert "Removing underlay workspace from Main" (#5206) * Revert "Removing underlay workspace from Main (#5200)" This reverts commit 1278df7. * Update underlay.repos Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Option to Reduce Lethal to High-Cost Navigable To Get Out of Keepout Zones if Wandered In (#5187) * Adding toggle option of keepout zone Signed-off-by: Steve Macenski <[email protected]> * Default off Signed-off-by: Steve Macenski <[email protected]> * Join conditions Signed-off-by: Steve Macenski <[email protected]> * spell check Signed-off-by: Steve Macenski <[email protected]> * copilot suggestions Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update nav2_costmap_2d/plugins/costmap_filters/keepout_filter.cpp Co-authored-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> * Update keepout_filter.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> * Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions (#5207) * prototype solving 5192 issue 2 Signed-off-by: Steve Macenski <[email protected]> * Removing unnecessary variable Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Revert recent smac changes causing regressions (#5221) * Revert "Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions (#5207)" This reverts commit c32873d. * Revert "include bug fix for nav2_smac_planner (#5198)" This reverts commit 6a74ba6. * Revert "Feat/smac planner include orientation flexibility (#4127)" This reverts commit f5543c3. * Disable costmap filter zones from tb3 bringup (only Tb4 enabled) (#5223) * Update tb3_loopback_simulation_launch.py Signed-off-by: Steve Macenski <[email protected]> * Update tb3_simulation_launch.py Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Revert "Fix Ci from key signing (#5220)" (#5237) * Revert "Fix Ci from key signing (#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <[email protected]> * Update Cache Version Signed-off-by: Nils-Christian Iseke <[email protected]> --------- Signed-off-by: Nils-Christian Iseke <[email protected]> * Updating readme table for kilted release (#5249) * updating readme table for kilted release Signed-off-by: Steve Macenski <[email protected]> * Updating table lint Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Add min_distance_to_obstacle parameter to RPP (#4543) * min_distance_to_obstacle Signed-off-by: Guillaume Doisy <[email protected]> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <[email protected]> * typo Signed-off-by: Guillaume Doisy <[email protected]> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> * Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> * Route server corner smoothing (#5226) * added edge length method Signed-off-by: Alexander Yuen <[email protected]> * Added corner arc class Signed-off-by: Alexander Yuen <[email protected]> * replaced double vectors with Coordinates, added methods to return start and end coordinates Signed-off-by: Alexander Yuen <[email protected]> * using Coordinates, fixed direction of tangents Signed-off-by: Alexander Yuen <[email protected]> * added corner arc in header, added logger in protected variable Signed-off-by: Alexander Yuen <[email protected]> * first pass of corner smoothing algorithm Signed-off-by: Alexander Yuen <[email protected]> * reassigning next edge to have a different start, if a corner occurs before it Signed-off-by: Alexander Yuen <[email protected]> * using unique pointer instead of raw pointers for new edges and nodes Signed-off-by: Alexander Yuen <[email protected]> * added smoothing parameter Signed-off-by: Alexander Yuen <[email protected]> * made angle of interpolation a parameter Signed-off-by: Alexander Yuen <[email protected]> * const for return methods, added flag for smoothing corners Signed-off-by: Alexander Yuen <[email protected]> * moved getEdgeLength() into the Directional Edge struct Signed-off-by: Alexander Yuen <[email protected]> * using float instead of double Signed-off-by: Alexander Yuen <[email protected]> * smoothing radius is float, couple methods moved to protected Signed-off-by: Alexander Yuen <[email protected]> * removed signed_angle_ as a member variable Signed-off-by: Alexander Yuen <[email protected]> * removed unnecessary member variables Signed-off-by: Alexander Yuen <[email protected]> * removed angle of interpolation and inferring it from path density and radius instead Signed-off-by: Alexander Yuen <[email protected]> * consolidated corner arc into one header function Signed-off-by: Alexander Yuen <[email protected]> * readded newline Signed-off-by: Alexander Yuen <[email protected]> * changed corner arc to corner smoothing Signed-off-by: Alexander Yuen <[email protected]> * replaced the use of edges with coordinates to generate smoothing arc, removed storage of nodes and edges Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * fixing cpplint Signed-off-by: Alexander Yuen <[email protected]> * linting for headers Signed-off-by: Alexander Yuen <[email protected]> * cpplinting Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/src/path_converter.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> * fixed divide by zeros and accessing empty route.edges Signed-off-by: Alexander Yuen <[email protected]> * uncrustify linting Signed-off-by: Alexander Yuen <[email protected]> * cpp linting Signed-off-by: Alexander Yuen <[email protected]> * path converter linting Signed-off-by: Alexander Yuen <[email protected]> * changed all doubles to floats Signed-off-by: Alexander Yuen <[email protected]> * added check for edges that are colinear to avoid divide by 0, fixed final edge interpolation Signed-off-by: Alexander Yuen <[email protected]> * linting Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> * added doxygen for corner arc class Signed-off-by: Alexander Yuen <[email protected]> * added warning message if corner can't be smoothed Signed-off-by: Alexander Yuen <[email protected]> * added smooth_corners to the nav2 params file Signed-off-by: Alexander Yuen <[email protected]> * added smoothing flag and radius parameter to README.md' Signed-off-by: Alexander Yuen <[email protected]> * typo in README Signed-off-by: Alexander Yuen <[email protected]> * added testing for corner smoothing Signed-off-by: Alexander Yuen <[email protected]> * Update nav2_route/include/nav2_route/corner_smoothing.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> * Conserve curvature with LIMIT action (#5255) * Conserve curvature with LIMIT action Signed-off-by: Tony Najjar <[email protected]> * fix format Signed-off-by: Tony Najjar <[email protected]> * fix test Signed-off-by: Tony Najjar <[email protected]> --------- Signed-off-by: Tony Najjar <[email protected]> * Parametrizing obstacle layer tf filter tolerance (#5261) Signed-off-by: Marco Bassa <[email protected]> * Add namespace support for rviz costmap cost tool (#5268) Signed-off-by: Maurice-1235 <[email protected]> * Fix/smac planner orientation goals (#5235) * cherry pick Signed-off-by: Stevedan Omodolor <[email protected]> * cherry pick 6a74ba6 Signed-off-by: Stevedan Omodolor <[email protected]> * cherrpy pick Signed-off-by: Stevedan Omodolor <[email protected]> * include x11 forwarding Signed-off-by: Stevedan Omodolor <[email protected]> * kind of working version Signed-off-by: Stevedan Omodolor <[email protected]> * cleanup Signed-off-by: Stevedan Omodolor <[email protected]> * formatting Signed-off-by: Stevedan Omodolor <[email protected]> * minor format change Signed-off-by: Stevedan Omodolor <[email protected]> * change naming Signed-off-by: Stevedan Omodolor <[email protected]> * minor changes Signed-off-by: Stevedan Omodolor <[email protected]> * working with new changes Signed-off-by: Stevedan Omodolor <[email protected]> * Revert "Fix Ci from key signing (#5220)" (#5237) * Revert "Fix Ci from key signing (#5220)" This reverts the changes to the Dockerfile done in 1345c22. Signed-off-by: Nils-Christian Iseke <[email protected]> * Update Cache Version Signed-off-by: Nils-Christian Iseke <[email protected]> --------- Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * Revert back Signed-off-by: Stevedan Omodolor <[email protected]> * enable_groot_monitoring_ false (#5246) Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * Updating readme table for kilted release (#5249) * updating readme table for kilted release Signed-off-by: Steve Macenski <[email protected]> * Updating table lint Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * Add min_distance_to_obstacle parameter to RPP (#4543) * min_distance_to_obstacle Signed-off-by: Guillaume Doisy <[email protected]> * suggestion to time base and combine Signed-off-by: Guillaume Doisy <[email protected]> * typo Signed-off-by: Guillaume Doisy <[email protected]> * use min_approach_linear_velocity Signed-off-by: Guillaume Doisy <[email protected]> --------- Signed-off-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * Fixing builds for message filters API change while retaining Jazzy, Kilted, and Rolling support (#5251) * Update amcl_node.hpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Working for Kilted, Jazzy Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> * Update amcl_node.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * Change max_cost default to 254 (#5256) Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> * linter Signed-off-by: Stevedan Omodolor <[email protected]> * remove const Signed-off-by: Stevedan Omodolor <[email protected]> * pass const pointer by value Signed-off-by: Stevedan Omodolor <[email protected]> * pass const pointer by value Signed-off-by: Stevedan Omodolor <[email protected]> * remove unused param Signed-off-by: Stevedan Omodolor <[email protected]> --------- Signed-off-by: Stevedan Omodolor <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Tony Najjar <[email protected]> * Increase cache Signed-off-by: Steve Macenski <[email protected]> * fixes for humble main compatibility Signed-off-by: Steve Macenski <[email protected]> * Revert "Removing action server timeout duration after fixes to ROS 2, Reverts 3787 (#5183)" This reverts commit c9438b4. * fixing CI build Signed-off-by: Steve Macenski <[email protected]> * revert Signed-off-by: Steve Macenski <[email protected]> * done Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Jakubach <[email protected]> Signed-off-by: Alberto Tudela <[email protected]> Signed-off-by: brayanpa <[email protected]> Signed-off-by: Brayan Pallares <[email protected]> Signed-off-by: Jad haj mustafa <[email protected]> Signed-off-by: Tim Clephas <[email protected]> Signed-off-by: RamanaBotta <[email protected]> Signed-off-by: Tony Najjar <[email protected]> Signed-off-by: Nils-ChristianIseke <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Marco Bassa <[email protected]> Signed-off-by: Stevedan Omodolor <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> Signed-off-by: Alexander Yuen <[email protected]> Signed-off-by: Maurice-1235 <[email protected]> Co-authored-by: Leander Stephen D'Souza <[email protected]> Co-authored-by: Alberto Tudela <[email protected]> Co-authored-by: Brayan Pallares <[email protected]> Co-authored-by: Jad Haj Mustafa <[email protected]> Co-authored-by: Tim Clephas <[email protected]> Co-authored-by: Raman <[email protected]> Co-authored-by: RamanaBotta <[email protected]> Co-authored-by: Tony Najjar <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Marco Bassa <[email protected]> Co-authored-by: Stevedan Ogochukwu Omodolor <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: Guillaume Doisy <[email protected]> Co-authored-by: alexanderjyuen <[email protected]> Co-authored-by: mini-1235 <[email protected]>

prototype solving 5192 issue 2

0669715

Signed-off-by: Steve Macenski <[email protected]>

SteveMacenski mentioned this pull request May 29, 2025

nav2_smac_planner, path is not continuous #5192

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Removing unnecessary variable

c040216

Signed-off-by: Steve Macenski <[email protected]>

SteveMacenski requested a review from Copilot May 29, 2025 00:38

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codecov-ai bot mentioned this pull request May 29, 2025

Add Tests for PR#5207 #5208

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SteveMacenski added the backport-kilted label Jun 1, 2025

SteveMacenski merged commit c32873d into main Jun 1, 2025
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SteveMacenski deleted the 5192 branch June 1, 2025 20:31

mergify bot mentioned this pull request Jun 1, 2025

Prototype solving #5192 Issue 2: Reeds-Shepp reduce small reverse expansions (backport #5207) #5216

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SteveMacenski added a commit that referenced this pull request Jun 2, 2025

Revert "Prototype solving #5192 Issue 2: Reeds-Shepp reduce small rev…

7222287

…erse expansions (#5207)" This reverts commit c32873d.

SteveMacenski mentioned this pull request Jun 2, 2025

Revert recent smac changes causing regressions #5221

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SteveMacenski added a commit that referenced this pull request Jun 2, 2025

Revert "Prototype solving #5192 Issue 2: Reeds-Shepp reduce small rev…

3b11d0f

…erse expansions (#5207)" This reverts commit c32873d.

SteveMacenski mentioned this pull request Jun 2, 2025

Smac revert changes kilted #5222

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Jakub-husarz added a commit to hsrn24/navigation2 that referenced this pull request Jun 3, 2025

smac_planner: update to the latest official code (up to ros-navigatio…

c076d57

…n#5207)

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